Definition of an independent and simulatable "world". More...

#include <World.hpp>

Collaboration diagram for playrho::d2::World:

Public Types
using	Bodies = std::vector< BodyID >
	Bodies container type.

using	Contacts = std::vector< KeyedContactPtr >
	Container type for keyed contact identifiers.

using	Joints = std::vector< JointID >
	Container type for joint identifiers.

using	BodyJoints = std::vector< std::pair< BodyID, JointID > >
	Container type for body associated joint identifiers.

using	Fixtures = std::vector< FixtureID >
	Container type for fixture identifiers.

using	FixtureListener = std::function< void(FixtureID)>
	Listener type for some fixture related events.

using	JointListener = std::function< void(JointID)>
	Listener type for some joint related events.

using	ContactListener = std::function< void(ContactID)>
	Listener type for some contact related events.

using	ManifoldContactListener = std::function< void(ContactID, const Manifold &)>
	Listener type for some manifold contact events.

using	ImpulsesContactListener = std::function< void(ContactID, const ContactImpulsesList &, unsigned)>
	Impulses contact listener.

Public Member Functions
Special Member Functions
Special member functions that are explicitly defined.
	World (const WorldConf &def=GetDefaultWorldConf())
	Constructs a world object. More...

	World (const World &other)
	Copy constructor. More...

World &	operator= (const World &other)
	Assignment operator. More...

	~World () noexcept
	Destructor. More...

Listener Member Functions
void	SetFixtureDestructionListener (const FixtureListener &listener) noexcept
	Registers a destruction listener for fixtures.

void	SetJointDestructionListener (const JointListener &listener) noexcept
	Registers a destruction listener for joints.

void	SetBeginContactListener (ContactListener listener) noexcept
	Registers a begin contact event listener.

void	SetEndContactListener (ContactListener listener) noexcept
	Registers an end contact event listener.

void	SetPreSolveContactListener (ManifoldContactListener listener) noexcept
	Registers a pre-solve contact event listener.

void	SetPostSolveContactListener (ImpulsesContactListener listener) noexcept
	Registers a post-solve contact event listener.

Miscellaneous Member Functions
void	Clear () noexcept
	Clears this world. More...

StepStats	Step (const StepConf &conf=StepConf{})
	Steps the world simulation according to the given configuration. More...

bool	IsStepComplete () const noexcept
	Whether or not "step" is complete. More...

bool	GetSubStepping () const noexcept
	Gets whether or not sub-stepping is enabled. More...

void	SetSubStepping (bool flag) noexcept
	Enables/disables single stepped continuous physics. More...

const DynamicTree &	GetTree () const noexcept
	Gets access to the broad-phase dynamic tree information.

bool	IsLocked () const noexcept
	Is the world locked (in the middle of a time step).

void	ShiftOrigin (Length2 newOrigin)
	Shifts the world origin. More...

Length	GetMinVertexRadius () const noexcept
	Gets the minimum vertex radius that shapes in this world can be. More...

Length	GetMaxVertexRadius () const noexcept
	Gets the maximum vertex radius that shapes in this world can be. More...

Frequency	GetInvDeltaTime () const noexcept
	Gets the inverse delta time. More...

Body Member Functions.
Member functions relating to bodies.
BodyCounter	GetBodyRange () const noexcept
	Gets the extent of the currently valid body range. More...

SizedRange< Bodies::const_iterator >	GetBodies () const noexcept
	Gets the world body range for this constant world. More...

SizedRange< Bodies::const_iterator >	GetBodiesForProxies () const noexcept
	Gets the bodies-for-proxies range for this world. More...

BodyID	CreateBody (const BodyConf &def=GetDefaultBodyConf())
	Creates a rigid body with the given configuration. More...

const Body &	GetBody (BodyID id) const
	Gets the state of the identified body. More...

void	SetBody (BodyID id, const Body &value)
	Sets the state of the identified body. More...

void	Destroy (BodyID id)
	Destroys the identified body. More...

SizedRange< Fixtures::const_iterator >	GetFixtures (BodyID id) const
	Gets the range of fixtures attached to the identified body. More...

SizedRange< World::BodyJoints::const_iterator >	GetJoints (BodyID id) const
	Gets the range of joints attached to the identified body. More...

SizedRange< World::Contacts::const_iterator >	GetContacts (BodyID id) const
	Gets the container of contacts attached to the identified body. More...

Fixture Member Functions
Member functions relating to fixtures.
FixtureCounter	GetFixtureRange () const noexcept
	Gets the extent of the currently valid fixture range. More...

FixtureID	CreateFixture (const FixtureConf &def=FixtureConf{})
	Creates a fixture and attaches it to the identified body. More...

const FixtureConf &	GetFixture (FixtureID id) const
	Gets the identified fixture state. More...

void	SetFixture (FixtureID id, const FixtureConf &value)
	Sets the identified fixture's state. More...

bool	Destroy (FixtureID id)
	Destroys the identified fixture. More...

Joint Member Functions
Member functions relating to joints.
JointCounter	GetJointRange () const noexcept
	Gets the extent of the currently valid joint range. More...

SizedRange< Joints::const_iterator >	GetJoints () const noexcept
	Gets the world joint range. More...

JointID	CreateJoint (const Joint &def)
	Creates a joint to constrain one or more bodies. More...

const Joint &	GetJoint (JointID id) const
	Gets the value of the identified joint. More...

void	SetJoint (JointID id, const Joint &def)
	Sets the identified joint to the given value. More...

void	Destroy (JointID id)
	Destroys the identified joint. More...

Contact Member Functions
Member functions relating to contacts.
ContactCounter	GetContactRange () const noexcept
	Gets the extent of the currently valid contact range. More...

SizedRange< Contacts::const_iterator >	GetContacts () const noexcept
	Gets the world contact range. More...

const Contact &	GetContact (ContactID id) const
	Gets the identified contact. More...

void	SetContact (ContactID id, const Contact &value)
	Sets the identified contact's state. More...

const Manifold &	GetManifold (ContactID id) const
	Gets the collision manifold for the identified contact. More...

Private Attributes
propagate_const< std::unique_ptr< WorldImpl > >	m_impl
	Pointer to implementation (PIMPL) More...

Related Functions
(Note that these are not member functions.)
AABB	ComputeAABB (const World &world, FixtureID id)
	Computes the AABB for the identified fixture within the given world.

AABB	ComputeAABB (const World &world, BodyID id)
	Computes the AABB for the identified body within the given world.

bool	RayCast (const World &world, const RayCastInput &input, const FixtureRayCastCB &callback)
	Ray-cast the world for all fixtures in the path of the ray. More...

DistanceJointConf	GetDistanceJointConf (const World &world, BodyID bodyA, BodyID bodyB, Length2 anchorA=Length2{}, Length2 anchorB=Length2{})
	Gets the configuration for the given parameters.

FrictionJointConf	GetFrictionJointConf (const World &world, BodyID bodyA, BodyID bodyB, Length2 anchor)
	Gets the confguration for the given parameters.

GearJointConf	GetGearJointConf (const World &world, JointID id1, JointID id2, Real ratio=Real{1})
	Gets the configuration for the given parameters.

MotorJointConf	GetMotorJointConf (const World &world, BodyID bA, BodyID bB)
	Gets the confguration for the given parameters.

PrismaticJointConf	GetPrismaticJointConf (const World &world, BodyID bA, BodyID bB, const Length2 anchor, const UnitVec axis)
	Gets the configuration for the given parameters.

LinearVelocity	GetLinearVelocity (const World &world, const PrismaticJointConf &joint) noexcept
	Gets the current linear velocity of the given configuration.

PulleyJointConf	GetPulleyJointConf (const World &world, BodyID bA, BodyID bB, Length2 groundA, Length2 groundB, Length2 anchorA, Length2 anchorB)
	Gets the configuration for the given parameters.

RevoluteJointConf	GetRevoluteJointConf (const World &world, BodyID bodyA, BodyID bodyB, Length2 anchor)
	Gets the configuration for the given parameters.

Angle	GetAngle (const World &world, const RevoluteJointConf &conf)
	Gets the current angle of the given configuration in the given world.

AngularVelocity	GetAngularVelocity (const World &world, const RevoluteJointConf &conf)
	Gets the current angular velocity of the given configuration.

WeldJointConf	GetWeldJointConf (const World &world, BodyID bodyA, BodyID bodyB, const Length2 anchor=Length2{})
	Gets the configuration for the given parameters.

WheelJointConf	GetWheelJointConf (const World &world, BodyID bodyA, BodyID bodyB, Length2 anchor, UnitVec axis=UnitVec::GetRight())
	Gets the definition data for the given parameters.

AngularVelocity	GetAngularVelocity (const World &world, const WheelJointConf &conf)
	Gets the angular velocity for the given configuration within the specified world.

BodyCounter	GetBodyRange (const World &world) noexcept
	Gets the extent of the currently valid body range. More...

SizedRange< std::vector< BodyID >::const_iterator >	GetBodies (const World &world) noexcept
	Gets the bodies of the specified world.

