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Benjamin Rosseaux 2026-07-21 17:39:27 +02:00
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@ -22,7 +22,7 @@ Kraft Physics Engine has the following features:
- Discrete collision detection
- Optional additional continuous collision detection with Motion Clamping or with Box2D-style time of impact sub stepping, either with Bilateral Advancement or Conservative Advancement.
- Optional additional support for speculative contacts as faster and more inaccurate fake continuous collision detection mode.
- Full one-shot contact manifold collision shapes (spheres, capsules, convex hulls, boxes, planes, signed distance fields, and for static geometries also triangle meshes) based on combinations of for-warm-start-simplex-caching-able GJK, Gauss-Map optimized Clipping-SAT and implicit collision algorithms.
- Full one-shot contact manifold collision shapes (spheres, capsules, convex hulls, boxes, planes, signed distance fields, and even also triangle meshes, not just for static but also for dynamic rigid bodies) based on combinations of for-warm-start-simplex-caching-able GJK, Gauss-Map optimized Clipping-SAT, Dual-traversal-BVH and implicit collision algorithms.
- Signed distance field collision shapes: user-implementable implicit surfaces (analytic or heightfield-like, where the local origin may even lie outside the solid), with a dedicated sampling narrow phase (point-feature shapes sample their features against the field, signed distance field bodies sample surface-projected pseudo features against planes and other fields) producing full one-shot manifolds with warm-start-stable per-sample feature ids, plus sphere-tracing ray and sphere casts
- Built-in height field terrain (TKraftSignedDistanceFieldTerrain): a regular grid of height samples as a ready-to-use signed distance field, bilinearly interpolated with analytic gradients and locally exact signed distances (no floating contacts on and around slopes), and with exact ray and sphere casts that walk only the crossed grid cells instead of sphere tracing, so they can't tunnel through thin crags even on steep terrain; as a continuous contact surface it has no internal mesh edges to snag on, and it only stores the raw height grid (no triangles, no BVH). For triangle terrain collision through the mesh pipeline there is also a TKraftMesh.AddHeightField factory as the alternative
- Optional MPR-based (Minkowski Portal Refinement) incremental persistent contact manifold work mode (see TKraft.PersistentContactManifold boolean), but its usage isn't recommended, because the full one-shot contact manifold work mode is faster, more robust and more tested. It is implemented only as comparison reference (for example for debugging purposes), and for more reasons against incremental persistent contact manifold real usage, see http://media.steampowered.com/apps/valve/2015/DirkGregorius_Contacts.pdf .