reactphysics3d Namespace Reference

Namespace reactphysics3d. More...

Classes
class	Body
	This class represents a body. More...
class	RigidBody
	This class represents a rigid body of the physics engine. More...
struct	TreeNode
	This structure represents a node of the dynamic AABB tree. More...
class	DynamicAABBTreeOverlapCallback
	Overlapping callback method that has to be used as parameter of the reportAllShapesOverlappingWithNode() method. More...
class	DynamicAABBTreeRaycastCallback
	Raycast callback in the Dynamic AABB Tree called when the AABB of a leaf node is hit by the ray. More...
class	DynamicAABBTree
	This class implements a dynamic AABB tree that is used for broad-phase collision detection. More...
class	Collider
	A collider has a collision shape (box, sphere, capsule, ...) and is attached to a RigidBody. More...
class	CollisionCallback
	This abstract class can be used to register a callback for collision test queries. More...
class	ContactManifold
	This class represents a set of contact points between two bodies that all have a similar contact normal direction. More...
struct	ContactManifoldInfo
	This structure contains informations about a collision contact manifold computed during the narrow-phase collision detection. More...
struct	ContactPair
	This structure represents a pair of shapes that are in contact during narrow-phase. More...
struct	ContactPointInfo
	This structure contains informations about a collision contact computed during the narrow-phase collision detection. More...
class	ConvexMesh
	This class describes a convex mesh made of faces and vertices. More...
class	HalfEdgeStructure
	This class describes a polyhedron mesh made of faces and vertices. More...
class	HeightField
	This class represents a static height field that can be used to represent a terrain. More...
class	CapsuleVsCapsuleAlgorithm
	This class is used to compute the narrow-phase collision detection between two capsules collision shapes. More...
class	CapsuleVsConvexPolyhedronAlgorithm
	This class is used to compute the narrow-phase collision detection between a capsule and a convex polyhedron. More...
class	CollisionDispatch
	This is the collision dispatch configuration use in ReactPhysics3D. More...
class	ConvexPolyhedronVsConvexPolyhedronAlgorithm
	This class is used to compute the narrow-phase collision detection between two convex polyhedra. More...
class	Array
	This class represents a simple dynamic array with custom memory allocator. More...
class	GJKAlgorithm
	This class implements a narrow-phase collision detection algorithm. More...
class	VoronoiSimplex
	This class represents a simplex which is a set of 3D points. More...
class	NarrowPhaseCallback
	This abstract class is the base class for a narrow-phase collision callback class. More...
class	NarrowPhaseAlgorithm
	This abstract class is the base class for a narrow-phase collision detection algorithm. More...
struct	NarrowPhaseInfoBatch
	This structure collects all the potential collisions from the middle-phase algorithm that have to be tested during narrow-phase collision detection. More...
class	NarrowPhaseInput
	This structure contains everything that is needed to perform the narrow-phase collision detection. More...
class	SATAlgorithm
	This class implements the Separating Axis Theorem algorithm (SAT). More...
class	SphereVsCapsuleAlgorithm
	This class is used to compute the narrow-phase collision detection between a sphere collision shape and a capsule collision shape. More...
class	SphereVsConvexPolyhedronAlgorithm
	This class is used to compute the narrow-phase collision detection between a sphere and a convex polyhedron. More...
class	SphereVsSphereAlgorithm
	This class is used to compute the narrow-phase collision detection between two sphere collision shapes. More...
class	OverlapCallback
	This class can be used to register a callback for collision overlap queries between bodies. More...
class	PolygonVertexArray
	This class is used to describe the vertices and faces of a mesh. More...
struct	RaycastInfo
	This structure contains the information about a raycast hit. More...
class	RaycastCallback
	This class can be used to register a callback for ray casting queries. More...
struct	RaycastTest
	Structure RaycastTest. More...
class	AABB
	This class represents a bounding volume of type "Axis Aligned Bounding Box". More...
class	BoxShape
	This class represents a 3D box shape. More...
class	CapsuleShape
	This class represents a capsule collision shape that is defined around the Y axis. More...
class	CollisionShape
	This abstract class represents the collision shape associated with a body that is used during the narrow-phase collision detection. More...
class	ConvexTriangleAABBOverlapCallback
	This class represents a callback when an overlap occurs. More...
class	ConcaveMeshRaycastCallback
	Class ConcaveMeshRaycastCallback. More...
class	ConcaveMeshShape
	This class represents a static concave mesh shape. More...
class	TriangleCallback
	This class is used to encapsulate a callback method for a single triangle of a ConcaveMesh. More...
class	ConcaveShape
	This abstract class represents a concave collision shape associated with a body that is used during the narrow-phase collision detection. More...
class	ConvexMeshShape
	This class represents a convex mesh shape. More...
class	ConvexPolyhedronShape
	This abstract class represents a convex polyhedron collision shape associated with a body that is used during the narrow-phase collision detection. More...
class	ConvexShape
	This abstract class represents a convex collision shape associated with a body that is used during the narrow-phase collision detection. More...
class	HeightFieldShape
	This class represents a static height field that can be used to represent a terrain. More...
class	SphereShape
	This class represents a sphere collision shape that is centered at the origin and defined by its radius. More...
class	TriangleShape
	This class represents a triangle collision shape that is centered at the origin and defined three points. More...
class	TriangleMesh
	This class represents a mesh made of triangles. More...
class	TriangleVertexArray
	This class is used to describe the vertices and faces of a triangular mesh. More...
class	VertexArray
	This class is used to describe an array of vertices. More...
class	BallAndSocketJointComponents
	This class represent the component of the ECS with data for the BallAndSocketJoint. More...
class	BodyComponents
	This class represent the component of the ECS that contains data about a body. More...
class	ColliderComponents
	This class represent the component of the ECS that contains data about the the colliders of the different bodies. More...
class	Components
	This class represent the abstract class to store components of the ECS. More...
class	FixedJointComponents
