reactphysics3d::PhysicsWorld Class Reference

This class represents a physics world. More...

#include <include/reactphysics3d/engine/PhysicsWorld.h>

Classes
struct	WorldSettings
	Structure WorldSettings. More...

Public Member Functions
CollisionDispatch &	getCollisionDispatch ()
	Get the collision dispatch configuration.
void	raycast (const Ray &ray, RaycastCallback *raycastCallback, unsigned short raycastWithCategoryMaskBits=0xFFFF) const
	Ray cast method.
bool	testOverlap (Body *body1, Body *body2)
	Return true if two bodies overlap (collide)
void	testOverlap (Body *body, OverlapCallback &overlapCallback)
	Report all the bodies that overlap (collide) with the body in parameter.
void	testOverlap (OverlapCallback &overlapCallback)
	Report all the bodies that overlap (collide) in the world.
void	testCollision (Body *body1, Body *body2, CollisionCallback &callback)
	Test collision and report contacts between two bodies.
void	testCollision (Body *body, CollisionCallback &callback)
	Test collision and report all the contacts involving the body in parameter.
void	testCollision (CollisionCallback &callback)
	Test collision and report contacts between each colliding bodies in the world.
MemoryManager &	getMemoryManager ()
	Return a reference to the memory manager of the world.
AABB	getWorldAABB (const Collider *collider) const
	Return the current world-space AABB of given collider.
const std::string &	getName () const
	Return the name of the world.
	PhysicsWorld (const PhysicsWorld &world)=delete
	Deleted copy-constructor.
PhysicsWorld &	operator= (const PhysicsWorld &world)=delete
	Deleted assignment operator.
void	update (decimal timeStep)
	Update the physics simulation.
uint16	getNbIterationsVelocitySolver () const
	Get the number of iterations for the velocity constraint solver.
void	setNbIterationsVelocitySolver (uint16 nbIterations)
	Set the number of iterations for the velocity constraint solver.
uint16	getNbIterationsPositionSolver () const
	Get the number of iterations for the position constraint solver.
void	setNbIterationsPositionSolver (uint32 nbIterations)
	Set the number of iterations for the position constraint solver.
void	setContactsPositionCorrectionTechnique (ContactsPositionCorrectionTechnique technique)
	Set the position correction technique used for contacts.
RigidBody *	createRigidBody (const Transform &transform)
	Create a rigid body into the physics world.
void	enableDisableJoints ()
	Disable the joints for pair of sleeping bodies.
void	destroyRigidBody (RigidBody *rigidBody)
	Destroy a rigid body and all the joints which it belongs.
Joint *	createJoint (const JointInfo &jointInfo)
	Create a joint between two bodies in the world and return a pointer to the new joint.
void	destroyJoint (Joint *joint)
	Destroy a joint.
Vector3	getGravity () const
	Return the gravity vector of the world.
void	setGravity (const Vector3 &gravity)
	Set the gravity vector of the world.
bool	isGravityEnabled () const
	Return if the gravity is on.
void	setIsGravityEnabled (bool isGravityEnabled)
	Enable/Disable the gravity.
bool	isSleepingEnabled () const
	Return true if the sleeping technique is enabled.
void	enableSleeping (bool isSleepingEnabled)
	Enable/Disable the sleeping technique.
decimal	getSleepLinearVelocity () const
	Return the current sleep linear velocity.
void	setSleepLinearVelocity (decimal sleepLinearVelocity)
	Set the sleep linear velocity.
decimal	getSleepAngularVelocity () const
	Return the current sleep angular velocity.
void	setSleepAngularVelocity (decimal sleepAngularVelocity)
	Set the sleep angular velocity.
decimal	getTimeBeforeSleep () const
	Return the time a body is required to stay still before sleeping.
void	setTimeBeforeSleep (decimal timeBeforeSleep)
	Set the time a body is required to stay still before sleeping.
void	setEventListener (EventListener *eventListener)
	Set an event listener object to receive events callbacks.
uint32	getNbRigidBodies () const
	Return the number of RigidBody in the physics world.
const RigidBody *	getRigidBody (uint32 index) const
	Return a constant pointer to a given RigidBody of the world.
RigidBody *	getRigidBody (uint32 index)
	Return a pointer to a given RigidBody of the world.
bool	getIsDebugRenderingEnabled () const
	Return true if the debug rendering is enabled.
void	setIsDebugRenderingEnabled (bool isEnabled)
	Set to true if debug rendering is enabled.
DebugRenderer &	getDebugRenderer ()
	Return a reference to the Debug Renderer of the world.