SizedRange< std::vector< BodyID >::const_iterator >	GetBodiesForProxies (const World &world) noexcept
	Gets the bodies-for-proxies range for the given world.

BodyID	CreateBody (World &world, const BodyConf &def=GetDefaultBodyConf())
	Creates a rigid body with the given configuration. More...

const Body &	GetBody (const World &world, BodyID id)
	Gets the body configuration for the identified body. More...

void	SetBody (World &world, BodyID id, const Body &body)
	Sets the body state for the identified body. More...

void	Destroy (World &world, BodyID id)
	Destroys the identified body. More...

SizedRange< std::vector< FixtureID >::const_iterator >	GetFixtures (const World &world, BodyID id)
	Gets the range of all constant fixtures attached to the given body. More...

FixtureCounter	GetFixtureCount (const World &world, BodyID id)
	Gets the count of fixtures associated with the identified body. More...

LinearAcceleration2	GetLinearAcceleration (const World &world, BodyID id)
	Gets this body's linear acceleration. More...

AngularAcceleration	GetAngularAcceleration (const World &world, BodyID id)
	Gets this body's angular acceleration. More...

Acceleration	GetAcceleration (const World &world, BodyID id)
	Gets the acceleration of the identified body. More...

void	SetAcceleration (World &world, BodyID id, LinearAcceleration2 linear, AngularAcceleration angular)
	Sets the linear and rotational accelerations on the body. More...

void	SetAcceleration (World &world, BodyID id, LinearAcceleration2 value)
	Sets the linear accelerations on the body. More...

void	SetAcceleration (World &world, BodyID id, AngularAcceleration value)
	Sets the rotational accelerations on the body. More...

void	SetAcceleration (World &world, BodyID id, Acceleration value)
	Sets the accelerations on the given body. More...

void	SetTransformation (World &world, BodyID id, Transformation xfm)
	Sets the transformation of the body. More...

void	SetTransform (World &world, BodyID id, Length2 location, Angle angle)
	Sets the position of the body's origin and rotation. More...

void	SetLocation (World &world, BodyID id, Length2 value)
	Sets the body's location. More...

void	SetAngle (World &world, BodyID id, Angle value)
	Sets the body's angular orientation. More...

void	RotateAboutWorldPoint (World &world, BodyID id, Angle amount, Length2 worldPoint)
	Rotates a body a given amount around a point in world coordinates. More...

void	RotateAboutLocalPoint (World &world, BodyID id, Angle amount, Length2 localPoint)
	Rotates a body a given amount around a point in body local coordinates. More...

Acceleration	CalcGravitationalAcceleration (const World &world, BodyID id)
	Calculates the gravitationally associated acceleration for the given body within its world. More...

BodyCounter	GetWorldIndex (const World &world, const BodyID id) noexcept
	Gets the world index for the given body. More...

BodyType	GetType (const World &world, BodyID id)
	Gets the type of the identified body. More...

void	SetType (World &world, BodyID id, BodyType value, bool resetMassData=true)
	Sets the type of the given body. More...

Transformation	GetTransformation (const World &world, BodyID id)
	Gets the body's transformation. More...

Length2	GetLocation (const World &world, BodyID id)
	Convenience function for getting just the location of the identified body. More...

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

UnitVec	GetLocalVector (const World &world, BodyID body, const UnitVec uv)
	Convenience function for getting the local vector of the identified body. More...

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

Angle	GetAngle (const World &world, BodyID id)
	Gets the angle of the identified body. More...

UnitVec	GetWorldVector (const World &world, BodyID body, UnitVec localVector)
	Convenience function for getting a world vector of the identified body.

Velocity	GetVelocity (const World &world, BodyID id)
	Gets the velocity of the identified body. More...

void	SetVelocity (World &world, BodyID id, const Velocity &value)
	Sets the body's velocity (linear and angular velocity). More...

bool	IsAwake (const World &world, BodyID id)
	Gets the awake/asleep state of this body. More...

void	SetAwake (World &world, BodyID id)
	Wakes up the identified body. More...

void	UnsetAwake (World &world, BodyID id)
	Sleeps the identified body. More...

LinearVelocity2	GetLinearVelocity (const World &world, BodyID id)
	Gets the linear velocity of the center of mass of the identified body. More...

AngularVelocity	GetAngularVelocity (const World &world, BodyID id)
	Gets the angular velocity. More...

void	SetVelocity (World &world, BodyID id, const Velocity &value)
	Sets the body's velocity (linear and angular velocity). More...

void	SetVelocity (World &world, BodyID id, const LinearVelocity2 &value)
	Sets the velocity of the identified body. More...

void	SetVelocity (World &world, BodyID id, AngularVelocity value)
	Sets the velocity of the identified body. More...

void	DestroyFixtures (World &world, BodyID id, bool resetMassData=true)
	Destroys fixtures of the identified body. More...

bool	IsEnabled (const World &world, BodyID id)
	Gets the enabled/disabled state of the body. More...

void	SetEnabled (World &world, BodyID id, bool value)
	Sets the enabled state of the body. More...

bool	IsAwake (const World &world, BodyID id)
	Gets the awake/asleep state of this body. More...

void	SetAwake (World &world, BodyID id)
	Wakes up the identified body. More...

void	UnsetAwake (World &world, BodyID id)
	Sleeps the identified body. More...

bool	Awaken (World &world, BodyID id)
	Awakens the body if it's asleep. More...

bool	IsMassDataDirty (const World &world, BodyID id)
	Gets whether the body's mass-data is dirty. More...

bool	IsFixedRotation (const World &world, BodyID id)
	Gets whether the body has fixed rotation. More...

void	SetFixedRotation (World &world, BodyID id, bool value)
	Sets this body to have fixed rotation. More...

Length2	GetWorldCenter (const World &world, BodyID id)
	Get the world position of the center of mass of the specified body. More...

InvMass	GetInvMass (const World &world, BodyID id)
	Gets the inverse total mass of the body. More...

InvRotInertia	GetInvRotInertia (const World &world, BodyID id)
	Gets the inverse rotational inertia of the body. More...

Mass	GetMass (const World &world, BodyID id)
	Gets the mass of the body. More...

RotInertia	GetRotInertia (const World &world, BodyID id)
	Gets the rotational inertia of the body. More...

Length2	GetLocalCenter (const World &world, BodyID id)
	Gets the local position of the center of mass of the specified body. More...

RotInertia	GetLocalRotInertia (const World &world, BodyID id)
	Gets the rotational inertia of the body about the local origin. More...

MassData	GetMassData (const World &world, BodyID id)
	Gets the mass data of the body. More...

MassData	ComputeMassData (const World &world, BodyID id)
	Computes the identified body's mass data. More...

void	SetMassData (World &world, BodyID id, const MassData &massData)
	Sets the mass properties to override the mass properties of the fixtures. More...

void	ResetMassData (World &world, BodyID id)
	Resets the mass data properties. More...

SizedRange< std::vector< std::pair< BodyID, JointID > >::const_iterator >	GetJoints (const World &world, BodyID id)
	Gets the range of all joints attached to the identified body. More...

bool	IsSpeedable (const World &world, BodyID id)
	Is identified body "speedable". More...

bool	IsAccelerable (const World &world, BodyID id)
	Is identified body "accelerable"? More...

bool	IsImpenetrable (const World &world, BodyID id)
	Is the body treated like a bullet for continuous collision detection? More...

void	SetImpenetrable (World &world, BodyID id)
	Sets the impenetrable status of the identified body. More...

void	UnsetImpenetrable (World &world, BodyID id)
	Unsets the impenetrable status of the identified body. More...

void	SetImpenetrable (World &world, BodyID id, bool value)
	Convenience function that sets/unsets the impenetrable status of the identified body. More...

bool	IsSleepingAllowed (const World &world, BodyID id)
	Gets whether the identified body is allowed to sleep. More...

void	SetSleepingAllowed (World &world, BodyID, bool value)
	Sets whether the identified body is allowed to sleep. More...

SizedRange< std::vector< KeyedContactPtr >::const_iterator >	GetContacts (const World &world, BodyID id)
	Gets the container of all contacts attached to the identified body. More...

Force2	GetCentripetalForce (const World &world, BodyID id, Length2 axis)
	Gets the centripetal force necessary to put the body into an orbit having the given radius. More...

void	ApplyForceToCenter (World &world, BodyID id, Force2 force)
	Applies a force to the center of mass of the given body. More...

void	ApplyForce (World &world, BodyID id, Force2 force, Length2 point)
	Apply a force at a world point. More...

void	ApplyTorque (World &world, BodyID id, Torque torque)
	Applies a torque. More...

void	ApplyLinearImpulse (World &world, BodyID id, Momentum2 impulse, Length2 point)
	Applies an impulse at a point. More...

void	ApplyAngularImpulse (World &world, BodyID id, AngularMomentum impulse)
	Applies an angular impulse. More...

void	SetForce (World &world, BodyID id, Force2 force, Length2 point) noexcept
	Sets the given amount of force at the given point to the given body. More...

void	SetTorque (World &world, BodyID id, Torque torque) noexcept
	Sets the given amount of torque to the given body. More...

