Iwsdk Physics

IWSDK Physics System Guide

This skill provides the complete reference and workflow for implementing Havok-powered physics simulation in IWSDK applications. Physics is built on three ECS components (PhysicsBody, PhysicsShape, PhysicsManipulation) orchestrated by the PhysicsSystem.

Enabling Physics

Enable physics in iwsdk.config.json with the physics feature flag:

{
  "scene": "./public/scenes/physics.iwsdk.scene.json",
  "world": {
    "xr": { "mode": "vr" },
    "features": {
      "physics": true,
      "grabbing": true,
      "locomotion": true
    }
  }
}

Setting physics: true automatically registers PhysicsBody, PhysicsShape, PhysicsManipulation components and the PhysicsSystem at priority -2.

Use an options object when you need to select the execution mode or simulation rate. Worker execution is the default; useWorker: false runs the same physics runtime and protocol on the main thread for compatibility and diagnostics.

"physics": {
  "useWorker": true,
  "updateFrequency": 60,
  "interpolation": true
}

Only enable physics when needed. If no objects require dynamic simulation, omit it to avoid overhead.

Reference files

Read the one the task needs; each is complete on its own.

• Component fields, enums and shape dimensions → references/component-reference.md
• Workflows — dynamic bodies, static colliders, kinematic platforms, grabbables, forces, custom systems, a full playground example → references/workflows.md
• Material tuning, system priority, PhysicsSystem config, scene JSON → references/tuning-and-config.md

Troubleshooting

Objects fall through the floor:

• Ensure the floor entity has both PhysicsShape and PhysicsBody with state: PhysicsState.Static
• Verify the shape type and dimensions match the visual geometry
• If the Auto or ConvexHull is selected for the PhysicsShape of static objects, try to change into TriMesh
• Check that physics: true is set in iwsdk.config.json world features

Objects don't move:

• Confirm state is PhysicsState.Dynamic (not Static or Kinematic)
• Check gravityFactor is > 0
• Verify both PhysicsShape and PhysicsBody are added (both are required)

Objects are too bouncy or slide too much:

• Lower restitution to reduce bouncing (0 = no bounce)
• Increase friction to reduce sliding (0.8+ for grippy surfaces)

Objects move too slowly or feel sluggish:

• Reduce linearDamping (0 = no air resistance)
• Check density is not too high (high density = heavy = resists force)

Poor frame rate with many physics objects:

• Use simpler shape types (Sphere/Box instead of ConvexHull/TriMesh)
• Use TriMesh only for static objects
• Explicitly set shape types instead of Auto to avoid detection overhead
• Reduce the number of dynamic bodies; make non-essential objects static

Grabbed object doesn't follow hand:

• Ensure grabbing: true in features
• Verify the entity has RayInteractable and a grabbable component (OneHandGrabbable, TwoHandsGrabbable, or DistanceGrabbable)

PhysicsManipulation has no effect:

• The entity must have a PhysicsBody with an active engine body (_engineBody != 0)
• The component is auto-removed after one frame; re-add it for sustained effects
• Force values may need to be larger; they are scaled by frame delta time

Performance Tips

1. Use primitive shapes (Sphere, Box, Cylinder) over ConvexHull/TriMesh whenever acceptable
2. Use PhysicsState.Static for all non-moving objects; static bodies have zero simulation cost
3. Explicitly set shape types in production; avoid Auto detection overhead
4. Minimize dynamic body count -- each dynamic body requires per-frame transform sync
5. Use damping to settle objects faster and reduce ongoing simulation work
6. TriMesh is for static only -- it is computationally expensive and should never be used on dynamic bodies