	This class represent the component of the ECS with data for the FixedJoint. More...
class	HingeJointComponents
	This class represent the component of the ECS with data for the HingeJoint. More...
class	JointComponents
	This class represent the component of the ECS that contains generic information about all the joints. More...
class	RigidBodyComponents
	This class represent the component of the ECS that contains data about a rigid body. More...
class	SliderJointComponents
	This class represent the component of the ECS with data for the SliderJoint. More...
class	TransformComponents
	This class represent the component of the ECS that contains the transforms of the different entities. More...
struct	BallAndSocketJointInfo
	This structure is used to gather the information needed to create a ball-and-socket joint. More...
class	BallAndSocketJoint
	This class represents a ball-and-socket joint that allows arbitrary rotation between two bodies. More...
class	ContactPoint
	This class represents a collision contact point between two bodies in the physics engine. More...
struct	FixedJointInfo
	This structure is used to gather the information needed to create a fixed joint. More...
class	FixedJoint
	This class represents a fixed joint that is used to forbid any translation or rotation between two bodies. More...
struct	HingeJointInfo
	This structure is used to gather the information needed to create a hinge joint. More...
class	HingeJoint
	This class represents a hinge joint that allows arbitrary rotation between two bodies around a single axis. More...
struct	JointInfo
	This structure is used to gather the information needed to create a joint. More...
class	Joint
	This abstract class represents a joint between two bodies. More...
struct	SliderJointInfo
	This structure is used to gather the information needed to create a slider joint. More...
class	SliderJoint
	This class represents a slider joint. More...
class	Deque
	This class represents a Deque. More...
class	LinkedList
	This class represents a simple generic linked list. More...
class	Map
	This class represents a simple generic associative map. More...
class	Pair
	This class represents a simple generic pair. More...
class	Set
	This class represents a simple generic set. More...
class	Stack
	This class represents a simple generic stack. More...
struct	Entity
	This class is used to identify an entity in the Entity-Component-System. More...
class	EntityManager
	This class is responsible to manage the entities of the ECS. More...
class	EventListener
	This class can be used to receive notifications about events that occur during the simulation. More...
class	Island
	An island represent an isolated group of awake bodies that are connected with each other by some contraints (contacts or joints). More...
struct	Islands
	This class contains all the islands of bodies during a frame. More...
class	Material
	This class contains the material properties of a collider that will be use for the dynamics simulation like the friction coefficient or the bounciness of the rigid body. More...
struct	LastFrameCollisionInfo
	This structure contains collision info about the last frame. More...
class	OverlappingPairs
	This class contains pairs of two colliders that are overlapping during the broad-phase collision detection. More...
class	PhysicsCommon
	This class is a singleton that needs to be instanciated once at the beginning. More...
class	PhysicsWorld
	This class represents a physics world. More...
class	Matrix2x2
	This class represents a 2x2 matrix. More...
class	Matrix3x3
	This class represents a 3x3 matrix. More...
struct	Quaternion
	This class represents a quaternion. More...
struct	Ray
	This structure represents a 3D ray represented by two points. More...
class	Transform
	This class represents a position and an orientation in 3D. More...
struct	Vector2
	This class represents a 2D vector. More...
struct	Vector3
	This class represents a 3D vector. More...
class	DefaultAllocator
	This class represents a default memory allocator that uses standard C++ functions to allocated 16-bytes aligned memory. More...
class	HeapAllocator
	This class is used to efficiently allocate memory on the heap. More...
class	MemoryAllocator
	Abstract class with the basic interface of all the derived memory allocators. More...
class	MemoryManager
	The memory manager is used to store the different memory allocators that are used by the library. More...
class	PoolAllocator
	This class is used to efficiently allocate memory on the heap. More...
class	SingleFrameAllocator
	This class represent a memory allocator used to efficiently allocate memory on the heap that is used during a single frame. More...
class	AABBOverlapCallback
	This class represents a callback when two AABB overlap. More...
class	BroadPhaseRaycastCallback
	Callback called when the AABB of a leaf node is hit by a ray the broad-phase Dynamic AABB Tree. More...
class	BroadPhaseSystem
	This class represents the broad-phase collision detection. More...
class	CollisionDetectionSystem
	This class computes the collision detection algorithms. More...
struct	ConstraintSolverData
	This structure contains data from the constraint solver that are used to solve each joint constraint. More...
class	ConstraintSolverSystem
	This class represents the constraint solver that is used to solve constraints between the rigid bodies. More...
class	ContactSolverSystem
	This class represents the contact solver system that is used to solve rigid bodies contacts. More...
class	DynamicsSystem
	This class is responsible to compute and update the dynamics of the bodies that are simulated using physics. More...
class	SolveBallAndSocketJointSystem
	This class is responsible to solve the BallAndSocketJoint constraints. More...
class	SolveFixedJointSystem
	This class is responsible to solve the FixedJoint constraints. More...
class	SolveHingeJointSystem
	This class is responsible to solve the BallAndSocketJoint constraints. More...
class	SolveSliderJointSystem
	This class is responsible to solve the SliderJoint constraints. More...
class	DebugRenderer
	This class is used to display physics debug information directly into the user application view. More...
class	DefaultLogger
	This class is the default logger class used to log information, warnings or errors during the execution of the library code for easier debugging. More...
class	Logger
	This abstract class is the base class used to log information, warnings or errors during the execution of the library code for easier debugging. More...
struct	Message
	This structure represent a message that can be returned to the user. More...
class	QHHalfEdgeStructure
	This class describes a polyhedron mesh made of faces and vertices. More...
class	QuickHull
	This class implements the Quickhull algorithm to compute a convex mesh from a set of 3D points. More...