Frequency	GetLinearDamping (const World &world, BodyID id)
	Gets the linear damping of the body. More...

void	SetLinearDamping (World &world, BodyID id, NonNegative< Frequency > linearDamping)
	Sets the linear damping of the body. More...

Frequency	GetAngularDamping (const World &world, BodyID id)
	Gets the angular damping of the body. More...

void	SetAngularDamping (World &world, BodyID id, NonNegative< Frequency > angularDamping)
	Sets the angular damping of the body. More...

BodyCounter	GetAwakeCount (const World &world) noexcept
	Gets the count of awake bodies in the given world.

BodyCounter	Awaken (World &world) noexcept
	Awakens all of the bodies in the given world. More...

BodyID	FindClosestBody (const World &world, Length2 location) noexcept
	Finds body in given world that's closest to the given location.

BodyCounter	GetBodyCount (const World &world) noexcept
	Gets the body count in the given world. More...

void	SetAccelerations (World &world, Acceleration acceleration) noexcept
	Sets the accelerations of all the world's bodies to the given value.

void	SetAccelerations (World &world, LinearAcceleration2 acceleration) noexcept
	Sets the accelerations of all the world's bodies to the given value. More...

void	ClearForces (World &world) noexcept
	Clears forces. More...

template<class F >
void	SetAccelerations (World &world, F fn)
	Sets the accelerations of all the world's bodies. More...

ContactCounter	GetContactRange (const World &world) noexcept
	Gets the extent of the currently valid contact range. More...

SizedRange< std::vector< KeyedContactPtr >::const_iterator >	GetContacts (const World &world) noexcept
	Gets the contacts recognized within the given world.

const Contact &	GetContact (const World &world, ContactID id)
	Gets the identified contact. More...

void	SetContact (World &world, ContactID id, const Contact &value)
	Sets the identified contact's state. More...

bool	IsTouching (const World &world, ContactID id)
	Is this contact touching? More...

bool	IsAwake (const World &world, ContactID id)
	Gets the awake status of the specified contact. More...

void	SetAwake (World &world, ContactID id)
	Sets awake the bodies of the fixtures of the given contact. More...

BodyID	GetBodyA (const World &world, ContactID id)
	Gets the body-A of the identified contact if it has one. More...

BodyID	GetBodyB (const World &world, ContactID id)
	Gets the body-B of the identified contact if it has one. More...

FixtureID	GetFixtureA (const World &world, ContactID id)
	Gets fixture A of the identified contact. More...

FixtureID	GetFixtureB (const World &world, ContactID id)
	Gets fixture B of the identified contact. More...

ChildCounter	GetChildIndexA (const World &world, ContactID id)
	Get the child primitive index for fixture A. More...

ChildCounter	GetChildIndexB (const World &world, ContactID id)
	Get the child primitive index for fixture B. More...

TimestepIters	GetToiCount (const World &world, ContactID id)
	Gets the Time Of Impact (TOI) count. More...

bool	NeedsFiltering (const World &world, ContactID id)
	Whether or not the contact needs filtering. More...

bool	NeedsUpdating (const World &world, ContactID id)
	Whether or not the contact needs updating. More...

bool	HasValidToi (const World &world, ContactID id)
	Whether or not the contact has a valid TOI. More...

Real	GetToi (const World &world, ContactID id)
	Gets the time of impact (TOI) as a fraction. More...

Real	GetDefaultFriction (const World &world, ContactID id)
	Gets the default friction amount for the identified contact. More...

Real	GetDefaultRestitution (const World &world, ContactID id)
	Gets the default restitution amount for the identified contact. More...

Real	GetFriction (const World &world, ContactID id)
	Gets the friction used with the identified contact. More...

Real	GetRestitution (const World &world, ContactID id)
	Gets the restitution used with the identified contact. More...

void	SetFriction (World &world, ContactID id, Real friction)
	Sets the friction value for the identified contact. More...

void	SetRestitution (World &world, ContactID id, Real restitution)
	Sets the restitution value for the specified contact. More...

const Manifold &	GetManifold (const World &world, ContactID id)
	Gets the manifold for the identified contact. More...

WorldManifold	GetWorldManifold (const World &world, ContactID id)
	Gets the world manifold for the identified contact. More...

void	ResetFriction (World &world, ContactID id)
	Resets the friction mixture to the default value. More...

void	ResetRestitution (World &world, ContactID id)
	Resets the restitution to the default value. More...

LinearVelocity	GetTangentSpeed (const World &world, ContactID id)
	Gets the tangent speed of the identified contact. More...

void	SetTangentSpeed (World &world, ContactID id, LinearVelocity value)
	Sets the desired tangent speed for a conveyor belt behavior. More...

bool	IsEnabled (const World &world, ContactID id)
	Gets the enabled status of the identified contact. More...

void	SetEnabled (World &world, ContactID id)
	Sets the enabled status of the identified contact. More...

void	UnsetEnabled (World &world, ContactID id)
	Unsets the enabled status of the identified contact. More...

ContactCounter	GetTouchingCount (const World &world) noexcept
	Gets the touching count for the given world.

void	SetEnabled (World &world, ContactID id, bool value)
	Convenience function for setting/unsetting the enabled status of the identified contact based on the value parameter. More...

ContactCounter	GetContactCount (const World &world) noexcept
	Gets the count of contacts in the given world. More...

FixtureCounter	GetFixtureRange (const World &world) noexcept
	Gets the extent of the currently valid fixture range. More...

FixtureCounter	GetFixtureCount (const World &world) noexcept
	Gets the count of fixtures in the given world. More...

FixtureID	CreateFixture (World &world, FixtureConf def=FixtureConf{}, bool resetMassData=true)
	Creates a fixture within the specified world. More...

FixtureID	CreateFixture (World &world, BodyID id, const Shape &shape, FixtureConf def=FixtureConf{}, bool resetMassData=true)
	Creates a fixture within the specified world. More...

template<typename T >
FixtureID	CreateFixture (World &world, BodyID id, const T &shapeConf, FixtureConf def=FixtureConf{}, bool resetMassData=true)
	Creates a fixture within the specified world using a configuration of a shape. More...

bool	Destroy (World &world, FixtureID id, bool resetMassData=true)
	Destroys the identified fixture. More...

Filter	GetFilterData (const World &world, FixtureID id)
	Gets the filter data for the identified fixture. More...

void	SetFilterData (World &world, FixtureID id, const Filter &filter)
	Sets the contact filtering data. More...

BodyID	GetBody (const World &world, FixtureID id)
	Gets the identifier of the body associated with the identified fixture. More...

Transformation	GetTransformation (const World &world, FixtureID id)
	Gets the transformation associated with the given fixture. More...

const Shape &	GetShape (const World &world, FixtureID id)
	Gets the shape associated with the identified fixture. More...

Real	GetFriction (const World &world, FixtureID id)
	Gets the coefficient of friction of the specified fixture. More...

Real	GetRestitution (const World &world, FixtureID id)
	Gets the coefficient of restitution of the specified fixture. More...

bool	IsSensor (const World &world, FixtureID id)
	Is the specified fixture a sensor (non-solid)? More...

void	SetSensor (World &world, FixtureID id, bool value)
	Sets whether the fixture is a sensor or not. More...

AreaDensity	GetDensity (const World &world, FixtureID id)
	Gets the density of this fixture. More...

MassData	GetMassData (const World &world, FixtureID id)
	Gets the mass data for the identified fixture in the given world. More...

bool	TestPoint (const World &world, FixtureID id, Length2 p)
	Tests a point for containment in a fixture. More...

JointCounter	GetJointRange (const World &world) noexcept
	Gets the extent of the currently valid joint range. More...

SizedRange< std::vector< JointID >::const_iterator >	GetJoints (const World &world) noexcept
	Gets the joints of the specified world.

JointID	CreateJoint (World &world, const Joint &def)
	Creates a new joint within the given world.

template<typename T >
JointID	CreateJoint (World &world, const T &value)
	Creates a new joint from a configuration. More...

void	Destroy (World &world, JointID id)
	Destroys the identified joint. More...

TypeID	GetType (const World &world, JointID id)
	Gets the type of the joint. More...

const Joint &	GetJoint (const World &world, JointID id)
	Gets the value of the identified joint. More...

void	SetJoint (World &world, JointID id, const Joint &def)
	Sets the value of the identified joint. More...

template<typename T >
void	SetJoint (World &world, JointID id, const T &value)
	Sets a joint's value from a configuration. More...

bool	GetCollideConnected (const World &world, JointID id)
	Gets collide connected for the specified joint. More...

bool	IsMotorEnabled (const World &world, JointID id)
	Is the joint motor enabled? More...

void	EnableMotor (World &world, JointID id, bool value)
	Enable/disable the joint motor. More...

bool	IsLimitEnabled (const World &world, JointID id)
	Gets whether the identified joint's limit is enabled. More...

void	EnableLimit (World &world, JointID id, bool value)
	Sets whether the identified joint's limit is enabled or not. More...

