Physical entity that exists within a World. More...

#include <Body.hpp>

Collaboration diagram for playrho::d2::Body:

Public Types
enum	Flag : FlagsType { e_awakeFlag = FlagsType(0x0002), e_autoSleepFlag = FlagsType(0x0004), e_impenetrableFlag = FlagsType(0x0008), e_fixedRotationFlag = FlagsType(0x0010), e_enabledFlag = FlagsType(0x0020), e_velocityFlag = FlagsType(0x0080), e_accelerationFlag = FlagsType(0x0100), e_massDataDirtyFlag = FlagsType(0x0200) }
	Flag enumeration. More...

using	FlagsType = std::uint16_t
	Flags type. More...

Public Member Functions
	Body (const BodyConf &bd=GetDefaultBodyConf()) noexcept
	Initializing constructor. More...

const Transformation &	GetTransformation () const noexcept
	Gets the body transform for the body's origin. More...

void	SetTransformation (const Transformation &value) noexcept
	Sets the body's transformation. More...

const Sweep &	GetSweep () const noexcept
	Gets the body's sweep. More...

Velocity	GetVelocity () const noexcept
	Gets the velocity. More...

void	SetVelocity (const Velocity &velocity) noexcept
	Sets the body's velocity (linear and angular velocity). More...

void	JustSetVelocity (Velocity value) noexcept
	Sets the body's velocity. More...

void	SetAcceleration (LinearAcceleration2 linear, AngularAcceleration angular) noexcept
	Sets the linear and rotational accelerations on this body. More...

LinearAcceleration2	GetLinearAcceleration () const noexcept
	Gets this body's linear acceleration. More...

AngularAcceleration	GetAngularAcceleration () const noexcept
	Gets this body's angular acceleration. More...

InvMass	GetInvMass () const noexcept
	Gets the inverse total mass of the body. More...

void	SetInvMass (InvMass v) noexcept
	Sets the inverse mass. More...

InvRotInertia	GetInvRotInertia () const noexcept
	Gets the inverse rotational inertia of the body. More...

void	SetInvRotInertia (InvRotInertia v) noexcept
	Sets the inverse rotational inertia. More...

Frequency	GetLinearDamping () const noexcept
	Gets the linear damping of the body. More...

void	SetLinearDamping (NonNegative< Frequency > linearDamping) noexcept
	Sets the linear damping of the body. More...

Frequency	GetAngularDamping () const noexcept
	Gets the angular damping of the body. More...

void	SetAngularDamping (NonNegative< Frequency > angularDamping) noexcept
	Sets the angular damping of the body. More...

BodyType	GetType () const noexcept
	Gets the type of this body. More...

void	SetType (BodyType value) noexcept
	Sets the type of this body. More...

bool	IsSpeedable () const noexcept
	Is "speedable". More...

bool	IsAccelerable () const noexcept
	Is "accelerable". More...

bool	IsImpenetrable () const noexcept
	Is this body treated like a bullet for continuous collision detection? More...

void	SetImpenetrable () noexcept
	Sets the impenetrable status of this body. More...

void	UnsetImpenetrable () noexcept
	Unsets the impenetrable status of this body. More...

bool	IsSleepingAllowed () const noexcept
	Gets whether or not this body allowed to sleep. More...

void	SetSleepingAllowed (bool flag) noexcept
	Sets whether or not this body is allowed to sleep. More...

bool	IsAwake () const noexcept
	Gets the awake/asleep state of this body. More...

void	SetAwake () noexcept
	Awakens this body. More...

void	UnsetAwake () noexcept
	Sets this body to asleep if sleeping is allowed. More...

Time	GetUnderActiveTime () const noexcept
	Gets this body's under-active time value. More...

void	SetUnderActiveTime (Time value) noexcept
	Sets the "under-active" time to the given value. More...

void	ResetUnderActiveTime () noexcept
	Resets the under-active time for this body. More...

bool	IsFixedRotation () const noexcept
	Does this body have fixed rotation? More...

void	SetFixedRotation (bool flag)
	Sets this body to have fixed rotation. More...

void	SetAwakeFlag () noexcept
	Sets the body's awake flag. More...

void	UnsetAwakeFlag () noexcept
	Unsets the body's awake flag. More...

bool	IsMassDataDirty () const noexcept
	Gets whether the mass data for this body is "dirty". More...

void	SetMassDataDirty () noexcept
	Sets this body to have the mass data dirty state. More...

void	UnsetMassDataDirty () noexcept
	Unsets the body from being in the mass data dirty state. More...

bool	IsEnabled () const noexcept
	Gets the enabled/disabled state of the body. More...

void	SetEnabled () noexcept
	Sets the enabled state. More...

void	UnsetEnabled () noexcept
	Unsets the enabled flag. More...

void	SetSweep (const Sweep &value) noexcept
	Sets the sweep value of the given body. More...

void	SetPosition0 (const Position value) noexcept
	Sets the "position 0" value of the body to the given position. More...

void	SetPosition1 (const Position value) noexcept
	Sets the body sweep's "position 1" value. More...

void	ResetAlpha0 () noexcept
	Resets the given body's "alpha-0" value. More...

void	Restore (const Sweep &value) noexcept
	Restores the given body's sweep to the given sweep value. More...

void	Advance0 (Real value) noexcept
	Calls the body sweep's `Advance0` method to advance to the given value. More...

void	Advance (Real value) noexcept
	Advances the body by a given time ratio. More...

Static Public Member Functions
static FlagsType	GetFlags (BodyType type) noexcept
	Gets the flags for the given value.

static FlagsType	GetFlags (const BodyConf &bd) noexcept
	Gets the flags for the given value. More...

Private Attributes
Transformation	m_xf
	Transformation for body origin. More...

Sweep	m_sweep
	Sweep motion for CCD. 36-bytes. More...

FlagsType	m_flags = 0
	Flags. 2-bytes.

LinearVelocity2	m_linearVelocity = LinearVelocity2{}
	Linear velocity. More...

LinearAcceleration2	m_linearAcceleration = LinearAcceleration2{}
	Linear acceleration. More...

