Physics objects can be implicity static if only a collider was added.

Removed the need to create an extra body. Math is great.

Assets/Scenes/PhysicsSandbox.shade

@@ -8,23 +8,6 @@
       Rotate: {x: 0, y: 0, z: 0.436332315}
       Scale: {x: 4.61070776, y: 0.99999392, z: 0.999996722}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:
@@ -62,7 +45,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: -2, y: 7.5, z: 0}
+      Translate: {x: 0, y: 7.5, z: 0}
       Rotate: {x: -0, y: 0, z: 0.785398185}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
@@ -77,7 +60,7 @@
       Interpolate: true
       Sleeping Enabled: true
       Freeze Position X: false
-      Freeze Position Y: true
+      Freeze Position Y: false
       Freeze Position Z: false
       Freeze Rotation X: false
       Freeze Rotation Y: false
@@ -107,23 +90,6 @@
       Rotate: {x: -0, y: 0, z: -0.436332315}
       Scale: {x: 4.61071014, y: 0.999995887, z: 1}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: true
-      Freeze Position Y: true
-      Freeze Position Z: true
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:
@@ -148,23 +114,6 @@
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 10, y: 3, z: 10}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:
@@ -189,23 +138,6 @@
       Rotate: {x: -0, y: 0, z: 1.57079601}
       Scale: {x: 9.99975109, y: 0.499992192, z: 10}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:
@@ -230,23 +162,6 @@
       Rotate: {x: -0, y: 0, z: 1.57079601}
       Scale: {x: 9.99975109, y: 0.499992192, z: 10}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:
@@ -267,7 +182,7 @@
   NumberOfChildren: 0
   Components:
     Transform Component:
-      Translate: {x: 0, y: 7, z: 0}
+      Translate: {x: 0, y: 2, z: 3}
       Rotate: {x: 0, y: 0.785398185, z: 0}
       Scale: {x: 0.999990404, y: 0.999994457, z: 0.999985337}
       IsActive: true
@@ -316,23 +231,6 @@
       Rotate: {x: -0, y: 0, z: -0}
       Scale: {x: 1, y: 1, z: 1}
       IsActive: true
-    RigidBody Component:
-      Type: Static
-      Auto Mass: false
-      Mass: .inf
-      Drag: 0.00999999978
-      Angular Drag: 0.00999999978
-      Use Gravity: true
-      Gravity Scale: 1
-      Interpolate: true
-      Sleeping Enabled: true
-      Freeze Position X: false
-      Freeze Position Y: true
-      Freeze Position Z: false
-      Freeze Rotation X: false
-      Freeze Rotation Y: false
-      Freeze Rotation Z: false
-      IsActive: true
     Collider Component:
       DrawColliders: false
       Colliders:

SHADE_Engine/src/Physics/Dynamics/Constraints/SHVelocityState.h

@@ -33,23 +33,30 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
 
     SHVelocityState (const SHRigidBody* rigidBody) noexcept
+    : LinearVelocity    { SHVec3::Zero }
+    , AngularVelocity   { SHVec3::Zero }
+    , LinearLockFactor  { SHVec3::Zero }
+    , AngularLockFactor { SHVec3::Zero }
     {
-      LinearVelocity    = rigidBody->GetLinearVelocity();
+      if (rigidBody)
-      AngularVelocity   = rigidBody->GetAngularVelocity();
-
-      LinearLockFactor  = SHVec3
       {
-        rigidBody->GetFreezePositionX() ? 0.0f :  1.0f
+        LinearVelocity    = rigidBody->GetLinearVelocity();
-      , rigidBody->GetFreezePositionY() ? 0.0f :  1.0f
+        AngularVelocity   = rigidBody->GetAngularVelocity();
-      , rigidBody->GetFreezePositionZ() ? 0.0f :  1.0f
-      };
 