BodyID	GetBodyA (const World &world, JointID id)
	Gets the identifier of body-A of the identified joint. More...

BodyID	GetBodyB (const World &world, JointID id)
	Gets the identifier of body-B of the identified joint. More...

Length2	GetLocalAnchorA (const World &world, JointID id)
	Get the anchor point on body-A in local coordinates. More...

Length2	GetLocalAnchorB (const World &world, JointID id)
	Get the anchor point on body-B in local coordinates. More...

Momentum2	GetLinearReaction (const World &world, JointID id)
	Gets the linear reaction on body-B at the joint anchor. More...

AngularMomentum	GetAngularReaction (const World &world, JointID id)
	Get the angular reaction on body-B for the identified joint. More...

Angle	GetReferenceAngle (const World &world, JointID id)
	Gets the reference-angle property of the identified joint if it has it. More...

UnitVec	GetLocalXAxisA (const World &world, JointID id)
	Gets the local-X-axis-A property of the identified joint if it has it. More...

UnitVec	GetLocalYAxisA (const World &world, JointID id)
	Gets the local-Y-axis-A property of the identified joint if it has it. More...

AngularVelocity	GetMotorSpeed (const World &world, JointID id)
	Gets the motor-speed property of the identied joint if it supports it. More...

void	SetMotorSpeed (World &world, JointID id, AngularVelocity value)
	Sets the motor-speed property of the identied joint if it supports it. More...

Torque	GetMaxMotorTorque (const World &world, JointID id)
	Gets the max motor torque. More...

void	SetMaxMotorTorque (World &world, JointID id, Torque value)
	Sets the maximum motor torque. More...

Momentum	GetLinearMotorImpulse (const World &world, JointID id)
	Gets the linear motor impulse of the identified joint if it supports that. More...

AngularMomentum	GetAngularMotorImpulse (const World &world, JointID id)
	Gets the angular motor impulse of the identified joint if it has this property. More...

RotInertia	GetAngularMass (const World &world, JointID id)
	Gets the computed angular rotational inertia used by the joint. More...

Frequency	GetFrequency (const World &world, JointID id)
	Gets the frequency of the identified joint if it has this property. More...

void	SetFrequency (World &world, JointID id, Frequency value)
	Sets the frequency of the identified joint if it has this property. More...

AngularVelocity	GetAngularVelocity (const World &world, JointID id)
	Gets the angular velocity of the identified joint if it has this property. More...

bool	IsEnabled (const World &world, JointID id)
	Gets the enabled/disabled state of the joint. More...

JointCounter	GetWorldIndex (const World &world, JointID id) noexcept
	Gets the world index of the given joint. More...

Length2	GetAnchorA (const World &world, JointID id)
	Get the anchor point on body-A in world coordinates. More...

Length2	GetAnchorB (const World &world, JointID id)
	Get the anchor point on body-B in world coordinates. More...

Real	GetRatio (const World &world, JointID id)
	Gets the ratio property of the identified joint if it has it. More...

Length	GetJointTranslation (const World &world, JointID id)
	Gets the current joint translation. More...

Angle	GetAngle (const World &world, JointID id)
	Gets the angle property of the identified joint if it has it. More...

Force	GetMotorForce (const World &world, JointID id, Frequency inv_dt)
	Gets the current motor force for the given joint, given the inverse time step. More...

Torque	GetMotorTorque (const World &world, JointID id, Frequency inv_dt)
	Gets the current motor torque for the given joint given the inverse time step. More...

Length2	GetLinearOffset (const World &world, JointID id)
	Gets the target linear offset, in frame A. More...

void	SetLinearOffset (World &world, JointID id, Length2 value)
	Sets the target linear offset, in frame A. More...

Angle	GetAngularOffset (const World &world, JointID id)
	Gets the target angular offset. More...

void	SetAngularOffset (World &world, JointID id, Angle value)
	Sets the target angular offset. More...

Length2	GetGroundAnchorA (const World &world, JointID id)
	Get the first ground anchor. More...

Length2	GetGroundAnchorB (const World &world, JointID id)
	Get the second ground anchor. More...

Length	GetCurrentLengthA (const World &world, JointID id)
	Get the current length of the segment attached to body-A. More...

Length	GetCurrentLengthB (const World &world, JointID id)
	Get the current length of the segment attached to body-B. More...

Length2	GetTarget (const World &world, JointID id)
	Gets the target point. More...

void	SetTarget (World &world, JointID id, Length2 value)
	Sets the target point. More...

Angle	GetAngularLowerLimit (const World &world, JointID id)
	Get the lower joint limit. More...

Angle	GetAngularUpperLimit (const World &world, JointID id)
	Get the upper joint limit. More...

void	SetAngularLimits (World &world, JointID id, Angle lower, Angle upper)
	Set the joint limits. More...

bool	ShiftOrigin (World &world, JointID id, Length2 value)
	Shifts the origin of the identified joint. More...

Real	GetDampingRatio (const World &world, JointID id)
	Gets the damping ratio associated with the identified joint if it has one. More...

Length	GetLength (const World &world, JointID id)
	Gets the length associated with the identified joint if it has one. More...

LimitState	GetLimitState (const World &world, JointID id)
	Gets the joint's limit state if it has one. More...

void	SetAwake (World &world, JointID id)
	Wakes up the joined bodies. More...

JointCounter	GetJointCount (const World &world) noexcept
	Gets the count of joints in the given world. More...

void	SetFixtureDestructionListener (World &world, std::function< void(FixtureID)> listener) noexcept
	Sets the fixture destruction lister.

void	SetJointDestructionListener (World &world, std::function< void(JointID)> listener) noexcept
	Sets the joint destruction lister.

void	SetBeginContactListener (World &world, std::function< void(ContactID)> listener) noexcept
	Sets the begin-contact lister.

void	SetEndContactListener (World &world, std::function< void(ContactID)> listener) noexcept
	Sets the end-contact lister.

void	SetPreSolveContactListener (World &world, std::function< void(ContactID, const Manifold &)> listener) noexcept
	Sets the pre-solve-contact lister.

void	SetPostSolveContactListener (World &world, std::function< void(ContactID, const ContactImpulsesList &, unsigned)> listener) noexcept
	Sets the post-solve-contact lister.

void	Clear (World &world) noexcept
	Clears this world. More...

StepStats	Step (World &world, const StepConf &conf=StepConf{})
	Steps the given world the specified amount.

StepStats	Step (World &world, Time delta, TimestepIters velocityIterations=8, TimestepIters positionIterations=3)
	Steps the world ahead by a given time amount. More...

bool	GetSubStepping (const World &world) noexcept
	Gets whether or not sub-stepping is enabled. More...

void	SetSubStepping (World &world, bool flag) noexcept
	Enables/disables single stepped continuous physics. More...

const DynamicTree &	GetTree (const World &world) noexcept
	Gets the dynamic tree of the given world.

FixtureCounter	GetShapeCount (const World &world) noexcept
	Gets the count of unique shapes in the given world.

Length	GetMinVertexRadius (const World &world) noexcept
	Gets the min vertex radius that shapes for the given world are allowed to be.

Length	GetMaxVertexRadius (const World &world) noexcept
	Gets the max vertex radius that shapes for the given world are allowed to be.

void	ShiftOrigin (World &world, Length2 newOrigin)
	Shifts the world origin. More...

Detailed Description

Definition of an independent and simulatable "world".

The world class manages physics entities, dynamic simulation, and queries. In a physical sense, perhaps this is more like a universe in that entities in a world have no interaction with entities in other worlds. In any case, there's precedence, from a physics-engine standpoint, for this being called a world.

Note: World instances do not themselves have any force or acceleration properties. They simply utilize the acceleration property of the bodies they manage. This is different than some other engines (like Box2D which provides a world gravity property).; World instances are composed of — i.e. contain and own — body, contact, fixture, and joint entities. These are identified by BodyID, ContactID, FixtureID, and JointID values respectively.; This class uses the pointer to implementation (PIMPL) technique and non-vitural interface (NVI) pattern to provide a complete layer of abstraction from the actual implementations used. This forms a "compilation firewall" — or application binary interface (ABI) — to help provide binary stability while facilitating experimentation and optimization.; This data structure is 8-bytes large (on at least one 64-bit platform).

Attention: For example, the following could be used to create a dynamic body having a one meter radius disk shape:
auto world = World{};

const auto body = world.CreateBody(BodyConf{}.UseType(BodyType::Dynamic));

const auto fixture = world.CreateFixture(

FixtureConf{}.UseBody(body).UseShape(DiskShapeConf{1_m}));

See also: BodyID, ContactID, FixtureID, JointID, Physical Entities.; https://en.wikipedia.org/wiki/Non-virtual_interface_pattern; https://en.wikipedia.org/wiki/Application_binary_interface; https://en.cppreference.com/w/cpp/language/pimpl

Examples: DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, WorldBody.cpp, WorldContact.cpp, and WorldFixture.cpp.

