Collision room example

Novolis.Physics.Collision.Simple is query-oriented: static meshes, raycasts, and approximate sphere sweeps. Full rigid-body contact is not a separate pipeline stage — use BvhStaticSphereIntegrator for a bouncing sphere.

Build a static world

using System.Numerics;
using Novolis.Math.Geometry;
using Novolis.Physics.Collision.Simple;

// Floor quad (two triangles) in the XZ plane at y = 0.
var verts = new[]
{
    new Vector3(-50, 0, -50),
    new Vector3(50, 0, -50),
    new Vector3(50, 0, 50),
    new Vector3(-50, 0, 50),
};
var indices = new[] { 0, 1, 2, 0, 2, 3 };
var mesh = new TriangleMesh(verts, indices);
var world = new BvhStaticWorld(mesh);

Advance a sphere with gravity and contact

using System.Numerics;

var center = new Vector3(0, 5, 0);
var velocity = Vector3.Zero;
const double radius = 0.5;
var gravity = new Vector3(0, -9.81f, 0);

for (var step = 0; step < 300; step++)
{
    velocity += gravity * (1.0f / 60f);
    BvhStaticSphereIntegrator.AdvanceOneStep(
        world,
        ref center,
        ref velocity,
        radius,
        dtSeconds: 1.0 / 60.0,
        normalRestitution: 0.6);
}

AdvanceWithUniformAccelerationAndLinearDrag applies gravity and isotropic linear drag per sub-step, then sweeps. Contact uses SphereContactKinematics.ReflectWithRestitution internally.

Sweeps vs integration

Fast motion or thin geometry can miss sweeps; use smaller dt or read INTEGRATION.md §3.