Update RigidBodySystem and GUI with external force handling and gravity features - #98

Merged

SaltyJoss merged 114 commits into

Devfrom

dsfe_core_system_physics_refactor_and_cleanup

Aug 1, 2026

Commits on Jul 26, 2026

feat: Add spatial force buffer to `SpatialDynamicsScratch` structure
SaltyJoss
committed
6610310
refactor: Removed old Interpreter (DSL) file names
SaltyJoss
committed
8015070
chore: Updated header comments on Analysis files
SaltyJoss
committed
ae8bff6
refator: Updated files to use `RigidBody` rather than `Robot` for new naming format
SaltyJoss
committed
2d898c9
refator: Updated GUI files to use `RigidBody` rather than `Robot` for new naming format
SaltyJoss
committed
18c2fb4
fixes: Correct Core changeover of names (Succesful Build of Core)
SaltyJoss
committed
c1f3679
fixes: Further corrections for GUI and Core changeover (Succesfully Builds)
SaltyJoss
committed
626ad4d
chore: Updated Templates
SaltyJoss
committed
4daf958
feat: Added external force application methods to RigidBodySystem
SaltyJoss
committed
a047e9e
feat: Implemented external force assembly methods in RigidBodySystem
SaltyJoss
committed
26060dc
feat: Enhanced RigidBodySystem with external force handling and link origin retrieval
SaltyJoss
committed
02862fd
feat: Added manipulation control and external force handling to SimulationCore
SaltyJoss
committed
3c963aa
fixes: Corrected link name retrieval and refactored external force methods in RigidBodySystem
SaltyJoss
committed
76d836a
fixes: Updated include directive for MathLib and modified `clearExternalForces` method to `clearExtForces` in SimulationCore
SaltyJoss
committed
e08d576
feat: Add manipulation control and link external force handling in SimulationManager
SaltyJoss
committed
451cb00
feat: Implement link picking and dragging functionality in ViewportWidget
SaltyJoss
committed
b62242f
feat: Added `clearExternalForces` method to ISimulationCore and SimulationCore
SaltyJoss
committed
0415b64
feat: Added `clearExternalForces` method to SimulationCore for resetting external forces
SaltyJoss
committed
ab3a765
feat: Added AABB properties and `linkWorldMinY` method for rigid body links
SaltyJoss
committed
f50e9d7
feat: Added renderable retrieval method to SimulationScene
SaltyJoss
committed
6bd2d96
feat: Calculated AABB bounds for links in MultiBodySystem during build
SaltyJoss
committed
c1ce07d
feat: Implemented link highlighting and clear external forces methods in SimulationManager
SaltyJoss
committed
e8d2685
feat: Enhanced link manipulation with highlighting and force limits in ViewportWidget
SaltyJoss
committed
312a906

Commits on Jul 27, 2026

Commits on Jul 28, 2026

Commits on Jul 29, 2026

Commits on Jul 30, 2026

Commits on Jul 31, 2026

Commits on Aug 1, 2026