AngularVelocity	m_angularVelocity = AngularVelocity{}
	Angular velocity. More...

AngularAcceleration	m_angularAcceleration = AngularAcceleration{0}
	Angular acceleration. More...

InvMass	m_invMass = 0
	Inverse mass of the body. More...

InvRotInertia	m_invRotI = 0
	Inverse rotational inertia about the center of mass. More...

NonNegative< Frequency >	m_linearDamping {}
	Linear damping. 4-bytes.

NonNegative< Frequency >	m_angularDamping {}
	Angular damping. 4-bytes.

Time	m_underActiveTime = 0
	Under-active time. More...

Related Functions
(Note that these are not member functions.)
BodyType	GetType (const Body &body) noexcept
	Gets the type of this body. More...

void	SetType (Body &body, BodyType value) noexcept
	Sets the type of this body. More...

bool	IsSpeedable (const Body &body) noexcept
	Is "speedable". More...

bool	IsAccelerable (const Body &body) noexcept
	Is "accelerable". More...

bool	IsImpenetrable (const Body &body) noexcept
	Is this body treated like a bullet for continuous collision detection? More...

void	SetImpenetrable (Body &body) noexcept
	Sets the impenetrable status of this body. More...

void	UnsetImpenetrable (Body &body) noexcept
	Unsets the impenetrable status of this body. More...

bool	IsSleepingAllowed (const Body &body) noexcept
	Gets whether or not this body allowed to sleep. More...

void	SetSleepingAllowed (Body &body, bool value) noexcept
	You can disable sleeping on this body. If you disable sleeping, the body will be woken. More...

bool	IsEnabled (const Body &body) noexcept
	Gets the enabled/disabled state of the body. More...

void	SetEnabled (Body &body) noexcept
	Sets the enabled state. More...

void	UnsetEnabled (Body &body) noexcept
	Unsets the enabled state. More...

void	SetEnabled (Body &body, bool value) noexcept
	Sets the enabled state to the given value. More...

bool	IsAwake (const Body &body) noexcept
	Gets the awake/asleep state of this body. More...

void	SetAwake (Body &body) noexcept
	Awakens this body. More...

void	UnsetAwake (Body &body) noexcept
	Sets this body to asleep if sleeping is allowed. More...

Transformation	GetTransformation (const Body &body) noexcept
	Gets the body's transformation. More...

void	SetTransformation (Body &body, Transformation value) noexcept
	Sets the body's transformation. More...

Length2	GetLocation (const Body &body) noexcept
	Gets the body's origin location. More...

const Sweep &	GetSweep (const Body &body) noexcept
	Gets the body's sweep. More...

void	SetSweep (Body &body, const Sweep &value) noexcept
	Sets the sweep value of the given body. More...

Position	GetPosition1 (const Body &body) noexcept
	Gets the "position 1" Position information for the given body.

Angle	GetAngle (const Body &body) noexcept
	Gets the body's angle. More...

Position	GetPosition (const Body &body) noexcept
	Gets the body's position.

Time	GetUnderActiveTime (const Body &body) noexcept
	Gets the given body's under-active time. More...

bool	IsFixedRotation (const Body &body) noexcept
	Does this body have fixed rotation? More...

void	SetFixedRotation (Body &body, bool value)
	Sets this body to have fixed rotation. More...

bool	IsMassDataDirty (const Body &body) noexcept
	Gets whether the mass data for this body is "dirty".

InvMass	GetInvMass (const Body &body) noexcept
	Gets the inverse total mass of the body. More...

InvRotInertia	GetInvRotInertia (const Body &body) noexcept
	Gets the inverse rotational inertia of the body. More...

Frequency	GetLinearDamping (const Body &body) noexcept
	Gets the linear damping of the body. More...

void	SetLinearDamping (Body &body, NonNegative< Frequency > value) noexcept
	Sets the linear damping of the body. More...

Frequency	GetAngularDamping (const Body &body) noexcept
	Gets the angular damping of the body. More...

void	SetAngularDamping (Body &body, NonNegative< Frequency > value) noexcept
	Sets the angular damping of the body. More...

Acceleration	GetAcceleration (const Body &body) noexcept
	Gets the given body's acceleration. More...

void	SetAcceleration (Body &body, Acceleration value) noexcept
	Sets the accelerations on the given body. More...

LinearAcceleration2	GetLinearAcceleration (const Body &body) noexcept
	Gets this body's linear acceleration. More...

AngularAcceleration	GetAngularAcceleration (const Body &body) noexcept
	Gets this body's angular acceleration. More...

bool	Awaken (Body &body) noexcept
	Awakens the body if it's asleep. More...

bool	Unawaken (Body &body) noexcept
	Puts the body to sleep if it's awake. More...

Mass	GetMass (const Body &body) noexcept
	Gets the mass of the body. More...

void	SetMass (Body &body, Mass mass)
	Sets the mass of the given body.

void	SetAcceleration (Body &body, LinearAcceleration2 linear, AngularAcceleration angular) noexcept
	Sets the linear and rotational accelerations on this body. More...

void	SetAcceleration (Body &body, LinearAcceleration2 value) noexcept
	Sets the given linear acceleration of the given body. More...

void	SetAcceleration (Body &body, AngularAcceleration value) noexcept
	Sets the given angular acceleration of the given body. More...

RotInertia	GetRotInertia (const Body &body) noexcept
	Gets the rotational inertia of the body. More...

RotInertia	GetLocalRotInertia (const Body &body) noexcept
	Gets the rotational inertia of the body about the local origin. More...

Velocity	GetVelocity (const Body &body) noexcept
	Gets the velocity. More...

void	SetVelocity (Body &body, const Velocity &value) noexcept
	Sets the body's velocity (linear and angular velocity). More...

LinearVelocity2	GetLinearVelocity (const Body &body) noexcept
	Gets the linear velocity of the center of mass. More...

AngularVelocity	GetAngularVelocity (const Body &body) noexcept
	Gets the angular velocity. More...

void	SetVelocity (Body &body, LinearVelocity2 value) noexcept
	Sets the linear velocity of the center of mass. More...

void	SetVelocity (Body &body, AngularVelocity value) noexcept
	Sets the angular velocity. More...