Typedefs
typedef unsigned int	Bits
using	uint = unsigned int
using	uchar = unsigned char
using	ushort = unsigned short
using	luint = long unsigned int
using	int8 = std::int8_t
using	uint8 = std::uint8_t
using	int16 = std::int16_t
using	uint16 = std::uint16_t
using	int32 = std::int32_t
using	uint32 = std::uint32_t
using	int64 = std::int64_t
using	uint64 = std::uint64_t
using	bodypair = Pair< Entity, Entity >
using	decimal = float

Enumerations
enum class	NarrowPhaseAlgorithmType {   NoCollisionTest , SphereVsSphere , SphereVsCapsule , CapsuleVsCapsule ,   SphereVsConvexPolyhedron , CapsuleVsConvexPolyhedron , ConvexPolyhedronVsConvexPolyhedron }
	Enumeration for the type of narrow-phase collision detection algorithm.
enum class	CollisionShapeType { SPHERE , CAPSULE , CONVEX_POLYHEDRON , CONCAVE_SHAPE }
	Type of collision shapes.
enum class	CollisionShapeName {   TRIANGLE , SPHERE , CAPSULE , BOX ,   CONVEX_MESH , TRIANGLE_MESH , HEIGHTFIELD }
	Names of collision shapes.
enum class	TriangleRaycastSide { FRONT , BACK , FRONT_AND_BACK }
	Raycast test side for the triangle. More...
enum class	BodyType { STATIC , KINEMATIC , DYNAMIC }
	Enumeration for the type of a body STATIC : A static body has infinite mass, zero velocity but the position can be changed manually. More...
enum class	JointsPositionCorrectionTechnique { BAUMGARTE_JOINTS , NON_LINEAR_GAUSS_SEIDEL }
	Position correction technique used in the constraint solver (for joints). More...
enum class	ContactsPositionCorrectionTechnique { BAUMGARTE_CONTACTS , SPLIT_IMPULSES }
	Position correction technique used in the contact solver (for contacts) BAUMGARTE_CONTACTS : Faster but can be innacurate and can lead to unexpected bounciness in some situations (due to error correction factor being added to the bodies momentum). More...
enum class	JointType { BALLSOCKETJOINT , SLIDERJOINT , HINGEJOINT , FIXEDJOINT }
	Enumeration for the type of a constraint.