Detailed Description

This class represents a physics world.

Member Function Documentation

createJoint()

Joint * PhysicsWorld::createJoint

(

const JointInfo &

jointInfo

)

Create a joint between two bodies in the world and return a pointer to the new joint.

Parameters

jointInfo

The information that is necessary to create the joint

Returns

A pointer to the joint that has been created in the world

createRigidBody()

RigidBody * PhysicsWorld::createRigidBody

(

const Transform &

transform

)

Create a rigid body into the physics world.

Parameters

transform

Transformation from body local-space to world-space

Returns

A pointer to the body that has been created in the world

destroyJoint()

void PhysicsWorld::destroyJoint

(

Joint *

joint

)

Destroy a joint.

Parameters

joint

Pointer to the joint you want to destroy

destroyRigidBody()

void PhysicsWorld::destroyRigidBody

(

RigidBody *

rigidBody

)

Destroy a rigid body and all the joints which it belongs.

Parameters

rigidBody

Pointer to the body you want to destroy

enableSleeping()

void PhysicsWorld::enableSleeping

(

bool

isSleepingEnabled

)

Enable/Disable the sleeping technique.

The sleeping technique is used to put bodies that are not moving into sleep to speed up the simulation.

Parameters

isSleepingEnabled

True if you want to enable the sleeping technique and false otherwise

getCollisionDispatch()

RP3D_FORCE_INLINE CollisionDispatch & reactphysics3d::PhysicsWorld::getCollisionDispatch

(

)

Get the collision dispatch configuration.

This can be used to replace default collision detection algorithms by your custom algorithm for instance.

Parameters

CollisionDispatch

Pointer to a collision dispatch object describing which collision detection algorithm to use for two given collision shapes

getDebugRenderer()

RP3D_FORCE_INLINE DebugRenderer & reactphysics3d::PhysicsWorld::getDebugRenderer

(

)

Return a reference to the Debug Renderer of the world.

Returns

A reference to the DebugRenderer object of the world

getGravity()

RP3D_FORCE_INLINE Vector3 reactphysics3d::PhysicsWorld::getGravity

(

)

const

Return the gravity vector of the world.

Returns

The current gravity vector (in meter per seconds squared)

getIsDebugRenderingEnabled()

RP3D_FORCE_INLINE bool reactphysics3d::PhysicsWorld::getIsDebugRenderingEnabled

(

)

const

Return true if the debug rendering is enabled.

Returns

True if the debug rendering is enabled and false otherwise

getName()

RP3D_FORCE_INLINE const std::string & reactphysics3d::PhysicsWorld::getName

(

)

const

Return the name of the world.

Returns

Name of the world

getNbIterationsPositionSolver()

RP3D_FORCE_INLINE uint16 reactphysics3d::PhysicsWorld::getNbIterationsPositionSolver

(

)

const

Get the number of iterations for the position constraint solver.

Returns

The number of iterations of the position constraint solver

getNbIterationsVelocitySolver()

RP3D_FORCE_INLINE uint16 reactphysics3d::PhysicsWorld::getNbIterationsVelocitySolver

(

)

const

Get the number of iterations for the velocity constraint solver.

Returns

The number of iterations of the velocity constraint solver

getNbRigidBodies()

RP3D_FORCE_INLINE uint32 reactphysics3d::PhysicsWorld::getNbRigidBodies

(

)

const

Return the number of RigidBody in the physics world.

Returns

The number of rigid bodies in the physics world

getRigidBody() [1/2]

RigidBody * PhysicsWorld::getRigidBody

(

uint32

index

)

Return a pointer to a given RigidBody of the world.