Constructor & Destructor Documentation

◆ World() [1/2]

playrho::d2::World::World ( const WorldConf & def = GetDefaultWorldConf() )

explicit

Constructs a world object.

Parameters

def	A customized world configuration or its default value.

Note: A lot more configurability can be had via the StepConf data that's given to the world's Step method.

Exceptions

InvalidArgument if the given max vertex radius is less than the min.

See also: Step.

◆ World() [2/2]

playrho::d2::World::World ( const World & other )

Copy constructor.

Copy constructs this world with a deep copy of the given world.

◆ ~World()

playrho::d2::World::~World ( )

noexcept

Destructor.

All physics entities are destroyed and all memory is released.

Note: This will call the Clear() function.

See also: Clear.

Member Function Documentation

◆ Clear()

void playrho::d2::World::Clear ( )

noexcept

Clears this world.

Note: This calls the joint and fixture destruction listeners (if they're set) before clearing anything.

Postcondition: The contents of this world have all been destroyed and this world's internal state is reset as though it had just been constructed.

Examples: World.cpp.

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

◆ CreateBody()

BodyID playrho::d2::World::CreateBody ( const BodyConf & def = GetDefaultBodyConf() )

Creates a rigid body with the given configuration.

Warning: This function should not be used while the world is locked — as it is during callbacks. If it is, it will throw an exception or abort your program.

Note: No references to the configuration are retained. Its value is copied.

Postcondition: The created body will be present in the range returned from the GetBodies() method.

Parameters

def	A customized body configuration or its default value.

Returns: Identifier of the newly created body which can later be destroyed by calling the Destroy(BodyID) method.

Exceptions

WrongState	if this method is called while the world is locked.
LengthError	if this operation would create more than `MaxBodies`.

See also: Destroy(BodyID), GetBodies.; Physical Entities.

Examples: RevoluteJoint.cpp, TargetJoint.cpp, WheelJoint.cpp, and World.cpp.

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

◆ CreateFixture()

FixtureID playrho::d2::World::CreateFixture ( const FixtureConf & def = FixtureConf{} )

Creates a fixture and attaches it to the identified body.

Creates a fixture for attaching a shape and other characteristics to this body. Fixtures automatically go away when this body is destroyed. Fixtures can also be manually removed and destroyed using the Destroy(FixtureID, bool), or DestroyFixtures() methods.

Warning: This function is locked during callbacks.

Note: This function should not be called if the world is locked.; This does not reset the associated body's mass data.

Postcondition: After creating a new fixture, it will show up in the fixture enumeration returned by the GetFixtures() methods.

Parameters

def	Initial fixture settings. Friction and density must be >= 0. Restitution must be > -infinity and < infinity.

Returns: Identifier for the created fixture.

Exceptions

WrongState	if called while the world is "locked".
std::out_of_range	If given an invalid body identifier.
InvalidArgument	if called for a shape with a vertex radius less than the minimum vertex radius.
InvalidArgument	if called for a shape with a vertex radius greater than the maximum vertex radius.

See also: Destroy(FixtureID), GetFixtures; Physical Entities

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

◆ CreateJoint()

JointID playrho::d2::World::CreateJoint ( const Joint & def )

Creates a joint to constrain one or more bodies.

Warning: This function is locked during callbacks.

Postcondition: The created joint will be present in the range returned from the GetJoints() method.

Returns: Identifier of newly created joint which can later be destroyed by calling the Destroy(JointID) method.

Exceptions

WrongState	if this method is called while the world is locked.
LengthError	if this operation would create more than `MaxJoints`.

See also: Physical Entities.; Destroy(JointID), GetJoints.

Examples: World.cpp.

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

◆ Destroy() [1/3]

void playrho::d2::World::Destroy ( BodyID id )

Destroys the identified body.

Destroys the identified body that had previously been created by a call to this world's CreateBody(const BodyConf&) method.

Warning: This automatically deletes all associated shapes and joints.; This function is locked during callbacks.; Behavior is undefined if the identified body was not created by this world.

Note: This function is locked during callbacks.

Postcondition: The destroyed body will no longer be present in the range returned from the GetBodies() method.

Parameters

id	Identifier of body to destroy that had been created by this world.

Exceptions

WrongState	if this method is called while the world is locked.
std::out_of_range	If given an invalid body identifier.

See also: CreateBody(const BodyConf&), GetBodies, GetBodyRange.; Physical Entities.

Examples: World.cpp.

Referenced by playrho::d2::Destroy(), and playrho::d2::DestroyFixtures().

◆ Destroy() [2/3]

bool playrho::d2::World::Destroy ( FixtureID id )

Destroys the identified fixture.

Destroys a fixture previously created by the CreateFixture(const FixtureConf&) method. This removes the fixture from the broad-phase and destroys all contacts associated with this fixture. All fixtures attached to a body are implicitly destroyed when the body is destroyed.

Warning: This function is locked during callbacks.

Note: Make sure to explicitly call ResetMassData() after fixtures have been destroyed.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an invalid fixture identifier.

Postcondition: After destroying a fixture, it will no longer show up in the fixture enumeration returned by the GetFixtures() methods.

Parameters

id	the fixture to be removed.

See also: CreateFixture, GetFixtureRange.; Physical Entities.

◆ Destroy() [3/3]

void playrho::d2::World::Destroy ( JointID id )

Destroys the identified joint.

Destroys the identified joint that had previously been created by a call to this world's CreateJoint(const Joint&) method.

Warning: This function is locked during callbacks.

Note: This may cause the connected bodies to begin colliding.

Postcondition: The destroyed joint will no longer be present in the range returned from the GetJoints() method.

Parameters

id	Identifier of joint to destroy that had been created by this world.

Exceptions

WrongState	if this method is called while the world is locked.
std::out_of_range	If given an invalid joint identifier.

See also: CreateJoint(const Joint&), GetJoints, GetJointRange.; Physical Entities.

◆ GetBodies()

SizedRange< World::Bodies::const_iterator > playrho::d2::World::GetBodies ( ) const

noexcept

Gets the world body range for this constant world.

Gets a range enumerating the bodies currently existing within this world. These are the bodies that had been created from previous calls to the CreateBody(const BodyConf&) method that haven't yet been destroyed.

Returns: Range of body identifiers that can be iterated over using its begin and end methods or using ranged-based for-loops.

See also: CreateBody(const BodyConf&).

Examples: World.cpp.

Referenced by playrho::d2::CalcGravitationalAcceleration(), and playrho::d2::GetShapeCount().

◆ GetBodiesForProxies()

SizedRange< World::Bodies::const_iterator > playrho::d2::World::GetBodiesForProxies ( ) const

noexcept

Gets the bodies-for-proxies range for this world.

Provides insight on what bodies have been queued for proxy processing during the next call to the world step method.

See also: Step.

Todo:: Remove this function from this class - access from implementation instead.

Examples: World.cpp.

◆ GetBody()

const Body & playrho::d2::World::GetBody ( BodyID id ) const

Gets the state of the identified body.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetBody, GetBodyRange.

Referenced by playrho::d2::GetAnchorA(), playrho::d2::GetAnchorB(), playrho::d2::GetAngle(), playrho::d2::GetAngularVelocity(), playrho::d2::GetBody(), playrho::d2::GetJointTranslation(), playrho::d2::GetTransformation(), playrho::d2::GetWorldManifold(), playrho::d2::IsEnabled(), and playrho::d2::SetAwake().

◆ GetBodyRange()

BodyCounter playrho::d2::World::GetBodyRange ( ) const

noexcept

Gets the extent of the currently valid body range.

Note: This is one higher than the maxium BodyID that is in range for body related functions.

◆ GetContact()

const Contact & playrho::d2::World::GetContact ( ContactID id ) const

Gets the identified contact.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetContact, GetContactRange.

Referenced by playrho::d2::GetContact(), playrho::d2::GetDefaultFriction(), and playrho::d2::GetDefaultRestitution().

◆ GetContactRange()

ContactCounter playrho::d2::World::GetContactRange ( ) const

noexcept

Gets the extent of the currently valid contact range.

Note: This is one higher than the maxium ContactID that is in range for contact related functions.

◆ GetContacts() [1/2]

SizedRange< World::Contacts::const_iterator > playrho::d2::World::GetContacts ( ) const

noexcept

Gets the world contact range.

Warning: contacts are created and destroyed in the middle of a time step. Use ContactListener to avoid missing contacts.

Returns: World contacts sized-range.

◆ GetContacts() [2/2]

SizedRange< World::Contacts::const_iterator > playrho::d2::World::GetContacts ( BodyID id ) const

Gets the container of contacts attached to the identified body.

Warning: This collection changes during the time step and you may miss some collisions if you don't use ContactListener.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetBodyRange.

Examples: World.cpp.