Functions
template<class T >
void	hash_combine (std::size_t &seed, const T &v)
	This method is used to combine two hash values.
RP3D_FORCE_INLINE bool	approxEqual (decimal a, decimal b, decimal epsilon=MACHINE_EPSILON)
	Function to test if two real numbers are (almost) equal We test if two numbers a and b are such that (a-b) are in [-EPSILON; EPSILON].
RP3D_FORCE_INLINE int	clamp (int value, int lowerLimit, int upperLimit)
	Function that returns the result of the "value" clamped by two others values "lowerLimit" and "upperLimit".
RP3D_FORCE_INLINE decimal	clamp (decimal value, decimal lowerLimit, decimal upperLimit)
	Function that returns the result of the "value" clamped by two others values "lowerLimit" and "upperLimit".
RP3D_FORCE_INLINE decimal	min3 (decimal a, decimal b, decimal c)
	Return the minimum value among three values.
RP3D_FORCE_INLINE decimal	max3 (decimal a, decimal b, decimal c)
	Return the maximum value among three values.
RP3D_FORCE_INLINE bool	sameSign (decimal a, decimal b)
	Return true if two values have the same sign.
RP3D_FORCE_INLINE bool	areParallelVectors (const Vector3 &vector1, const Vector3 &vector2)
RP3D_FORCE_INLINE bool	areOrthogonalVectors (const Vector3 &vector1, const Vector3 &vector2)
RP3D_FORCE_INLINE Vector3	clamp (const Vector3 &vector, decimal maxLength)
RP3D_FORCE_INLINE Vector3	computeClosestPointOnSegment (const Vector3 &segPointA, const Vector3 &segPointB, const Vector3 &pointC)
RP3D_FORCE_INLINE void	computeClosestPointBetweenTwoSegments (const Vector3 &seg1PointA, const Vector3 &seg1PointB, const Vector3 &seg2PointA, const Vector3 &seg2PointB, Vector3 &closestPointSeg1, Vector3 &closestPointSeg2)
RP3D_FORCE_INLINE void	computeBarycentricCoordinatesInTriangle (const Vector3 &a, const Vector3 &b, const Vector3 &c, const Vector3 &p, decimal &u, decimal &v, decimal &w)
RP3D_FORCE_INLINE decimal	computePlaneSegmentIntersection (const Vector3 &segA, const Vector3 &segB, const decimal planeD, const Vector3 &planeNormal)
RP3D_FORCE_INLINE decimal	computePointToLineDistance (const Vector3 &linePointA, const Vector3 &linePointB, const Vector3 &point)
RP3D_FORCE_INLINE Array< Vector3 >	clipSegmentWithPlanes (const Vector3 &segA, const Vector3 &segB, const Array< Vector3 > &planesPoints, const Array< Vector3 > &planesNormals, MemoryAllocator &allocator)
RP3D_FORCE_INLINE void	clipPolygonWithPlane (const Array< Vector3 > &polygonVertices, const Vector3 &planePoint, const Vector3 &planeNormal, Array< Vector3 > &outClippedPolygonVertices)
RP3D_FORCE_INLINE Vector3	projectPointOntoPlane (const Vector3 &point, const Vector3 &unitPlaneNormal, const Vector3 &planePoint)
RP3D_FORCE_INLINE decimal	computePointToPlaneDistance (const Vector3 &point, const Vector3 &planeNormal, const Vector3 &planePoint)
RP3D_FORCE_INLINE bool	isPowerOfTwo (uint64 number)
	Return true if a number is a power of two.