Parameters

index

Index of a RigidBody in the world

Returns

Pointer to a given RigidBody

getRigidBody() [2/2]

const RigidBody * PhysicsWorld::getRigidBody

(

uint32

index

)

const

Return a constant pointer to a given RigidBody of the world.

Parameters

index

Index of a RigidBody in the world

Returns

Constant pointer to a given RigidBody

getSleepAngularVelocity()

RP3D_FORCE_INLINE decimal reactphysics3d::PhysicsWorld::getSleepAngularVelocity

(

)

const

Return the current sleep angular velocity.

Returns

The sleep angular velocity (in radian per second)

getSleepLinearVelocity()

RP3D_FORCE_INLINE decimal reactphysics3d::PhysicsWorld::getSleepLinearVelocity

(

)

const

Return the current sleep linear velocity.

Returns

The sleep linear velocity (in meters per second)

getTimeBeforeSleep()

RP3D_FORCE_INLINE decimal reactphysics3d::PhysicsWorld::getTimeBeforeSleep

(

)

const

Return the time a body is required to stay still before sleeping.

Returns

Time a body is required to stay still before sleeping (in seconds)

getWorldAABB()

AABB PhysicsWorld::getWorldAABB

(

const Collider *

collider

)

const

Return the current world-space AABB of given collider.

Parameters

collider

Pointer to a collider

Returns

The AAABB of the collider in world-space

isGravityEnabled()

RP3D_FORCE_INLINE bool reactphysics3d::PhysicsWorld::isGravityEnabled

(

)

const

Return if the gravity is on.

Returns

True if the gravity is enabled in the world

isSleepingEnabled()

RP3D_FORCE_INLINE bool reactphysics3d::PhysicsWorld::isSleepingEnabled

(

)

const

Return true if the sleeping technique is enabled.

Returns

True if the sleeping technique is enabled and false otherwise

raycast()

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::raycast	(	const Ray &	ray,
		RaycastCallback *	raycastCallback,
		unsigned short	raycastWithCategoryMaskBits = 0xFFFF
	)		const

Ray cast method.

Parameters

ray	Ray to use for raycasting
raycastCallback	Pointer to the class with the callback method
raycastWithCategoryMaskBits	Bits mask corresponding to the category of bodies to be raycasted

setContactsPositionCorrectionTechnique()

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::setContactsPositionCorrectionTechnique

(

ContactsPositionCorrectionTechnique

technique

)

Set the position correction technique used for contacts.

Parameters

technique

Technique used for the position correction (Baumgarte or Split Impulses)

setEventListener()

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::setEventListener

(

EventListener *

eventListener

)

Set an event listener object to receive events callbacks.

If you use "nullptr" as an argument, the events callbacks will be disabled.

Parameters

eventListener

Pointer to the event listener object that will receive event callbacks during the simulation

setGravity()

void PhysicsWorld::setGravity

(

const Vector3 &

gravity

)

Set the gravity vector of the world.

Parameters

gravity

The gravity vector (in meter per seconds squared)

setIsDebugRenderingEnabled()

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::setIsDebugRenderingEnabled

(

bool

isEnabled

)

Set to true if debug rendering is enabled.

Parameters

isEnabled

True if you want to enable the debug rendering and false otherwise

setIsGravityEnabled()

void PhysicsWorld::setIsGravityEnabled

(

bool

isGravityEnabled

)

Enable/Disable the gravity.

Parameters

isGravityEnabled

True if you want to enable the gravity in the world and false otherwise

setNbIterationsPositionSolver()

void PhysicsWorld::setNbIterationsPositionSolver

(

uint32

nbIterations

)

Set the number of iterations for the position constraint solver.

Parameters

nbIterations

Number of iterations for the position solver

setNbIterationsVelocitySolver()

void PhysicsWorld::setNbIterationsVelocitySolver

(

uint16

nbIterations

)

Set the number of iterations for the velocity constraint solver.