-      AngularLockFactor = SHVec3
+        LinearLockFactor  = SHVec3
-      {
+        {
-        rigidBody->GetFreezeRotationX() ? 0.0f :  1.0f
+          rigidBody->GetFreezePositionX() ? 0.0f :  1.0f
-      , rigidBody->GetFreezeRotationY() ? 0.0f :  1.0f
+        , rigidBody->GetFreezePositionY() ? 0.0f :  1.0f
-      , rigidBody->GetFreezeRotationZ() ? 0.0f :  1.0f
+        , rigidBody->GetFreezePositionZ() ? 0.0f :  1.0f
-      };
+        };
+
+        AngularLockFactor = SHVec3
+        {
+          rigidBody->GetFreezeRotationX() ? 0.0f :  1.0f
+        , rigidBody->GetFreezeRotationY() ? 0.0f :  1.0f
+        , rigidBody->GetFreezeRotationZ() ? 0.0f :  1.0f
+        };
+      }
     }
   };
 

SHADE_Engine/src/Physics/Dynamics/SHContactManager.cpp

@@ -200,11 +200,17 @@ namespace SHADE
       const auto& STATE_A = VELOCITY_STATES.find(key.GetEntityA())->second;
       const auto& STATE_B = VELOCITY_STATES.find(key.GetEntityB())->second;
 
-      bodyA->SetLinearVelocity(STATE_A.LinearVelocity);
+      if (bodyA)
-      bodyB->SetLinearVelocity(STATE_B.LinearVelocity);
+      {
+        bodyA->SetLinearVelocity(STATE_A.LinearVelocity);
+        bodyA->SetAngularVelocity(STATE_A.AngularVelocity);
+      }
 
-      bodyA->SetAngularVelocity(STATE_A.AngularVelocity);
+      if (bodyB)
-      bodyB->SetAngularVelocity(STATE_B.AngularVelocity);
+      {
+        bodyB->SetLinearVelocity(STATE_B.LinearVelocity);
+        bodyB->SetAngularVelocity(STATE_B.AngularVelocity);
+      }
     }
 
     contactSolver.Reset();

SHADE_Engine/src/Physics/Dynamics/SHContactSolver.cpp

@@ -63,13 +63,38 @@ namespace SHADE
 
     // Mass data
 
-    newConstraint.invMassA       = BODY_A->invMass;
+    // Account for implicity-static bodies
-    newConstraint.invInertiaA    = BODY_A->worldInvInertia;
+    if (BODY_A)
-    newConstraint.centerOfMassA  = BODY_A->worldCentroid;
+    {
+      newConstraint.invMassA      = BODY_A->invMass;
+      newConstraint.centerOfMassA = BODY_A->worldCentroid;
+      newConstraint.invInertiaA   = BODY_A->worldInvInertia;
+    }
+    else
+    {
+      newConstraint.invMassA      = 0.0f;
+      newConstraint.centerOfMassA = SHVec3::Zero;
 
-    newConstraint.invMassB       = BODY_B->invMass;
+      // Matrix needs to maintain its homogenous structure
-    newConstraint.invInertiaB    = BODY_B->worldInvInertia;
+      newConstraint.invInertiaA = SHMatrix::Zero;
-    newConstraint.centerOfMassB  = BODY_B->worldCentroid;
+      newConstraint.invInertiaA.m[3][3] = 1.0f; 
+    }
+
+    if (BODY_B)
+    {
+      newConstraint.invMassB      = BODY_B->invMass;
+      newConstraint.centerOfMassB = BODY_B->worldCentroid;
+      newConstraint.invInertiaB   = BODY_B->worldInvInertia;
+    }
+    else
+    {
+      newConstraint.invMassB      = 0.0f;
+      newConstraint.centerOfMassB = SHVec3::Zero;
+
+      // Matrix needs to maintain its homogenous structure
+      newConstraint.invInertiaB = SHMatrix::Zero;
+      newConstraint.invInertiaB.m[3][3] = 1.0f;
+    }
 
     // Collision data