RP3D_FORCE_INLINE uint64	nextPowerOfTwo64Bits (uint64 number)
	Return the next power of two larger than the number in parameter.
RP3D_FORCE_INLINE uint64	pairNumbers (uint32 number1, uint32 number2)
	Return an unique integer from two integer numbers (pairing function) Here we assume that the two parameter numbers are sorted such that number1 = max(number1, number2) http://szudzik.com/ElegantPairing.pdf.
RP3D_FORCE_INLINE Matrix2x2	operator+ (const Matrix2x2 &matrix1, const Matrix2x2 &matrix2)
RP3D_FORCE_INLINE Matrix2x2	operator- (const Matrix2x2 &matrix1, const Matrix2x2 &matrix2)
RP3D_FORCE_INLINE Matrix2x2	operator- (const Matrix2x2 &matrix)
RP3D_FORCE_INLINE Matrix2x2	operator* (decimal nb, const Matrix2x2 &matrix)
RP3D_FORCE_INLINE Matrix2x2	operator* (const Matrix2x2 &matrix, decimal nb)
RP3D_FORCE_INLINE Matrix2x2	operator* (const Matrix2x2 &matrix1, const Matrix2x2 &matrix2)
RP3D_FORCE_INLINE Vector2	operator* (const Matrix2x2 &matrix, const Vector2 &vector)
RP3D_FORCE_INLINE Matrix3x3	operator+ (const Matrix3x3 &matrix1, const Matrix3x3 &matrix2)
RP3D_FORCE_INLINE Matrix3x3	operator- (const Matrix3x3 &matrix1, const Matrix3x3 &matrix2)
RP3D_FORCE_INLINE Matrix3x3	operator- (const Matrix3x3 &matrix)
RP3D_FORCE_INLINE Matrix3x3	operator* (decimal nb, const Matrix3x3 &matrix)
RP3D_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &matrix, decimal nb)
RP3D_FORCE_INLINE Matrix3x3	operator* (const Matrix3x3 &matrix1, const Matrix3x3 &matrix2)
RP3D_FORCE_INLINE Vector3	operator* (const Matrix3x3 &matrix, const Vector3 &vector)
RP3D_FORCE_INLINE Vector2	operator+ (const Vector2 &vector1, const Vector2 &vector2)
RP3D_FORCE_INLINE Vector2	operator- (const Vector2 &vector1, const Vector2 &vector2)
RP3D_FORCE_INLINE Vector2	operator- (const Vector2 &vector)
RP3D_FORCE_INLINE Vector2	operator* (const Vector2 &vector, decimal number)
RP3D_FORCE_INLINE Vector2	operator* (const Vector2 &vector1, const Vector2 &vector2)
RP3D_FORCE_INLINE Vector2	operator/ (const Vector2 &vector, decimal number)
RP3D_FORCE_INLINE Vector2	operator/ (const Vector2 &vector1, const Vector2 &vector2)
RP3D_FORCE_INLINE Vector2	operator* (decimal number, const Vector2 &vector)
RP3D_FORCE_INLINE bool	approxEqual (const Vector2 &vec1, const Vector2 &vec2, decimal epsilon=MACHINE_EPSILON)
RP3D_FORCE_INLINE Vector3	operator+ (const Vector3 &vector1, const Vector3 &vector2)
RP3D_FORCE_INLINE Vector3	operator- (const Vector3 &vector1, const Vector3 &vector2)
RP3D_FORCE_INLINE Vector3	operator- (const Vector3 &vector)
RP3D_FORCE_INLINE Vector3	operator* (const Vector3 &vector, decimal number)
RP3D_FORCE_INLINE Vector3	operator/ (const Vector3 &vector, decimal number)
RP3D_FORCE_INLINE Vector3	operator/ (const Vector3 &vector1, const Vector3 &vector2)
RP3D_FORCE_INLINE Vector3	operator* (decimal number, const Vector3 &vector)
RP3D_FORCE_INLINE Vector3	operator* (const Vector3 &vector1, const Vector3 &vector2)