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

◆ GetFixture()

const FixtureConf & playrho::d2::World::GetFixture ( FixtureID id ) const

Gets the identified fixture state.

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: SetFixture, GetFixtureRange.

Referenced by playrho::d2::ComputeMassData(), playrho::d2::GetBody(), playrho::d2::GetDefaultFriction(), playrho::d2::GetDefaultRestitution(), playrho::d2::GetDensity(), playrho::d2::GetFilterData(), playrho::d2::GetShape(), playrho::d2::GetShapeCount(), playrho::d2::GetWorldManifold(), playrho::d2::IsSensor(), playrho::d2::SetFilterData(), and playrho::d2::SetSensor().

◆ GetFixtureRange()

FixtureCounter playrho::d2::World::GetFixtureRange ( ) const

noexcept

Gets the extent of the currently valid fixture range.

Note: This is one higher than the maxium FixtureID that is in range for fixture related functions.

◆ GetFixtures()

SizedRange< World::Fixtures::const_iterator > playrho::d2::World::GetFixtures ( BodyID id ) const

Gets the range of fixtures attached to the identified body.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: CreateFixture, GetBodyRange.

Examples: World.cpp.

Referenced by playrho::d2::ComputeMassData(), playrho::d2::GetFixtures(), and playrho::d2::GetShapeCount().

◆ GetInvDeltaTime()

Frequency playrho::d2::World::GetInvDeltaTime ( ) const

noexcept

Gets the inverse delta time.

Gets the inverse delta time that was set on construction or assignment, and updated on every call to the Step() method having a non-zero delta-time.

See also: Step.

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

◆ GetJoint()

const Joint & playrho::d2::World::GetJoint ( JointID id ) const

Gets the value of the identified joint.

Exceptions

std::out_of_range If given an invalid joint identifier.

See also: SetJoint, GetJointRange.

Referenced by playrho::d2::GetAnchorA(), playrho::d2::GetAnchorB(), playrho::d2::GetAngle(), playrho::d2::GetAngularReaction(), playrho::d2::GetBodyA(), playrho::d2::GetBodyB(), playrho::d2::GetCollideConnected(), playrho::d2::GetJoint(), playrho::d2::GetJointTranslation(), playrho::d2::GetLinearReaction(), playrho::d2::GetLocalAnchorA(), playrho::d2::GetLocalAnchorB(), playrho::d2::GetReferenceAngle(), playrho::d2::GetType(), and playrho::d2::SetAwake().

◆ GetJointRange()

JointCounter playrho::d2::World::GetJointRange ( ) const

noexcept

Gets the extent of the currently valid joint range.

Note: This is one higher than the maxium JointID that is in range for joint related functions.

◆ GetJoints() [1/2]

SizedRange< World::Joints::const_iterator > playrho::d2::World::GetJoints ( ) const

noexcept

Gets the world joint range.

Gets a range enumerating the joints currently existing within this world. These are the joints that had been created from previous calls to the CreateJoint method that haven't yet been destroyed.

Returns: World joints sized-range.

See also: CreateJoint.

◆ GetJoints() [2/2]

SizedRange< World::BodyJoints::const_iterator > playrho::d2::World::GetJoints ( BodyID id ) const

Gets the range of joints attached to the identified body.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: CreateJoint, GetBodyRange.

Examples: World.cpp.

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

◆ GetManifold()

const Manifold & playrho::d2::World::GetManifold ( ContactID id ) const

Gets the collision manifold for the identified contact.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: GetContact, GetContactRange.

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

◆ GetMaxVertexRadius()

Length playrho::d2::World::GetMaxVertexRadius ( ) const

noexcept

Gets the maximum vertex radius that shapes in this world can be.

See also: GetMinVertexRadius.

Examples: World.cpp.

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

◆ GetMinVertexRadius()

Length playrho::d2::World::GetMinVertexRadius ( ) const

noexcept

Gets the minimum vertex radius that shapes in this world can be.

See also: GetMaxVertexRadius.

Examples: World.cpp.

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

◆ GetSubStepping()

bool playrho::d2::World::GetSubStepping ( ) const

noexcept

Gets whether or not sub-stepping is enabled.

See also: SetSubStepping, IsStepComplete.

Examples: World.cpp.

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

◆ IsStepComplete()

bool playrho::d2::World::IsStepComplete ( ) const

noexcept

Whether or not "step" is complete.

The "step" is completed when there are no more TOI events for the current time step.

Returns: true unless sub-stepping is enabled and the step method returned without finishing all of its sub-steps.

See also: GetSubStepping, SetSubStepping.

Examples: World.cpp.

◆ operator=()

World & playrho::d2::World::operator= ( const World & other )

Assignment operator.

Copy assigns this world with a deep copy of the given world.

◆ SetBody()

void playrho::d2::World::SetBody	(	BodyID	id,
		const Body &	value
	)

Sets the state of the identified body.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetBody, GetBodyRange.

Referenced by playrho::d2::SetAcceleration(), playrho::d2::SetAngularDamping(), playrho::d2::SetAwake(), playrho::d2::SetBody(), playrho::d2::SetEnabled(), playrho::d2::SetFixedRotation(), playrho::d2::SetImpenetrable(), playrho::d2::SetLinearDamping(), playrho::d2::SetMassData(), playrho::d2::SetSleepingAllowed(), playrho::d2::SetTransformation(), playrho::d2::SetType(), playrho::d2::SetVelocity(), playrho::d2::UnsetAwake(), and playrho::d2::UnsetImpenetrable().

◆ SetContact()

void playrho::d2::World::SetContact	(	ContactID	id,
		const Contact &	value
	)

Sets the identified contact's state.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: GetContact, GetContactRange.

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

◆ SetFixture()

void playrho::d2::World::SetFixture	(	FixtureID	id,
		const FixtureConf &	value
	)

Sets the identified fixture's state.

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: GetFixture, GetFixtureRange.

Referenced by playrho::d2::SetFilterData(), and playrho::d2::SetSensor().

◆ SetJoint()

void playrho::d2::World::SetJoint	(	JointID	id,
		const Joint &	def
	)

Sets the identified joint to the given value.

Exceptions

std::out_of_range If given an invalid joint identifier.

See also: GetJoint, GetJointRange.

Examples: World.cpp.

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

◆ SetSubStepping()

void playrho::d2::World::SetSubStepping ( bool flag )

noexcept

Enables/disables single stepped continuous physics.

Note: This is not normally used. Enabling sub-stepping is meant for testing.

Postcondition: The GetSubStepping() method will return the value this method was called with.

See also: IsStepComplete, GetSubStepping.

Examples: World.cpp.

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

◆ ShiftOrigin()

void playrho::d2::World::ShiftOrigin ( Length2 newOrigin )

Shifts the world origin.

Note: Useful for large worlds.; The body shift formula is: position -= newOrigin.

Postcondition: The "origin" of this world's bodies, joints, and the board-phase dynamic tree have been translated per the shift amount and direction.

Parameters

newOrigin the new origin with respect to the old origin

Exceptions

WrongState if this method is called while the world is locked.

Examples: World.cpp.

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

◆ Step()

StepStats playrho::d2::World::Step ( const StepConf & conf = StepConf{} )

Steps the world simulation according to the given configuration.

Performs position and velocity updating, sleeping of non-moving bodies, updating of the contacts, and notifying the contact listener of begin-contact, end-contact, pre-solve, and post-solve events.

Warning: Behavior is undefined if given a negative step time delta.; Varying the step time delta may lead to non-physical behaviors.

Note: Calling this with a zero step time delta results only in fixtures and bodies registered for special handling being processed. No physics is performed.; If the given velocity and position iterations are zero, this method doesn't do velocity or position resolutions respectively of the contacting bodies.; While body velocities are updated accordingly (per the sum of forces acting on them), body positions (barring any collisions) are updated as if they had moved the entire time step at those resulting velocities. In other words, a body initially at position 0 (p0) going velocity 0 (v0) fast with a sum acceleration of a, after time t and barring any collisions, will have a new velocity (v1) of v0 + (a * t) and a new position (p1) of p0 + v1 * t.

Postcondition: Static bodies are unmoved.; Kinetic bodies are moved based on their previous velocities.; Dynamic bodies are moved based on their previous velocities, gravity, applied forces, applied impulses, masses, damping, and the restitution and friction values of their fixtures when they experience collisions.

Parameters

conf	Configuration for the simulation step.

Returns: Statistics for the step.

Exceptions

WrongState if this method is called while the world is locked.

Examples: World.cpp.

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

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

void ApplyAngularImpulse	(	World &	world,
		BodyID	id,
		AngularMomentum	impulse
	)

Parameters

world	The world in which the identified body exists.
id	Identifier of body to apply the angular impulse to.
impulse	Angular impulse to be applied.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ ApplyForce()

void ApplyForce	(	World &	world,
		BodyID	id,
		Force2	force,
		Length2	point
	)

Note: If the force is not applied at the center of mass, it will generate a torque and affect the angular velocity.; Non-zero forces wakes up the body.

