Emil_Shanaty/lingua-engine
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

M4: engine.physics — Box3D, over a narrow, verified P/Invoke shim

Browse Source 
native/physics-native/lingua_physics.c wraps Box3D at a specific pinned
commit (47d7f7c — Box3D has no 1.0 release yet, and its only tag, v0.1.0,
already diverges from this API, confirmed by diffing headers rather than
assuming). The wrapper is deliberately narrow: Box3D's own b3WorldDef/
b3BodyDef/b3ShapeDef are large structs with function pointers, and
b3BoxHull's own doc comment says it "has data hanging off the end and
cannot be directly copied" — none of that crosses the P/Invoke boundary.
Every exported Lingua_* function takes and returns only plain int32/float/
bool scalars, and handles are this shim's own array-index handles, not
Box3D's id structs. C# binds them with classic DllImport rather than the
newer LibraryImport specifically because LibraryImport's generated
marshalling needs AllowUnsafeBlocks even for an all-scalar signature like
every one of these — DllImport needs none, keeping this plugin inside the
kernel's "no unsafe in the v1 hot path" rule with no exception required.

engine.physics adds Rigidbody/BoxCollider/SphereCollider components and
PhysicsWorld, which diffs Query<Rigidbody>() against its own tracked set
every Stage.FixedUpdate (there's no destruction event to hook) to create
and destroy native bodies, steps Box3D once per invocation — Engine.Host's
accumulator decides how many times that runs per frame, not this plugin —
and writes each body's resulting transform back to GameObject.Transform.
IPhysicsService exposes ApplyLinearImpulse/Get/SetLinearVelocity for
gameplay code.

Verified twice: a standalone C smoke test against the native shim alone
(a box dropped from y=5 onto a static ground settles at y≈1.0, exactly
where the two half-heights sum to), and the full pipeline through Engine.
Host — a headless run with a real scene, --dump showing the same box
settling at y=0.9999 after physics, scene load, and Stage.FixedUpdate all
went through the real kernel. 5 new automated tests in Engine.Physics.
Tests cover the same settling behavior for both shapes, a missing-collider
warning that fires once and doesn't throw, cleanup after a GameObject is
destroyed mid-simulation, and that an applied impulse actually changes
velocity — all passed on the first run.

Physics-enabled GameObjects must be root-level for now: PhysicsWorld
writes Box3D's world-space transform straight into LocalPosition/
LocalRotation, correct only when local and world space are the same
thing. A parented rigidbody needs the same parent-WorldMatrix-inverse
handling GizmoMath.WorldToLocalPosition already does for the gizmo — real,
not-yet-done work, not silently wrong.

Full suite: 81 tests.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01N1qPfzq8TDCUMFMV3UwV5N
This commit is contained in:
Emil
2026-09-02 17:05:39 +03:00
co-authored by Claude Sonnet 5
parent c2bcb9b9fe
commit 792b626396
20 changed files with 898 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
LinguaEngine.sln
+48
View File
@@ -57,6 +57,14 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Editor", "plugins\en
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Editor.Tests", "tests\Engine.Editor.Tests\Engine.Editor.Tests.csproj", "{7F1CF468-6717-4152-BA95-2DA1E011B6CB}"
EndProject
Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "engine.physics", "engine.physics", "{5BFA9F87-CB7C-360F-A763-812D3AAB4167}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics.Contracts", "plugins\engine.physics\Engine.Physics.Contracts\Engine.Physics.Contracts.csproj", "{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics", "plugins\engine.physics\Engine.Physics\Engine.Physics.csproj", "{A9205D28-762B-49C0-8CFF-8D59BA330786}"
EndProject
Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "Engine.Physics.Tests", "tests\Engine.Physics.Tests\Engine.Physics.Tests.csproj", "{70245995-311C-4CBE-A433-F4035303BEDB}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|Any CPU = Debug|Any CPU
@@ -283,6 +291,42 @@ Global
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x64.Build.0 = Release|Any CPU
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x86.ActiveCfg = Release|Any CPU
{7F1CF468-6717-4152-BA95-2DA1E011B6CB}.Release|x86.Build.0 = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|Any CPU.Build.0 = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x64.ActiveCfg = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x64.Build.0 = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x86.ActiveCfg = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Debug|x86.Build.0 = Debug|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|Any CPU.ActiveCfg = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|Any CPU.Build.0 = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x64.ActiveCfg = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x64.Build.0 = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x86.ActiveCfg = Release|Any CPU
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D}.Release|x86.Build.0 = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|Any CPU.Build.0 = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x64.ActiveCfg = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x64.Build.0 = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x86.ActiveCfg = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Debug|x86.Build.0 = Debug|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|Any CPU.ActiveCfg = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|Any CPU.Build.0 = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x64.ActiveCfg = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x64.Build.0 = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x86.ActiveCfg = Release|Any CPU
{A9205D28-762B-49C0-8CFF-8D59BA330786}.Release|x86.Build.0 = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|Any CPU.Build.0 = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x64.ActiveCfg = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x64.Build.0 = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x86.ActiveCfg = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Debug|x86.Build.0 = Debug|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|Any CPU.ActiveCfg = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|Any CPU.Build.0 = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x64.ActiveCfg = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x64.Build.0 = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x86.ActiveCfg = Release|Any CPU
{70245995-311C-4CBE-A433-F4035303BEDB}.Release|x86.Build.0 = Release|Any CPU
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
@@ -312,5 +356,9 @@ Global
{6A2943F1-1984-470D-BD74-C6E16BB77241} = {8067C66D-9D49-192B-E4C1-1C024401ACE3}
{B60A3933-923C-4339-98D1-E4C87A76E80B} = {8067C66D-9D49-192B-E4C1-1C024401ACE3}
{7F1CF468-6717-4152-BA95-2DA1E011B6CB} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
{5BFA9F87-CB7C-360F-A763-812D3AAB4167} = {07D57EEB-2F50-60C4-C011-FE4FA775C9A8}
{70BE8EA7-0EF5-4AA1-A6CD-79B7ED4C207D} = {5BFA9F87-CB7C-360F-A763-812D3AAB4167}
{A9205D28-762B-49C0-8CFF-8D59BA330786} = {5BFA9F87-CB7C-360F-A763-812D3AAB4167}
{70245995-311C-4CBE-A433-F4035303BEDB} = {0AB3BF05-4346-4AA6-1389-037BE0695223}
EndGlobalSection
EndGlobal