body_flags.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
namespace frcsim {
 
struct BodyFlags {
  // Apply gravity to this body
  bool enable_gravity{true};
 
  // Apply friction and contact forces
  bool enable_friction{true};
 
  // Enable collision detection and response for this body
  bool enable_collisions{true};
 
  // Enable kinematic constraints (joints, etc.) affecting this body
  bool enable_kinematic_constraints{true};
 
  // For deformable bodies: enable deformation/warping/bending
  bool enable_deformation{false};
 
  // Body is kinematic (controlled by external code, not physics)
  bool is_kinematic{false};
};
 
}  // namespace frcsim