Length2	GetWorldPoint (const Body &body, const Length2 localPoint) noexcept
	Gets the world coordinates of a point given in coordinates relative to the body's origin. More...

Length2	GetWorldVector (const Body &body, const Length2 localVector) noexcept
	Gets the world coordinates of a vector given the local coordinates. More...

UnitVec	GetWorldVector (const Body &body, const UnitVec localVector) noexcept
	Gets the world vector for the given local vector from the given body's transformation.

Length2	GetLocalPoint (const Body &body, const Length2 worldPoint) noexcept
	Gets a local point relative to the body's origin given a world point. More...

UnitVec	GetLocalVector (const Body &body, const UnitVec uv) noexcept
	Gets a locally oriented unit vector given a world oriented unit vector. More...

LinearVelocity2	GetLinearVelocityFromWorldPoint (const Body &body, const Length2 worldPoint) noexcept
	Gets the linear velocity from a world point attached to this body. More...

LinearVelocity2	GetLinearVelocityFromLocalPoint (const Body &body, const Length2 localPoint) noexcept
	Gets the linear velocity from a local point. More...

Force2	GetForce (const Body &body) noexcept
	Gets the net force that the given body is currently experiencing.

Torque	GetTorque (const Body &body) noexcept
	Gets the net torque that the given body is currently experiencing.

Velocity	GetVelocity (const Body &body, Time h) noexcept
	Gets the velocity of the body after the given time accounting for the body's acceleration and capped by the given configuration. More...

void	ApplyLinearImpulse (Body &body, Momentum2 impulse, Length2 point) noexcept
	Applies an impulse at a point. More...

void	ApplyAngularImpulse (Body &body, AngularMomentum impulse) noexcept
	Applies an angular impulse. More...

bool	operator== (const Body &lhs, const Body &rhs)
	Equals operator.

bool	operator!= (const Body &lhs, const Body &rhs)
	Not-equals operator.

BodyConf	GetBodyConf (const Body &body) noexcept
	Gets the body definition for the given body. More...

Detailed Description

Physical entity that exists within a World.

A rigid body entity created or destroyed through a World instance. These have physical properties like: position, velocity, acceleration, and mass.

Invariant: Only bodies that allow sleeping, can be put to sleep.; Only "speedable" bodies can be awake.; Only "speedable" bodies can have non-zero velocities.; Only "accelerable" bodies can have non-zero accelerations.; Only "accelerable" bodies can have non-zero "under-active" times.

Note: Create these using the World::CreateBody method.; Destroy these using the World::Destroy(BodyID) method.; From a memory management perspective, bodies own Fixture instances.; On a 64-bit architecture with 4-byte Real, this data structure is at least 192-bytes large.

See also: World, BodyConf.

Examples: Body.cpp.

Member Typedef Documentation

◆ FlagsType

using playrho::d2::Body::FlagsType = std::uint16_t

Flags type.

Note: For internal use. Made public to facilitate unit testing.

Member Enumeration Documentation

◆ Flag

enum playrho::d2::Body::Flag : FlagsType

Flag enumeration.

Note: For internal use. Made public to facilitate unit testing.

Enumerator
e_awakeFlag	Awake flag.
e_autoSleepFlag	Auto sleep flag.
e_impenetrableFlag	Impenetrable flag. Indicates whether CCD should be done for this body. All static and kinematic bodies have this flag enabled.
e_fixedRotationFlag	Fixed rotation flag.
e_enabledFlag	Enabled flag.
e_velocityFlag	Velocity flag. Set this to enable changes in position due to velocity. Bodies with this set are "speedable" - either kinematic or dynamic bodies.
e_accelerationFlag	Acceleration flag. Set this to enable changes in velocity due to physical properties (like forces). Bodies with this set are "accelerable" - dynamic bodies.
e_massDataDirtyFlag	Mass Data Dirty Flag.

Constructor & Destructor Documentation

◆ Body()

playrho::d2::Body::Body ( const BodyConf & bd = GetDefaultBodyConf() )

explicitnoexcept

Initializing constructor.

Note: To create a body within a world, use World::CreateBody.

Parameters

bd	Configuration data for the body to construct.

Postcondition: The internal m_flags state will be set to the value of GetFlags(const BodyConf&) given bd.; GetLinearDamping() will return the value of bd.linearDamping.; GetAngularDamping() will return the value of bd.angularDamping.; GetInvMass() will return Real(0)/Kilogram if bd.type != BodyType::Dynamic, otherwise it will return Real(1)/Kilogram.; GetTransformation() will return the value of playrho::d2::GetTransformation(const BodyConf&) given bd.; GetVelocity() will return the value as if SetVelocity(const Velocity&) had been called with the values of bd.linearVelocity and bd.angularVelocity as the velocity.; GetAcceleration() will return the value as if SetAcceleration(LinearAcceleration2, AngularAcceleration) had been called with the values of bd.linearAcceleration and bd.angularAcceleration.

See also: GetFlags(const BodyConf&).; GetLinearDamping, GetAngularDamping, GetInvMass, GetTransformation, GetVelocity, GetAcceleration.; World::CreateBody.

Member Function Documentation

◆ Advance()

void playrho::d2::Body::Advance ( Real value )

inlinenoexcept

Advances the body by a given time ratio.

This method:

advances the body's sweep to the given time ratio;
updates the body's sweep positions (linear and angular) to the advanced ones; and
updates the body's transform to the new sweep one settings.
Parameters

value Valid new time factor in [0,1) to advance the sweep to.

See also
GetSweep, SetSweep, GetTransofmration, SetTransformation.

◆ Advance0()

void playrho::d2::Body::Advance0 ( Real value )

inlinenoexcept

Calls the body sweep's Advance0 method to advance to the given value.

See also: GetSweep.

◆ GetAngularAcceleration()

AngularAcceleration playrho::d2::Body::GetAngularAcceleration ( ) const

inlinenoexcept

Gets this body's angular acceleration.

See also: SetAcceleration.

◆ GetAngularDamping()

Frequency playrho::d2::Body::GetAngularDamping ( ) const

inlinenoexcept

Gets the angular damping of the body.