Parameters

world	World in which body exists.
id	Identity of body to apply the force to.
force	World force vector.
point	World position of the point of application.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ ApplyForceToCenter()

void ApplyForceToCenter	(	World &	world,
		BodyID	id,
		Force2	force
	)

Note: Non-zero forces wakes up the body.

Parameters

world	The world in which the identified body exists.
id	Identifier of body to apply the force to.
force	World force vector.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ ApplyLinearImpulse()

void ApplyLinearImpulse	(	World &	world,
		BodyID	id,
		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

world	The world in which the identified body exists.
id	Identifier of body to apply the impulse to.
impulse	the world impulse vector.
point	the world position of the point of application.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ ApplyTorque()

void ApplyTorque	(	World &	world,
		BodyID	id,
		Torque	torque
	)

Note: This affects the angular velocity without affecting the linear velocity of the center of mass.; Non-zero forces wakes up the body.

Parameters

world	The world in which the identified body exists.
id	Identifier of body to apply the torque to.
torque	about the z-axis (out of the screen).

Exceptions

std::out_of_range If given an invalid body identifier.

◆ Awaken() [1/2]

BodyCounter Awaken ( World & world )

Calls all of the world's bodies' SetAwake method.

Returns: Sum total of calls to bodies' SetAwake method that returned true.

◆ Awaken() [2/2]

bool Awaken	(	World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ CalcGravitationalAcceleration()

Acceleration CalcGravitationalAcceleration	(	const World &	world,
		BodyID	id
	)

Returns: Zero acceleration if given body is has no mass, else the acceleration of the body due to the gravitational attraction to the other bodies.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ Clear()

void Clear ( World & world )

Note: This calls the joint and fixture destruction listeners (if they're set) before clearing anything.

Postcondition: The contents of this world have all been destroyed and this world's internal state is reset as though it had just been constructed.

◆ ClearForces()

void ClearForces ( World & world )

Manually clear the force buffer on all bodies.

◆ ComputeMassData()

MassData ComputeMassData	(	const World &	world,
		BodyID	id
	)

This basically accumulates the mass data over all fixtures.

Note: The center is the mass weighted sum of all fixture centers. Divide it by the mass to get the averaged center.

Returns: accumulated mass data for all fixtures associated with the given body.

Exceptions

std::out_of_range If given an invalid body identifier.

Examples: World.cpp.

◆ CreateBody()

BodyID CreateBody	(	World &	world,
		const BodyConf &	def = `GetDefaultBodyConf()`
	)

Warning: This function should not be used while the world is locked — as it is during callbacks. If it is, it will throw an exception or abort your program.

Note: No references to the configuration are retained. Its value is copied.

Postcondition: The created body will be present in the range returned from the GetBodies(const World&) method.

Parameters

world	The world within which to create the body.
def	A customized body configuration or its default value.

Returns: Identifier of the newly created body which can later be destroyed by calling the Destroy(World&, BodyID) method.

Exceptions

WrongState	if this method is called while the world is locked.
LengthError	if this operation would create more than `MaxBodies`.

See also: Destroy(World& world, BodyID), GetBodies(const World&).; Physical Entities.

◆ CreateFixture() [1/3]

FixtureID CreateFixture	(	World &	world,
		BodyID	id,
		const Shape &	shape,
		FixtureConf	def = `FixtureConf{}`,
		bool	resetMassData = `true`
	)

Exceptions

WrongState	if called while the world is "locked".
std::out_of_range	If given an invalid body identifier.

See also: CreateFixture(World& world, FixtureConf def).

◆ CreateFixture() [2/3]

template<typename T >

FixtureID CreateFixture	(	World &	world,
		BodyID	id,
		const T &	shapeConf,
		FixtureConf	def = `FixtureConf{}`,
		bool	resetMassData = `true`
	)

This is a convenience function for allowing limited implicit conversions to shapes.

Exceptions

WrongState	if called while the world is "locked".
std::out_of_range	If given an invalid body identifier.

See also: CreateFixture(World& world, FixtureConf def).

◆ CreateFixture() [3/3]

FixtureID CreateFixture	(	World &	world,
		FixtureConf	def = `FixtureConf{}`,
		bool	resetMassData = `true`
	)

Exceptions

WrongState	if called while the world is "locked".
std::out_of_range	If given an invalid body identifier in the configuration.

See also: CreateFixture(World&, BodyID, const Shape&,FixtureConf,bool).

Examples: World.cpp.

◆ CreateJoint()

template<typename T >

JointID CreateJoint	(	World &	world,
		const T &	value
	)

This is a convenience function for allowing limited implicit conversions to joints.

◆ Destroy() [1/3]

void Destroy	(	World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: CreateBody(World&, const BodyConf&).

◆ Destroy() [2/3]

bool Destroy	(	World &	world,
		FixtureID	id,
		bool	resetMassData = `true`
	)

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an invalid fixture identifier.

◆ Destroy() [3/3]

void Destroy	(	World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ DestroyFixtures()

void DestroyFixtures	(	World &	world,
		BodyID	id,
		bool	resetMassData = `true`
	)

Destroys all of the fixtures previously created for this body by the CreateFixture(const Shape&, const FixtureConf&, bool) method.

Note: This may call the ResetMassData() method.

Postcondition: After this call, no fixtures will show up in the fixture enumeration returned by the GetFixtures() methods.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: CreateFixture, GetFixtures, ResetMassData.; Physical Entities

◆ EnableLimit()

void EnableLimit	(	World &	world,
		JointID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ EnableMotor()

void EnableMotor	(	World &	world,
		JointID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAcceleration()

Acceleration GetAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetAcceleration(World&, BodyID, LinearAcceleration2, AngularAcceleration).

◆ GetAnchorA()

Length2 GetAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAnchorB()

Length2 GetAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngle() [1/2]

Angle GetAngle	(	const World &	world,
		BodyID	id
	)

Returns: the current world rotation angle.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngle() [2/2]

Angle GetAngle	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularAcceleration()

AngularAcceleration GetAngularAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ GetAngularDamping()

Frequency GetAngularDamping	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngularLowerLimit()

Angle GetAngularLowerLimit	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularMass()

RotInertia GetAngularMass	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularMotorImpulse()

AngularMomentum GetAngularMotorImpulse	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularOffset()

Angle GetAngularOffset	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularReaction()

AngularMomentum GetAngularReaction	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularUpperLimit()

Angle GetAngularUpperLimit	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularVelocity() [1/2]

AngularVelocity GetAngularVelocity	(	const World &	world,
		BodyID	id
	)

Parameters

world	World in which body is identified for.
id	Identifier of body to get the angular velocity for.

Returns: the angular velocity.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngularVelocity() [2/2]

AngularVelocity GetAngularVelocity	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetBody() [1/2]

const Body & GetBody	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: CreateBody(World& world, const BodyConf&), SetBody(World& world, BodyID id, const Body& body).

◆ GetBody() [2/2]

BodyID GetBody	(	const World &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetBodyA() [1/2]

BodyID GetBodyA	(	const World &	world,
		ContactID	id
	)

Returns: Identification of the body-A or InvalidBodyID.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetBodyA() [2/2]

BodyID GetBodyA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetBodyB() [1/2]

BodyID GetBodyB	(	const World &	world,
		ContactID	id
	)

Returns: Identification of the body-B or InvalidBodyID.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetBodyB() [2/2]

BodyID GetBodyB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetBodyCount()

BodyCounter GetBodyCount ( const World & world )

Returns: 0 or higher.

◆ GetBodyRange()

BodyCounter GetBodyRange ( const World & world )

Note: This is one higher than the maxium BodyID that is in range for body related functions.

◆ GetCentripetalForce()

Force2 GetCentripetalForce	(	const World &	world,
		BodyID	id,
		Length2	axis
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetChildIndexA()

ChildCounter GetChildIndexA	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetChildIndexB()

ChildCounter GetChildIndexB	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetCollideConnected()

bool GetCollideConnected	(	const World &	world,
		JointID	id
	)

Note: Modifying the collide connect flag won't work correctly because the flag is only checked when fixture AABBs begin to overlap.

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetContact()

const Contact & GetContact	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetContactCount()

ContactCounter GetContactCount ( const World & world )

Note: Not all contacts are for shapes that are actually touching. Some contacts are for shapes which merely have overlapping AABBs.

Returns: 0 or higher.

◆ GetContactRange()

ContactCounter GetContactRange ( const World & world )

Note: This is one higher than the maxium ContactID that is in range for contact related functions.

◆ GetContacts()

SizedRange< std::vector< KeyedContactPtr >::const_iterator > GetContacts	(	const World &	world,
		BodyID	id
	)

Warning: This collection changes during the time step and you may miss some collisions if you don't use ContactListener.

Exceptions

std::out_of_range If given an invalid body identifier.

Examples: World.cpp.

