About State Integration

About State Integration

duotemplar's picture

I read the docs and it said "At each 'frame tick' (also referred to as a PSI) assume that the body has reached its final position at t1. This becomes the initial position of the updated hkSweptTransform."

Is this mean:
1.when the step coming to an PSI, it use current RB's position and orientaion as the pos and rotation at t0?
2.then it apply the force to the object and get a new velocity, then use it to calculate the new position as t1's pos
3.then use this hkSweptTransform to do colllison detector?

Do Ithink like this is right?

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havokchrisk's picture
Best Reply

Hey duotemplar,

Your understanding seems correct. A body is integrated from one PSI to the next (t0 to t1) using the forces applied over the timestep... this generates a swept transform which is then used by collision detection to verify the validity of the transform at the end of the step (t1) and generate contact constraints to be solved in the next physics step.

As you've seen, there's more in-depth information in the docs sections entitled 'Havok Physics:How it works' and 'Continuous Physics:Fundamental Concepts'.

Chris

Developer Support Engineer
Havok
www.havok.com

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