See also: SetAngularDamping.

◆ GetFlags()

Body::FlagsType playrho::d2::Body::GetFlags ( const BodyConf & bd )

staticnoexcept

Gets the flags for the given value.

Returns: Value formed in part from calling GetFlags(bd.type).

See also: GetFlags(BodyType).

◆ GetInvMass()

InvMass playrho::d2::Body::GetInvMass ( ) const

inlinenoexcept

Gets the inverse total mass of the body.

This is the cached result of dividing 1 by the body's mass. Often floating division is much slower than multiplication. As such, it's likely faster to multiply values by this inverse value than to redivide them all the time by the mass.

Returns: Value of zero or more representing the body's inverse mass (in 1/kg).

See also: SetInvMass.

◆ GetInvRotInertia()

InvRotInertia playrho::d2::Body::GetInvRotInertia ( ) const

inlinenoexcept

Gets the inverse rotational inertia of the body.

This is the cached result of dividing 1 by the body's rotational inertia. Often floating division is much slower than multiplication. As such, it's likely faster to multiply values by this inverse value than to redivide them all the time by the rotational inertia.

Returns: Inverse rotational inertia (in 1/kg-m^2).

See also: SetInvRotInertia.

◆ GetLinearAcceleration()

LinearAcceleration2 playrho::d2::Body::GetLinearAcceleration ( ) const

inlinenoexcept

Gets this body's linear acceleration.

See also: SetAcceleration.

◆ GetLinearDamping()

Frequency playrho::d2::Body::GetLinearDamping ( ) const

inlinenoexcept

Gets the linear damping of the body.

See also: SetLinearDamping.

◆ GetSweep()

const Sweep & playrho::d2::Body::GetSweep ( ) const

inlinenoexcept

Gets the body's sweep.

See also: SetSweep.

Referenced by playrho::d2::WorldImpl::SetBody().

◆ GetTransformation()

const Transformation & playrho::d2::Body::GetTransformation ( ) const

inlinenoexcept

Gets the body transform for the body's origin.

This gets the translation/location and rotation/direction of the body relative to its world. The location and direction of the body after stepping the world's physics simulations is dependent on a number of factors:

Location and direction at the last time step.
Forces and torques acting on the body (applied force, applied impulse, etc.).
The mass and rotational inertia of the body.
Damping of the body.
Restitution and friction values of the body's fixtures when they experience collisions.
Returns
the world transform of the body's origin.

See also
SetTransformation.

◆ GetType()

BodyType playrho::d2::Body::GetType ( ) const

noexcept

Gets the type of this body.

See also: SetType.

Referenced by playrho::d2::WorldImpl::SetBody().

◆ GetUnderActiveTime()

Time playrho::d2::Body::GetUnderActiveTime ( ) const

inlinenoexcept

Gets this body's under-active time value.

Returns: Zero or more time in seconds (of step time) that this body has been "under-active" for.

See also: SetUnderActiveTime, ResetUnderActiveTime.

◆ GetVelocity()

Velocity playrho::d2::Body::GetVelocity ( ) const

inlinenoexcept

Gets the velocity.

See also: SetVelocity.

◆ IsAccelerable()

bool playrho::d2::Body::IsAccelerable ( ) const

inlinenoexcept

Is "accelerable".

Indicates whether this body is accelerable, i.e. whether it is effected by forces. Only Dynamic bodies are accelerable.

Returns: true if the body is accelerable, false otherwise.

See also: GetType, SetType.

◆ IsAwake()

bool playrho::d2::Body::IsAwake ( ) const

inlinenoexcept

Gets the awake/asleep state of this body.

Warning: Being awake may or may not imply being speedable.

Returns: true if the body is awake.

See also: SetAwake.

◆ IsEnabled()

bool playrho::d2::Body::IsEnabled ( ) const

inlinenoexcept

Gets the enabled/disabled state of the body.

See also: SetEnabled, UnsetEnabled.

◆ IsFixedRotation()

bool playrho::d2::Body::IsFixedRotation ( ) const

inlinenoexcept

Does this body have fixed rotation?

See also: SetFixedRotation.

◆ IsImpenetrable()

bool playrho::d2::Body::IsImpenetrable ( ) const

inlinenoexcept

Is this body treated like a bullet for continuous collision detection?

See also: GetType, SetType, SetImpenetrable, UnsetImpenetrable.

◆ IsMassDataDirty()

bool playrho::d2::Body::IsMassDataDirty ( ) const

inlinenoexcept

Gets whether the mass data for this body is "dirty".

See also: SetMassDataDirty, UnsetMassDataDirty.

◆ IsSleepingAllowed()

bool playrho::d2::Body::IsSleepingAllowed ( ) const

inlinenoexcept

Gets whether or not this body allowed to sleep.

See also: SetSleepingAllowed.

Referenced by UnsetAwake(), and UnsetAwakeFlag().

◆ IsSpeedable()

bool playrho::d2::Body::IsSpeedable ( ) const

inlinenoexcept

Is "speedable".

Is this body able to have a non-zero speed associated with it. Kinematic and Dynamic bodies are speedable. Static bodies are not.

See also: GetType, SetType.

Referenced by Advance(), Advance0(), SetAwake(), SetAwakeFlag(), SetPosition0(), SetPosition1(), SetSweep(), UnsetAwake(), and UnsetAwakeFlag().

◆ JustSetVelocity()

void playrho::d2::Body::JustSetVelocity ( Velocity value )

inlinenoexcept

Sets the body's velocity.

Note: This sets what GetVelocity() returns.

See also: GetVelocity.

Examples: Body.cpp.

◆ ResetAlpha0()

void playrho::d2::Body::ResetAlpha0 ( )

inlinenoexcept

Resets the given body's "alpha-0" value.

See also: GetSweep.

◆ ResetUnderActiveTime()

void playrho::d2::Body::ResetUnderActiveTime ( )

inlinenoexcept

Resets the under-active time for this body.

Note: This has performance degrading potential and is best not called unless the caller is certain that it should be.

See also: GetUnderActiveTime.

Referenced by SetAwake().