Variables
constexpr decimal	REL_ERROR = decimal(1.0e-3)
constexpr decimal	REL_ERROR_SQUARE = REL_ERROR * REL_ERROR
constexpr int	MAX_ITERATIONS_GJK_RAYCAST = 32
const int	NB_COLLISION_SHAPE_TYPES = 4
const decimal	DECIMAL_SMALLEST = - std::numeric_limits<decimal>::max()
	Smallest decimal value (negative)
const decimal	DECIMAL_LARGEST = std::numeric_limits<decimal>::max()
	Maximum decimal value.
const decimal	MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon()
	Machine epsilon.
constexpr decimal	PI_RP3D = decimal(3.141592653589)
	Pi constant.
constexpr decimal	PI_TIMES_2 = decimal(6.28318530)
	2*Pi constant
constexpr decimal	DYNAMIC_TREE_FAT_AABB_INFLATE_PERCENTAGE = decimal(0.08)
	In the broad-phase collision detection (dynamic AABB tree), the AABBs are inflated by a constant percentage of its size to allow the collision shape to move a little bit without triggering a large modification of the tree each frame which can be costly.
constexpr uint8	NB_MAX_CONTACT_POINTS_IN_NARROWPHASE_INFO = 16
	Maximum number of contact points in a narrow phase info object.
constexpr uint8	NB_MAX_CONTACT_MANIFOLDS = 4
	Maximum number of contact manifolds in an overlapping pair.
constexpr uint8	NB_MAX_POTENTIAL_CONTACT_MANIFOLDS = 64
	Maximum number of potential contact manifolds in an overlapping pair.
constexpr uint8	NB_MAX_CONTACT_POINTS_IN_POTENTIAL_MANIFOLD = 255
	Maximum number of contact points in potential contact manifold.
constexpr decimal	SAME_CONTACT_POINT_DISTANCE_THRESHOLD = decimal(0.01)
	Distance threshold to consider that two contact points in a manifold are the same.
constexpr uint8	GLOBAL_ALIGNMENT = 16
	Global alignment (in bytes) that all allocators must enforce.
const std::string	RP3D_VERSION = std::string("0.10.1")
	Current version of ReactPhysics3D.

Detailed Description

Namespace reactphysics3d.

ReactPhysiscs3D namespace.

ReactPhysics3D namespace.

Namespace ReactPhysics3D.

Enumeration Type Documentation

BodyType

enum reactphysics3d::BodyType

strong

Enumeration for the type of a body STATIC : A static body has infinite mass, zero velocity but the position can be changed manually.

A static body does not collide with other static or kinematic bodies. KINEMATIC : A kinematic body has infinite mass, the velocity can be changed manually and its position is computed by the physics engine. A kinematic body does not collide with other static or kinematic bodies. DYNAMIC : A dynamic body has non-zero mass, non-zero velocity determined by forces and its position is determined by the physics engine. A dynamic body can collide with other dynamic, static or kinematic bodies.

ContactsPositionCorrectionTechnique

enum reactphysics3d::ContactsPositionCorrectionTechnique

strong

Position correction technique used in the contact solver (for contacts) BAUMGARTE_CONTACTS : Faster but can be innacurate and can lead to unexpected bounciness in some situations (due to error correction factor being added to the bodies momentum).

SPLIT_IMPULSES : A bit slower but the error correction factor is not added to the bodies momentum. This is the option used by default.

JointsPositionCorrectionTechnique

enum reactphysics3d::JointsPositionCorrectionTechnique

strong

Position correction technique used in the constraint solver (for joints).

BAUMGARTE_JOINTS : Faster but can be innacurate in some situations. NON_LINEAR_GAUSS_SEIDEL : Slower but more precise. This is the option used by default.

TriangleRaycastSide

enum reactphysics3d::TriangleRaycastSide

strong

Raycast test side for the triangle.

Enumerator
FRONT	Raycast against front triangle.
BACK	Raycast against back triangle.
FRONT_AND_BACK	Raycast against front and back triangle.