Parameters

nbIterations

Number of iterations for the velocity solver

setSleepAngularVelocity()

void PhysicsWorld::setSleepAngularVelocity

(

decimal

sleepAngularVelocity

)

Set the sleep angular velocity.

When the velocity of a body becomes smaller than the sleep linear/angular velocity for a given amount of time, the body starts sleeping and does not need to be simulated anymore.

Parameters

sleepAngularVelocity

The sleep angular velocity (in radian per second)

setSleepLinearVelocity()

void PhysicsWorld::setSleepLinearVelocity

(

decimal

sleepLinearVelocity

)

Set the sleep linear velocity.

When the velocity of a body becomes smaller than the sleep linear/angular velocity for a given amount of time, the body starts sleeping and does not need to be simulated anymore.

Parameters

sleepLinearVelocity

The sleep linear velocity (in meters per second)

setTimeBeforeSleep()

void PhysicsWorld::setTimeBeforeSleep

(

decimal

timeBeforeSleep

)

Set the time a body is required to stay still before sleeping.

Parameters

timeBeforeSleep

Time a body is required to stay still before sleeping (in seconds)

testCollision() [1/3]

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::testCollision	(	Body *	body,
		CollisionCallback &	callback
	)

Test collision and report all the contacts involving the body in parameter.

Use this method if you only want to get all the contacts involving a given body.

All the contacts will be reported using the callback object in paramater. If you are not interested in the contacts but you only want to know if the bodies collide, you can use the testOverlap() method instead.

Parameters

body	Pointer to the body against which we need to test collision
callback	Pointer to the object with the callback method to report contacts

testCollision() [2/3]

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::testCollision	(	Body *	body1,
		Body *	body2,
		CollisionCallback &	callback
	)

Test collision and report contacts between two bodies.

Use this method if you only want to get all the contacts between two bodies.

All the contacts will be reported using the callback object in paramater. If you are not interested in the contacts but you only want to know if the bodies collide, you can use the testOverlap() method instead.

Parameters

body1	Pointer to the first body to test
body2	Pointer to the second body to test
callback	Pointer to the object with the callback method

testCollision() [3/3]

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::testCollision

(

CollisionCallback &

callback

)

Test collision and report contacts between each colliding bodies in the world.

Use this method if you want to get all the contacts between colliding bodies in the world.

All the contacts will be reported using the callback object in paramater. If you are not interested in the contacts but you only want to know if the bodies collide, you can use the testOverlap() method instead.

Parameters

callback

Pointer to the object with the callback method to report contacts

testOverlap() [1/3]

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::testOverlap	(	Body *	body,
		OverlapCallback &	overlapCallback
	)

Report all the bodies that overlap (collide) with the body in parameter.

Use this method if you are not interested in contacts but if you simply want to know which bodies overlap with the body in parameter.

If you want to get the contacts, you need to use the testCollision() method instead.

Parameters

body	Pointer to the collision body to test overlap with
overlapCallback	Pointer to the callback class to report overlap

testOverlap() [2/3]

bool PhysicsWorld::testOverlap	(	Body *	body1,
		Body *	body2
	)

Return true if two bodies overlap (collide)

Use this method if you are not interested in contacts but if you simply want to know if the two bodies overlap.

If you want to get the contacts, you need to use the testCollision() method instead.

Parameters

body1	Pointer to the first body
body2	Pointer to a second body

Returns

True if the two bodies overlap

testOverlap() [3/3]

RP3D_FORCE_INLINE void reactphysics3d::PhysicsWorld::testOverlap

(

OverlapCallback &

overlapCallback

)

Report all the bodies that overlap (collide) in the world.

Use this method if you are not interested in contacts but if you simply want to know which bodies overlap.

If you want to get the contacts, you need to use the testCollision() method instead.

Parameters

overlapCallback

Pointer to the callback class to report overlap

update()

void PhysicsWorld::update

(

decimal

timeStep

)

Update the physics simulation.

Parameters

timeStep

The amount of time to step the simulation by (in seconds)

---

The documentation for this class was generated from the following files:

• include/reactphysics3d/engine/PhysicsWorld.h
• src/engine/PhysicsWorld.cpp