◆ Restore()

void playrho::d2::Body::Restore ( const Sweep & value )

inlinenoexcept

Restores the given body's sweep to the given sweep value.

See also: GetSweep, SetSweep.

◆ SetAcceleration()

void playrho::d2::Body::SetAcceleration	(	LinearAcceleration2	linear,
		AngularAcceleration	angular
	)

noexcept

Sets the linear and rotational accelerations on this body.

Note: This has no effect on non-accelerable bodies.; A non-zero acceleration will also awaken the body.

Parameters

linear	Linear acceleration.
angular	Angular acceleration.

See also: GetLinearAcceleration, GetAngularAcceleration.

Examples: Body.cpp.

◆ SetAngularDamping()

void playrho::d2::Body::SetAngularDamping ( NonNegative< Frequency > angularDamping )

inlinenoexcept

Sets the angular damping of the body.

See also: GetAngularDamping.

◆ SetAwake()

void playrho::d2::Body::SetAwake ( )

noexcept

Awakens this body.

Sets this body to awake and resets its under-active time if it's a "speedable" body. This method has no effect otherwise.

Postcondition: If this body is a "speedable" body, then this body's IsAwake method returns true.; If this body is a "speedable" body, then this body's GetUnderActiveTime method returns zero.

See also: IsAwake.

◆ SetAwakeFlag()

void playrho::d2::Body::SetAwakeFlag ( )

inlinenoexcept

Sets the body's awake flag.

This is done unconditionally.

Note: This should not be called unless the body is "speedable".

Warning: Behavior is undefined if called for a body that is not "speedable".

See also: UnsetAwakeFlag.

Referenced by SetAwake().

◆ SetEnabled()

void playrho::d2::Body::SetEnabled ( )

inlinenoexcept

Sets the enabled state.

See also: IsEnabled.

◆ SetFixedRotation()

void playrho::d2::Body::SetFixedRotation ( bool flag )

Sets this body to have fixed rotation.

Note: This causes the mass to be reset.

See also: IsFixedRotation.

Referenced by playrho::d2::SetFixedRotation().

◆ SetImpenetrable()

void playrho::d2::Body::SetImpenetrable ( )

inlinenoexcept

Sets the impenetrable status of this body.

Sets whether or not this body should be treated like a bullet for continuous collision detection.

See also: IsImpenetrable, GetType, SetType.

◆ SetInvMass()

void playrho::d2::Body::SetInvMass ( InvMass v )

inlinenoexcept

Sets the inverse mass.

See also: GetInvMass

Referenced by playrho::d2::SetMass().

◆ SetInvRotInertia()

void playrho::d2::Body::SetInvRotInertia ( InvRotInertia v )

inlinenoexcept

Sets the inverse rotational inertia.

See also: GetInvRotInertia.

Examples: Body.cpp.

◆ SetLinearDamping()

void playrho::d2::Body::SetLinearDamping ( NonNegative< Frequency > linearDamping )

inlinenoexcept

Sets the linear damping of the body.

See also: GetLinearDamping.

◆ SetMassDataDirty()

void playrho::d2::Body::SetMassDataDirty ( )

inlinenoexcept

Sets this body to have the mass data dirty state.

See also: IsMassDataDirty.

◆ SetPosition0()

void playrho::d2::Body::SetPosition0 ( const Position value )

inlinenoexcept

Sets the "position 0" value of the body to the given position.

See also: GetSweep, SetSweep.

◆ SetPosition1()

void playrho::d2::Body::SetPosition1 ( const Position value )

inlinenoexcept

Sets the body sweep's "position 1" value.

See also: GetSweep, SetSweep.

Referenced by playrho::d2::WorldImpl::UpdateBody().

◆ SetSleepingAllowed()

void playrho::d2::Body::SetSleepingAllowed ( bool flag )

inlinenoexcept

Sets whether or not this body is allowed to sleep.

Use to enable/disable sleeping on this body. If you disable sleeping, the body will be woken.

See also: IsSleepingAllowed.

◆ SetSweep()

void playrho::d2::Body::SetSweep ( const Sweep & value )

inlinenoexcept

Sets the sweep value of the given body.

See also: GetSweep.

Examples: Body.cpp.

Referenced by Restore().

◆ SetTransformation()

void playrho::d2::Body::SetTransformation ( const Transformation & value )

inlinenoexcept

Sets the body's transformation.

Note: SetSweep may also need to be called.

Postcondition: GetTransformation() will return the value set.

See also: GetTransformation, GetSweep, SetSweep.

Examples: Body.cpp.

Referenced by Restore(), and playrho::d2::WorldImpl::UpdateBody().

◆ SetType()

void playrho::d2::Body::SetType ( BodyType value )

noexcept

Sets the type of this body.

See also: GetType.

Examples: Body.cpp.

◆ SetUnderActiveTime()

void playrho::d2::Body::SetUnderActiveTime ( Time value )

inlinenoexcept

Sets the "under-active" time to the given value.

Sets the "under-active" time to a value of zero or a non-zero value if the body is "accelerable". Otherwise it does nothing.

Warning: Behavior is undefined for negative values.

Note: A non-zero time is only valid for an "accelerable" body.

See also: GetUnderActiveTime.

◆ SetVelocity()

void playrho::d2::Body::SetVelocity ( const Velocity & velocity )

noexcept

Sets the body's velocity (linear and angular velocity).

Note: This method does nothing if this body is not speedable.; A non-zero velocity will awaken this body.

See also: SetAwake, SetUnderActiveTime, GetVelocity.

Examples: Body.cpp.

◆ UnsetAwake()

void playrho::d2::Body::UnsetAwake ( )

noexcept

Sets this body to asleep if sleeping is allowed.

If this body is allowed to sleep, this: sets the sleep state of the body to asleep, resets this body's under active time, and resets this body's velocity (linear and angular).

Postcondition: This body's IsAwake method returns false.; This body's GetUnderActiveTime method returns zero.; This body's GetVelocity method returns zero linear and zero angular speed.

See also: IsAwake.

◆ UnsetAwakeFlag()

void playrho::d2::Body::UnsetAwakeFlag ( )

inlinenoexcept

Unsets the body's awake flag.

