Integration guide

Novolis.Physics is force-first: IForceModel computes forces, SimulationPipeline sums them, IIntegrator advances state.

Related: ARCHITECTURE.md · examples/ · README.md

Pass simulation time explicitly on each Step: the pipeline does not advance timeSeconds for you — use timeSeconds + dtSeconds after each fixed step (see README quick start).

1. Rigid body (recommended default)

var pipeline = new SimulationPipeline<RigidBodyState, PointMassField>(
    new SemiImplicitEulerRigidBodyIntegrator(),
    new PointMassGravityModel());

var field = new PointMassField([(position, gm), ...]);
double time = 0;
body = pipeline.Step(body, field, dtSeconds, time);
time += dtSeconds;

Add more forces to the pipeline constructor: SimpleLiftDragModel, custom IForceModel implementations, etc.

Use FixedStepAccumulator to drain variable frame time into fixed physics steps.

2. Ballistics

Facade (simplest): ProjectileBallisticSimulation — uniform −Y gravity and optional quadratic drag.

Pipeline (extensible): compose IForceModel instances in SimulationPipeline<ProjectileState, TEnv>.

For default uniform gravity and quadratic drag, the facade and pipeline are equivalent (see ProjectileDragPipelineParityTests in the unit project).

BallisticsQueries.SweepProjectileSphere is a discoverability wrapper over IStaticWorld.SweepSphere for projectile-sized spheres.

Convention: +Y up, range often along +X, set Z = 0 for planar cannon problems.

Terrain flight loop

For projectile vs heightfield + triangle mesh, use `ProjectileTerrainStepper` or stateful `BallisticTrajectoryRunner` — do not hand-roll integrate-then-sweep unless you match ProjectileSemiImplicitIntegrator displacement (candidate.Position - startPos).

Do not use GroundImpact / ProjectileMath.InterpolateGroundImpact for arbitrary terrain — those assume Y = 0 plane only.

Full examples: examples/ballistics.md.

3. Aerodynamics (pipeline)

Add lift/drag on rigid bodies via SimpleLiftDragModel and an atmosphere hook:

using Novolis.Physics.Abstractions;
using Novolis.Physics.Aerodynamics;
using Novolis.Physics.Gravity;
using Novolis.Physics.Motion;
using System.Numerics;

var atmosphere = new ExponentialAtmosphereModel(seaLevelDensityKgPerM3: 1.225, scaleHeightMeters: 8500);
var aeroEnv = new SimpleAeroEnvironment(
    atmosphere,
    altitudeMeters: body.Position.Y,
    windWorld: Vector3.Zero,
    referenceAreaM2: 2.0,
    dragCoefficient: 0.35,
    liftCoefficient: 0.8,
    liftReferenceForwardWorld: Vector3.Transform(Vector3.UnitZ, body.Orientation));

var pipeline = new SimulationPipeline<RigidBodyState, SimpleAeroEnvironment>(
    integrator,
    gravity,
    new SimpleLiftDragModel());

IAtmosphereModel.DensityAtAltitude supplies ρ(h); wind and coefficients live in SimpleAeroEnvironment. The model is time-invariant (ignores timeSeconds).

4. Collision (query + sphere integrator)

IStaticWorld (BvhStaticWorld, EmptyStaticWorld) provides raycast and approximate sphere/capsule sweeps. Not a full rigid-body engine.

For a bouncing sphere in a static mesh, use BvhStaticSphereIntegrator.AdvanceOneStep (or AdvanceWithUniformAccelerationAndLinearDrag) alongside your gravity model. Contact resolution is handled inside the integrator via SphereContactKinematics.ReflectWithRestitution (see Novolis.Physics.Collision.Simple).

Sweep limitations

BvhStaticWorld.SweepSphere performs a radius-inflated raycast along the displacement direction (not continuous CCD).

Mitigation: smaller physics steps, larger sphere radius margin, or custom CCD for critical paths.

Examples in the unit project:

• Partial-travel hit: CollisionSweepScenarioTests.SweepProjectileSphere_HitsGroundTriangle
• Large-step miss with sub-step hit: SweepLimitationScenarioTests.SweepSphere_LargeStepOvershoot_MissesWhileSubStepsHit

Example walkthrough: examples/collision-room.md.

5. Sphere ragdoll / joints

For chained equal-radius spheres (ragdolls, rope-like piles):

var sim = new ConstrainedSphereSimulator { Options = { Radius = 0.2f, ... } };
RagdollHumanoidPreset.BuildStanding(groundPoint, spheres, joints, swings, hinges);
sim.SetJoints(joints);
RagdollHumanoidPreset.StabilizeSpawn(spheres, joints, clamp, sim);
// each frame:
sim.Step(world, spheres, clamp, dt, swings, hinges);

Self-collision skips joint-adjacent pairs automatically when joints are set via SetJoints.

5b. Cloth (`Novolis.Physics.Cloth`)

Fabric simulation lives in `Novolis.Physics.Cloth`, not Joints. Ragdolls stay in Joints; cloth reuses DistanceJoint as a shared length primitive but steps with fabric strain limits, wind, and cutting.

using Novolis.Physics.Cloth;
using Novolis.Physics.Joints;

var cloth = new ClothSheetSimulator { MaxStretchRatio = 1.06f };
ClothSheetPreset.BuildHanging(...);
cloth.SetJoints(joints);
cloth.Step(world, spheres, clamp, dt);
ClothCutOps.CutWithBlade(joints, spheres, new ClothBlade(heel, tip));

Dogfood: d:\novolis\novolis-dogfooding\apps\ClothPlay.

6. Orbits (separate stack)

CentralOrbitSimulator / LeapfrogCentralBodySoA use symplectic leapfrog for central-body problems. Does not plug into SimulationPipeline. Use Novolis.Physics.Gravity point-mass models for game-style gravity instead.

For repeated propagation, reuse one LeapfrogCentralBodySoA via CentralOrbitSimulator.SimulateFor(initial, integrator, bodyIndex, ...) instead of the convenience overload that allocates each call.

Decision tree