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Takayama on water resistance in Tears of the Kingdom, 2024.

Source: Game Developers Conference (GDC)

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PEOPLE: - Takahiro Takayama. Physics Programming Lead in Tears of the Kingdom. QUOTE: Takayama: In order to simulate water resistance [in Tears of the Kingdom], when an object enters the water, we use the projected area of the direction of velocity to calculate the resistance. An easier way to simulate water resistance would be to simply apply velocity decay in all directions. But in order for rafts and boats to have a more convincing field and movement to them, we needed changes in velocity based on the contact surface.
August 28, 2025 at 11:22 PM
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Some Takayama quotes about how every object in Tears of the Kingdom is built with functional simulated physics, 2024

Source: Game Developers Conference (GDC)

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www.notion.so/5daa8b399c3d...
PEOPLE: - Takahiro Takayama. Physics Programming Lead for Tears of the Kingdom. QUOTE: Takayama: A world with a high degree of freedom requires everything to be physics driven. Every single thing [in Tears of the Kingdom] without exception is built with dynamic rigid bodies and constraints [instead of with kinematic rigid bodies]. And this is what allowed us to create a world in which players can freely translate their creativity and imagination into action without destroying the world. PEOPLE: - Takahiro Takayama. Physics Programming Lead for Tears of the Kingdom. QUOTE: Takayama: Take the wheel [Zonai component in Tears of the Kingdom]. It's comprised of three rigid bodies: the wheel, motor, and shaft. Instead of the shaft connecting directly with the wheel, it holds up the motor. The torque from the motor transfers to the wheel's rigid body, causing it to rotate, and the friction between the ground and the wheel creates the driving force.
August 2, 2025 at 9:09 PM
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Takayama on how they set physics parameters for objects in Tears of the Kingdom, 2024.

Source: Game Developers Conference (GDC)

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www.notion.so/5daa8b399c3d...
PEOPLE: - Takahiro Takayama. Physics Programming Lead for Tears of the Kingdom. QUOTE: Takayama: [In the Tears of the Kingdom engine,] when we assign a material property to an object, such as wood, metal, stone and so on, that object’s mass and moment of inertia are automatically calculated. The volume necessary for that calculation is in turn calculated based on that object’s shape. But there are times when an automatic calculation doesn't fit our needs. And in those cases, we work with the artists and game designers to make adjustments. For example, objects like boards and slabs are actually thicker than those in the real world … to make them easier to see or control. If the mass for these objects were calculated based on the shape as is they would become way too heavy.
July 27, 2025 at 5:00 AM
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Takayama on Physics-driven vs kinematic rigid body control in Tears of the Kingdom, 2024.

Source: Game Developers Conference (GDC)

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www.notion.so/5daa8b399c3d...
PEOPLE: - Takahiro Takayama. Physics Programming Lead on Tears of the Kingdom. QUOTE: Takayama: Physics-driven [objects] have mass and moment of inertia, and they can be controlled using things like velocity and acceleration. So what … is a non-physics-driven object? … A kinematic rigid body. It is forcibly moving a rigid body at a velocity calculated from the animation. The implementation is easy and the results are visually easy to understand. So we used it quite a bit [early in Tears of the Kingdom’s development]. However, rigid bodies controlled by kinematics have infinite mass and can break down a physics-based calculation. ...This meant chaos for us. The clash between these non-physics driven objects and Ultrahand with its high degree of freedom caused daily problems.
July 23, 2025 at 10:07 PM