See also: SetAwakeFlag.

Referenced by UnsetAwake().

◆ UnsetEnabled()

void playrho::d2::Body::UnsetEnabled ( )

inlinenoexcept

Unsets the enabled flag.

See also: IsEnabled.

◆ UnsetImpenetrable()

void playrho::d2::Body::UnsetImpenetrable ( )

inlinenoexcept

Unsets the impenetrable status of this body.

Sets whether or not this body should be treated like a bullet for continuous collision detection.

See also: IsImpenetrable, GetType, SetType.

◆ UnsetMassDataDirty()

void playrho::d2::Body::UnsetMassDataDirty ( )

inlinenoexcept

Unsets the body from being in the mass data dirty state.

See also: IsMassDataDirty.

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

void ApplyAngularImpulse	(	Body &	body,
		AngularMomentum	impulse
	)

Parameters

body	Body to apply the angular impulse to.
impulse	Angular impulse to be applied.

◆ ApplyLinearImpulse()

void ApplyLinearImpulse	(	Body &	body,
		Momentum2	impulse,
		Length2	point
	)

Note: This immediately modifies the velocity.; This also modifies the angular velocity if the point of application is not at the center of mass.; Non-zero impulses wakes up the body.

Parameters

body	Body to apply the impulse to.
impulse	the world impulse vector.
point	the world position of the point of application.

◆ Awaken()

bool Awaken ( Body & body )

See also: Unawaken(Body& body).

◆ GetAcceleration()

Acceleration GetAcceleration ( const Body & body )

Parameters

body	Body whose acceleration should be returned.

See also: SetAcceleration(Body& body, Acceleration value).

◆ GetAngle()

Angle GetAngle ( const Body & body )

Returns: Body's angle relative to its World.

Examples: World.cpp.

◆ GetAngularAcceleration()

AngularAcceleration GetAngularAcceleration ( const Body & body )

See also: SetAcceleration(Body& body, Acceleration value), GetLinearAcceleration(const Body& body).

◆ GetAngularDamping()

Frequency GetAngularDamping ( const Body & body )

See also: SetAngularDamping(Body& body, NonNegative<Frequency> value).

◆ GetAngularVelocity()

AngularVelocity GetAngularVelocity ( const Body & body )

Parameters

body	Body to get the angular velocity for.

Returns: the angular velocity.

See also: GetVelocity(const Body& body).

◆ GetBodyConf()

BodyConf GetBodyConf ( const Body & body )

Parameters

body	Body to get the `BodyConf` for.

◆ GetInvMass()

InvMass GetInvMass ( const Body & body )

This is the cached result of dividing 1 by the body's mass. Often floating division is much slower than multiplication. As such, it's likely faster to multiply values by this inverse value than to redivide them all the time by the mass.

Returns: Value of zero or more representing the body's inverse mass (in 1/kg).

See also: SetInvMass.

◆ GetInvRotInertia()

InvRotInertia GetInvRotInertia ( const Body & body )

This is the cached result of dividing 1 by the body's rotational inertia. Often floating division is much slower than multiplication. As such, it's likely faster to multiply values by this inverse value than to redivide them all the time by the rotational inertia.

Returns: Inverse rotational inertia (in 1/kg-m^2).

◆ GetLinearAcceleration()

LinearAcceleration2 GetLinearAcceleration ( const Body & body )

See also: SetAcceleration(Body& body, Acceleration value), GetAngularAcceleration(const Body& body).

Examples: World.cpp.

◆ GetLinearDamping()

Frequency GetLinearDamping ( const Body & body )

See also: SetLinearDamping(Body& body, NonNegative<Frequency> value).

◆ GetLinearVelocity()

LinearVelocity2 GetLinearVelocity ( const Body & body )

Parameters

body	Body to get the linear velocity for.

Returns: the linear velocity of the center of mass.

See also: GetVelocity(const Body& body).

Examples: World.cpp.

◆ GetLinearVelocityFromLocalPoint()

LinearVelocity2 GetLinearVelocityFromLocalPoint	(	const Body &	body,
		const Length2	localPoint
	)

Parameters

body	Body to get the linear velocity for.
localPoint	point in local coordinates.

Returns: the world velocity of a point.

◆ GetLinearVelocityFromWorldPoint()

LinearVelocity2 GetLinearVelocityFromWorldPoint	(	const Body &	body,
		const Length2	worldPoint
	)

Parameters

body	Body to get the linear velocity for.
worldPoint	point in world coordinates.

Returns: the world velocity of a point.

◆ GetLocalPoint()

Length2 GetLocalPoint	(	const Body &	body,
		const Length2	worldPoint
	)

Parameters

body	Body that the returned point should be relative to.
worldPoint	point in world coordinates.

Returns: the corresponding local point relative to the body's origin.

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia ( const Body & body )

Returns: the rotational inertia.

See also: Body::GetInvRotInertia, Body::SetInvRotInertia.

◆ GetLocalVector()

UnitVec GetLocalVector	(	const Body &	body,
		const UnitVec	uv
	)

Parameters

body	Body that the returned vector should be relative to.
uv	Unit vector in world orientation.

Returns: the corresponding local vector.

◆ GetLocation()

Length2 GetLocation ( const Body & body )

This is the location of the body's origin relative to its world. The location of the body after stepping the world's physics simulations is dependent on a number of factors:

Location at the last time step.
Forces acting on the body (gravity, applied force, applied impulse).
The mass data of the body.
Damping of the body.
Restitution and friction values of the body's fixtures when they experience collisions.
Returns
World location of the body's origin.

See also
GetAngle.

Examples: World.cpp.

◆ GetMass()

Mass GetMass ( const Body & body )

Note: This may be the total calculated mass or it may be the set mass of the body.

Returns: Value of zero or more representing the body's mass.

See also: GetInvMass, SetInvMass

Examples: World.cpp.

◆ GetRotInertia()

RotInertia GetRotInertia ( const Body & body )

Parameters

body	Body to get the rotational inertia for.

Returns: the rotational inertia.

See also: Body::GetInvRotInertia, Body::SetInvRotInertia.

