nx_phys3d.nx

buildroot/runtime/nx_phys3d.nx

17914 B401 linesdepth 2pulls 4 transitivereach 5 importersview sourcekind library

docs dependencies structs consts functions

about

nx_phys3d.nx -- the UNIFIED sovereign 3D rigid-body physics core (the 07-01 census's named gap; operator 2026-07-03: "real 3d s class exceed physics"). ONE engine for games + sim + CAD-motion: semi-implicit Euler, sphere/AABB contacts, sequential impulse solver (restitution + Coulomb friction + positional correction), sleeping. ALL INTEGER (deterministic law: fixed-point pos=1/256 m, vel=1/65536 m-per-tick; 60Hz implied) -- byte-identical replays by construction, no float, no libm. Base-relative so the same code runs native AND in-wasm (mineworld pattern). Broadphase is O(n^2) pairs at this rung (BVH = ladder R4); shapes = sphere + axis-aligned box (GJK convex = R5; rotation/orientation = R6 with joints -- stated, not hidden). license_tier: ORIGINAL

dependencies 2 imports · 3 importers

imports: nx_syscalls.nxnx_vecmath.nx

imported by: nx_phys3d_gate.nxnx_phys3d_toi_gate.nxnx_wasm_physlab.nx

structs

none

consts

16	const PH_MAXB: i64 = 64
17	const PH_G: i64 = 178 // ~9.8 m/s^2 at 60Hz in vel-units (0.00272 m/tick * 65536)
18	const PH_SLOP: i64 = 4 // penetration allowance (fx256)
19	const PH_POSPCT: i64 = 128 // positional correction percent (fx256 of penetration beyond slop)
20	const PH_RESTV: i64 = 400 // \|vn\| below this -> restitution treated as 0 (rest, standard trick)
21	const PH_SLEEPV: i64 = 80 // per-axis \|v\| threshold for stillness
22	const PH_SLEEPN: i64 = 30 // still frames before sleep
23	const PH_ITERS: i64 = 6 // solver iterations per tick
239	const PH_TOI_Q: i64 = 256 // one tick in Q8
240	const PH_TOI_ITERS: i64 = 16
241	const PH_TOI_EPS: i64 = 2 // the gap at which advancement stops (fx256), inside PH_SLOP so the solver sees a touch
242	const PH_TOI_FAR: i64 = 1000000000

functions

25	func ph_hdr(base: i64) -> i64 { return base as i64 } // [0]=nbodies [1]=tick [2..7]=spare called by 5: ph_init ph_add ph_toi ph_max_overlap ph_step
26	func ph_body(base: i64, id: i64) -> i64 { return (base + 64 + id 128) as *i64 } called by 11: ph_add ph_set_vel ph_contact ph_pair ph_surf_dist ph_gap_at+5
31	func ph_acc(base: i64) -> i64 { return (base + 64 + PH_MAXB 128) as *i64 } called by 3: ph_init ph_contact ph_step
32	func ph_warm(base: i64) -> i64 { return (base + 64 + PH_MAXB 128 + PH_MAXB * PH_MAXB * 8) as *i64 } called by 3: ph_init ph_contact ph_step
37	func ph_tgt(base: i64) -> i64 { return (base + 64 + PH_MAXB 128 + PH_MAXB * PH_MAXB * 16) as *i64 } called by 3: ph_init ph_contact ph_step
38	func ph_bytes() -> i64 { return 64 + PH_MAXB * 128 + PH_MAXB * PH_MAXB * 24 } called by 2: main tg_world
40	func ph_init(base: i64) -> i64 called by 2: main tg_world calls 4: ph_hdr ph_acc ph_warm ph_tgt
52	func ph_add(base: i64, shape: i64, x: i64, y: i64, z: i64, hx: i64, hy: i64, hz: i64, invm: i64, rest: i64, fric: i64) -> i64 called by 4: mk_ground main tg_world main calls 2: ph_hdr ph_body
71	func ph_set_vel(base: i64, id: i64, vx: i64, vy: i64, vz: i64) -> i64 called by 2: main main calls 1: ph_body
79	func ph_iabs(v: i64) -> i64 { if v < 0 { return 0 - v } return v } called by 2: ph_fast ph_surf_dist
80	func ph_min(a: i64, b: i64) -> i64 { if a < b { return a } return b } called by 2: ph_contact ph_pair
82	func ph_isqrt(v: i64) -> i64 { return vm_isqrt(v) } called by 4: ph_contact ph_pair ph_surf_dist ph_toi calls 1: vm_isqrt
89	func ph_contact(base: i64, ia: i64, ib: i64, nx: i64, ny: i64, nz: i64, pen: i64, docorr: i64) -> i64 called by 1: ph_pair calls 7: ph_body ph_acc ph_warm ph_tgt ph_imax ph_isqrt+1
179	func ph_pair(base: i64, ia: i64, ib: i64, docorr: i64) -> i64 called by 1: ph_step calls 5: ph_body ph_isqrt ph_contact ph_min ph_imax
227	func ph_imax(a: i64, b: i64) -> i64 { if a > b { return a } return b } called by 2: ph_contact ph_pair
244	func ph_ccd_off(v: i64) -> i64 { PH_CCD_OFF = v; return 0 } called by 1: main
245	func ph_bound_r(b: *i64) -> i64 called by 3: ph_toi ph_max_overlap ph_step
252	func ph_fast(dx: i64, dy: i64, dz: i64, r: i64) -> i64 called by 1: ph_step calls 1: ph_iabs
260	func ph_surf_dist(base: i64, j: i64, px: i64, py: i64, pz: i64) -> i64 called by 2: ph_gap_at ph_max_overlap calls 3: ph_body ph_isqrt ph_iabs
275	func ph_gap_at(base: i64, id: i64, j: i64, dx: i64, dy: i64, dz: i64, t: i64, r: i64) -> i64 called by 1: ph_toi calls 2: ph_body ph_surf_dist
280	func ph_toi(base: i64, id: i64, dx: i64, dy: i64, dz: i64) -> i64 called by 2: ph_step main calls 5: ph_hdr ph_body ph_bound_r ph_isqrt ph_gap_at
316	func ph_max_overlap(base: i64, id: i64) -> i64 called by 1: main calls 4: ph_hdr ph_body ph_bound_r ph_surf_dist
333	func ph_step(base: i64) -> i64 called by 2: main main calls 9: ph_hdr ph_body ph_fast ph_bound_r ph_toi ph_pair+3