◆ GetSweep()

const Sweep & GetSweep ( const Body & body )

See also: SetSweep(Body& body, const Sweep& value).

◆ GetTransformation()

Transformation GetTransformation ( const Body & body )

See also: SetTransformation(Body& body, Transformation value).

◆ GetType()

BodyType GetType ( const Body & body )

See also: SetType(Body&,BodyType).

Examples: World.cpp.

◆ GetUnderActiveTime()

Time GetUnderActiveTime ( const Body & body )

Returns: Zero or more time in seconds (of step time) that this body has been "under-active" for.

◆ GetVelocity() [1/2]

Velocity GetVelocity ( const Body & body )

See also: SetVelocity(Body& body, const Velocity& value).

Examples: World.cpp.

◆ GetVelocity() [2/2]

Velocity GetVelocity	(	const Body &	body,
		Time	h
	)

Warning: Behavior is undefined if the given elapsed time is an invalid value (like NaN).

Parameters

body	Body to get the velocity for.
h	Time elapsed to get velocity for. Behavior is undefined if this value is invalid.

◆ GetWorldPoint()

Length2 GetWorldPoint	(	const Body &	body,
		const Length2	localPoint
	)

Parameters

body	Body that the given point is relative to.
localPoint	a point measured relative the the body's origin.

Returns: the same point expressed in world coordinates.

◆ GetWorldVector()

Length2 GetWorldVector	(	const Body &	body,
		const Length2	localVector
	)

Parameters

body	Body that the given vector is relative to.
localVector	a vector fixed in the body.

Returns: the same vector expressed in world coordinates.

◆ IsAccelerable()

bool IsAccelerable ( const Body & body )

Indicates whether this body is accelerable, i.e. whether it is effected by forces. Only Dynamic bodies are accelerable.

Returns: true if the body is accelerable, false otherwise.

Examples: World.cpp.

◆ IsAwake()

bool IsAwake ( const Body & body )

Warning: Being awake may or may not imply being speedable.

Returns: true if the body is awake.

See also: SetAwake(Body&), UnsetAwake(Body&).

◆ IsEnabled()

bool IsEnabled ( const Body & body )

See also: SetEnabled(Body&), UnsetEnabled(Body&).

◆ IsFixedRotation()

bool IsFixedRotation ( const Body & body )

See also: SetFixedRotation(Body&, bool).

◆ IsImpenetrable()

bool IsImpenetrable ( const Body & body )

See also: SetImpenetrable(Body&).

Examples: World.cpp.

◆ IsSleepingAllowed()

bool IsSleepingAllowed ( const Body & body )

See also: SetSleepingAllowed(Body&).

◆ IsSpeedable()

bool IsSpeedable ( const Body & body )

Is this body able to have a non-zero speed associated with it. Kinematic and Dynamic bodies are speedable. Static bodies are not.

Examples: World.cpp.

◆ SetAcceleration() [1/4]

void SetAcceleration	(	Body &	body,
		Acceleration	value
	)

Note: This has no effect on non-accelerable bodies.; A non-zero acceleration will also awaken the body.

Parameters

body	Body whose acceleration should be set.
value	Acceleration value to set.

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [2/4]

void SetAcceleration	(	Body &	body,
		AngularAcceleration	value
	)

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [3/4]

void SetAcceleration	(	Body &	body,
		LinearAcceleration2	linear,
		AngularAcceleration	angular
	)

Note: This has no effect on non-accelerable bodies.; A non-zero acceleration will also awaken the body.

Parameters

body	Body to set the acceleration of.
linear	Linear acceleration.
angular	Angular acceleration.

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [4/4]

void SetAcceleration	(	Body &	body,
		LinearAcceleration2	value
	)

See also: GetAcceleration(const Body& body).

◆ SetAngularDamping()

void SetAngularDamping	(	Body &	body,
		NonNegative< Frequency >	value
	)

See also: GetAngularDamping(const Body& body).

◆ SetAwake()

void SetAwake ( Body & body )

Sets this body to awake and resets its under-active time if it's a "speedable" body. This method has no effect otherwise.

Postcondition: If this body is a "speedable" body, then this body's IsAwake method returns true.; If this body is a "speedable" body, then this body's GetUnderActiveTime method returns zero.

See also: IsAwake(const Body&), UnsetAwake(Body&).

Examples: World.cpp.

◆ SetEnabled() [1/2]

void SetEnabled ( Body & body )

See also: IsEnabled(const Body&), UnsetEnabled(Body&).

◆ SetEnabled() [2/2]

void SetEnabled	(	Body &	body,
		bool	value
	)

See also: IsEnabled(const Body&), SetEnabled(Body&), UnsetEnabled(Body&).

◆ SetFixedRotation()

void SetFixedRotation	(	Body &	body,
		bool	value
	)

Note: This causes the mass to be reset.

See also: IsFixedRotation(const Body&).

◆ SetImpenetrable()

void SetImpenetrable ( Body & body )

Sets whether or not this body should be treated like a bullet for continuous collision detection.

See also: IsImpenetrable(const Body&), UnsetImpenetrable(Body&).

◆ SetLinearDamping()

void SetLinearDamping	(	Body &	body,
		NonNegative< Frequency >	value
	)

See also: GetLinearDamping(const Body& body).

◆ SetSleepingAllowed()

void SetSleepingAllowed	(	Body &	body,
		bool	value
	)

See also: IsSleepingAllowed(const Body&).

◆ SetSweep()

void SetSweep	(	Body &	body,
		const Sweep &	value
	)

See also: GetSweep(const Body& body).

◆ SetTransformation()

void SetTransformation	(	Body &	body,
		Transformation	value
	)

Note: This sets what GetLocation returns.

See also: GetTransformation(const Body& body).

◆ SetType()

void SetType	(	Body &	body,
		BodyType	value
	)

See also: GetType(const Body&).

◆ SetVelocity() [1/3]

void SetVelocity	(	Body &	body,
		AngularVelocity	value
	)

Parameters

body	Body to set the angular velocity of.
value	the new angular velocity.

See also: GetAngularVelocity(const Body& body).

◆ SetVelocity() [2/3]

void SetVelocity	(	Body &	body,
		const Velocity &	value
	)

Note: This method does nothing if this body is not speedable.; A non-zero velocity will awaken this body.

See also: GetVelocity(const Body& body), SetAwake, SetUnderActiveTime.

Examples: World.cpp.

◆ SetVelocity() [3/3]

void SetVelocity	(	Body &	body,
		LinearVelocity2	value
	)

Parameters

body	Body to set the linear velocity of.
value	the new linear velocity of the center of mass.

See also: GetLinearVelocity(const Body& body).

◆ Unawaken()

bool Unawaken ( Body & body )

See also: Awaken(Body& body).

◆ UnsetAwake()

void UnsetAwake ( Body & body )

If this body is allowed to sleep, this: sets the sleep state of the body to asleep, resets this body's under active time, and resets this body's velocity (linear and angular).

Postcondition: This body's IsAwake method returns false.; This body's GetUnderActiveTime method returns zero.; This body's GetVelocity method returns zero linear and zero angular speed.

See also: IsAwake(const Body&), SetAwake(Body&).

◆ UnsetEnabled()

void UnsetEnabled ( Body & body )

See also: IsEnabled(const Body&), SetEnabled(Body&).

◆ UnsetImpenetrable()

void UnsetImpenetrable ( Body & body )

Sets whether or not this body should be treated like a bullet for continuous collision detection.

See also: IsImpenetrable(const Body&), SetImpenetrable(Body&).

Member Data Documentation

◆ m_angularAcceleration

AngularAcceleration playrho::d2::Body::m_angularAcceleration = AngularAcceleration{0}

private

Angular acceleration.

Note: 4-bytes.

Referenced by GetAngularAcceleration().

◆ m_angularVelocity

AngularVelocity playrho::d2::Body::m_angularVelocity = AngularVelocity{}

private

Angular velocity.

Note: 4-bytes.

Referenced by GetVelocity(), JustSetVelocity(), SetFixedRotation(), and UnsetAwake().

◆ m_invMass

InvMass playrho::d2::Body::m_invMass = 0

private

Inverse mass of the body.

A non-negative value. Can only be zero for non-accelerable bodies.

Note: 4-bytes.

Referenced by GetInvMass(), and SetInvMass().

◆ m_invRotI

InvRotInertia playrho::d2::Body::m_invRotI = 0

private

Inverse rotational inertia about the center of mass.

A non-negative value.

Note: 4-bytes.

Referenced by GetInvRotInertia(), and SetInvRotInertia().

◆ m_linearAcceleration

LinearAcceleration2 playrho::d2::Body::m_linearAcceleration = LinearAcceleration2{}

private

Linear acceleration.

Note: 8-bytes.

Referenced by GetLinearAcceleration().

◆ m_linearVelocity

LinearVelocity2 playrho::d2::Body::m_linearVelocity = LinearVelocity2{}

private

Linear velocity.

Note: 8-bytes.

Referenced by GetVelocity(), JustSetVelocity(), and UnsetAwake().

◆ m_sweep

Sweep playrho::d2::Body::m_sweep

private

Sweep motion for CCD. 36-bytes.

Note: This is something of a non-essential part.

Todo:: Consider refactoring this data out of this class and into the world implementation.

Referenced by Advance(), Advance0(), GetSweep(), ResetAlpha0(), SetPosition0(), SetPosition1(), and SetSweep().

◆ m_underActiveTime

Time playrho::d2::Body::m_underActiveTime = 0

private

Under-active time.

A body under-active for enough time should have their awake flag unset. I.e. if a body is under-active for long enough, it should go to sleep.

Note: 4-bytes.

Referenced by GetUnderActiveTime(), ResetUnderActiveTime(), and UnsetAwake().

◆ m_xf

Transformation playrho::d2::Body::m_xf

private

Transformation for body origin.

Note: Also availble from GetTransform1(m_sweep).; 16-bytes.

Referenced by Advance(), and GetTransformation().

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

Body.hpp
Body.cpp
BodyConf.hpp

Public Types

Public Member Functions

Static Public Member Functions

Private Attributes

Related Functions

Detailed Description

Member Typedef Documentation

◆ FlagsType

Member Enumeration Documentation

◆ Flag

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ Advance()

◆ Advance0()

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetFlags()

◆ GetInvMass()

◆ GetInvRotInertia()

◆ GetLinearAcceleration()

◆ GetLinearDamping()

◆ GetSweep()

◆ GetTransformation()

◆ GetType()

◆ GetUnderActiveTime()

◆ GetVelocity()

◆ IsAccelerable()

◆ IsAwake()

◆ IsEnabled()

◆ IsFixedRotation()

◆ IsImpenetrable()

◆ IsMassDataDirty()

◆ IsSleepingAllowed()

◆ IsSpeedable()

◆ JustSetVelocity()

◆ ResetAlpha0()

◆ ResetUnderActiveTime()

◆ Restore()

◆ SetAcceleration()

◆ SetAngularDamping()

◆ SetAwake()

◆ SetAwakeFlag()

◆ SetEnabled()

◆ SetFixedRotation()

◆ SetImpenetrable()

◆ SetInvMass()

◆ SetInvRotInertia()

◆ SetLinearDamping()

◆ SetMassDataDirty()

◆ SetPosition0()

◆ SetPosition1()

◆ SetSleepingAllowed()

◆ SetSweep()

◆ SetTransformation()

◆ SetType()

◆ SetUnderActiveTime()

◆ SetVelocity()

◆ UnsetAwake()

◆ UnsetAwakeFlag()

◆ UnsetEnabled()

◆ UnsetImpenetrable()

◆ UnsetMassDataDirty()

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

◆ ApplyLinearImpulse()

◆ Awaken()

◆ GetAcceleration()

◆ GetAngle()

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetAngularVelocity()

◆ GetBodyConf()

◆ GetInvMass()

◆ GetInvRotInertia()

◆ GetLinearAcceleration()

◆ GetLinearDamping()

◆ GetLinearVelocity()

◆ GetLinearVelocityFromLocalPoint()

◆ GetLinearVelocityFromWorldPoint()