◆ GetCurrentLengthA()

Length GetCurrentLengthA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetCurrentLengthB()

Length GetCurrentLengthB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetDampingRatio()

Real GetDampingRatio	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range	If given an invalid joint identifier.
std::invalid_argument	If the identified joint's type doesn't support this.

◆ GetDefaultFriction()

Real GetDefaultFriction	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetFriction.

◆ GetDefaultRestitution()

Real GetDefaultRestitution	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetRestitution.

◆ GetDensity()

AreaDensity GetDensity	(	const World &	world,
		FixtureID	id
	)

Returns: Non-negative density (in mass per area).

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetFilterData()

Filter GetFilterData	(	const World &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: SetFilterData.

◆ GetFixtureA()

FixtureID GetFixtureA	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetFixtureB()

FixtureID GetFixtureB	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetFixtureCount() [1/2]

FixtureCounter GetFixtureCount ( const World & world )

Returns: Value that's less than or equal to what's returned by GetFixtureRange(const World& world).

Exceptions

WrongState if called while the world is "locked".

See also: GetFixtureRange(const World& world).

◆ GetFixtureCount() [2/2]

FixtureCounter GetFixtureCount	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetFixtures(const World& world, BodyID id).

◆ GetFixtureRange()

FixtureCounter GetFixtureRange ( const World & world )

Note: This is one higher than the maxium FixtureID that is in range for fixture related functions.

See also: CreateFixture(World& world, FixtureConf).

◆ GetFixtures()

SizedRange< std::vector< FixtureID >::const_iterator > GetFixtures	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetFrequency()

Frequency GetFrequency	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetFriction() [1/2]

Real GetFriction	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetFriction.

◆ GetFriction() [2/2]

Real GetFriction	(	const World &	world,
		FixtureID	id
	)

Returns: Value of 0 or higher.

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetGroundAnchorA()

Length2 GetGroundAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetGroundAnchorB()

Length2 GetGroundAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetInvMass()

InvMass GetInvMass	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetMassData.

◆ GetInvRotInertia()

InvRotInertia GetInvRotInertia	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetJoint()

const Joint & GetJoint	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetJointCount()

JointCounter GetJointCount ( const World & world )

Returns: 0 or higher.

◆ GetJointRange()

JointCounter GetJointRange ( const World & world )

Note: This is one higher than the maxium JointID that is in range for joint related functions.

◆ GetJoints()

SizedRange< std::vector< std::pair< BodyID, JointID > >::const_iterator > GetJoints	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetJointTranslation()

Length GetJointTranslation	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLength()

Length GetLength	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range	If given an invalid joint identifier.
std::invalid_argument	If the identified joint's type doesn't support this.

◆ GetLimitState()

LimitState GetLimitState	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range	If given an invalid joint identifier.
std::invalid_argument	If the identified joint's type doesn't support this.

◆ GetLinearAcceleration()

LinearAcceleration2 GetLinearAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ GetLinearDamping()

Frequency GetLinearDamping	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLinearMotorImpulse()

Momentum GetLinearMotorImpulse	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearOffset()

Length2 GetLinearOffset	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearReaction()

Momentum2 GetLinearReaction	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearVelocity()

LinearVelocity2 GetLinearVelocity	(	const World &	world,
		BodyID	id
	)

Parameters

world	World in which body is identified for.
id	Identifier of body to get the linear velocity for.

Returns: the linear velocity of the center of mass.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalAnchorA()

Length2 GetLocalAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalAnchorB()

Length2 GetLocalAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalCenter()

Length2 GetLocalCenter	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalPoint()

Length2 GetLocalPoint	(	const World &	world,
		BodyID	body,
		const Length2	worldPoint
	)

Parameters

world	The world in which the identified body exists.
body	Identifier of 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.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia	(	const World &	world,
		BodyID	id
	)

Returns: the rotational inertia.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalVector()

UnitVec GetLocalVector	(	const World &	world,
		BodyID	body,
		const UnitVec	uv
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalXAxisA()

UnitVec GetLocalXAxisA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalYAxisA()

UnitVec GetLocalYAxisA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocation()

Length2 GetLocation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetTransformation(const World& world, BodyID id).

◆ GetManifold()

const Manifold & GetManifold	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

Examples: World.cpp.

◆ GetMass()

Mass GetMass	(	const World &	world,
		BodyID	id
	)

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.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetInvMass, SetMassData

◆ GetMassData() [1/2]

MassData GetMassData	(	const World &	world,
		BodyID	id
	)

Returns: Data structure containing the mass, inertia, and center of the body.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetMassData() [2/2]

MassData GetMassData	(	const World &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetMaxMotorTorque()

Torque GetMaxMotorTorque	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetMotorForce()

Force GetMotorForce	(	const World &	world,
		JointID	id,
		Frequency	inv_dt
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetMotorSpeed()

AngularVelocity GetMotorSpeed	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

See also: SetMotorSpeed(World& world, JointID id, AngularVelocity value)

◆ GetMotorTorque()

Torque GetMotorTorque	(	const World &	world,
		JointID	id,
		Frequency	inv_dt
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetRatio()

Real GetRatio	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetReferenceAngle()

Angle GetReferenceAngle	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetRestitution() [1/2]

Real GetRestitution	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetRestitution(World& world, ContactID id, Real restitution)

◆ GetRestitution() [2/2]

Real GetRestitution	(	const World &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetRotInertia()

RotInertia GetRotInertia	(	const World &	world,
		BodyID	id
	)

Parameters

world	The world in which the identified body exists.
id	Identifier of body to get the rotational inertia for.

Returns: the rotational inertia.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetShape()

const Shape & GetShape	(	const World &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetSubStepping()

bool GetSubStepping ( const World & world )

See also: SetSubStepping, IsStepComplete.

◆ GetTangentSpeed()

LinearVelocity GetTangentSpeed	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetTarget()

Length2 GetTarget	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetToi()

Real GetToi	(	const World &	world,
		ContactID	id
	)

Note: This is only valid if a TOI has been set.

Returns: Time of impact fraction in the range of 0 to 1 if set (where 1 means no actual impact in current time slot), otherwise undefined.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: HasValidToi.

◆ GetToiCount()

TimestepIters GetToiCount	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetTransformation() [1/2]

Transformation GetTransformation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetTransformation(World& world, BodyID id, Transformation xfm).

◆ GetTransformation() [2/2]

Transformation GetTransformation	(	const World &	world,
		FixtureID	id
	)

Warning: Behavior is undefined if the fixture doesn't have an associated body - i.e. behavior is undefined if the fixture has nullptr as its associated body.

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetType() [1/2]

BodyType GetType	(	const World &	world,
		BodyID	id
	)

See also: SetType(World& world, BodyID id, BodyType value)

◆ GetType() [2/2]

TypeID GetType	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetVelocity()

Velocity GetVelocity	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetVelocity(World& world, BodyID id, const Velocity& value).

◆ GetWorldCenter()

Length2 GetWorldCenter	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldIndex() [1/2]

BodyCounter GetWorldIndex	(	const World &	world,
		const BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldIndex() [2/2]

JointCounter GetWorldIndex	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetWorldManifold()

WorldManifold GetWorldManifold	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetWorldPoint()

Length2 GetWorldPoint	(	const World &	world,
		BodyID	id,
		const Length2	localPoint
	)

Parameters

world	World context.
id	Identifier of 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.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ HasValidToi()

bool HasValidToi	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: GetToi.

◆ IsAccelerable()

bool IsAccelerable	(	const World &	world,
		BodyID	id
	)

Indicates whether the 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.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsAwake() [1/3]

bool IsAwake	(	const World &	world,
		BodyID	id
	)

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

Returns: true if the body is awake.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetAwake(World& world, BodyID id), UnsetAwake(BodyID id).

◆ IsAwake() [2/3]

bool IsAwake	(	const World &	world,
		BodyID	id
	)

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

Returns: true if the body is awake.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetAwake, UnsetAwake.

◆ IsAwake() [3/3]

bool IsAwake	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetAwake.

◆ IsEnabled() [1/3]

bool IsEnabled	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetEnabled.

◆ IsEnabled() [2/3]

bool IsEnabled	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ IsEnabled() [3/3]

bool IsEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ IsFixedRotation()

bool IsFixedRotation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetFixedRotation.

◆ IsImpenetrable()

bool IsImpenetrable	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsLimitEnabled()

bool IsLimitEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ IsMassDataDirty()

bool IsMassDataDirty	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsMotorEnabled()

bool IsMotorEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

See also: EnableMotor(World& world, JointID joint, bool value)

◆ IsSensor()

bool IsSensor	(	const World &	world,
		FixtureID	id
	)

Returns: the true if the fixture is a sensor.

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: SetSensor.

◆ IsSleepingAllowed()

bool IsSleepingAllowed	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsSpeedable()

bool IsSpeedable	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsTouching()

bool IsTouching	(	const World &	world,
		ContactID	id
	)

Touching is defined as either:

This contact's manifold has more than 0 contact points, or
This contact has sensors and the two shapes of this contact are found to be overlapping.
Returns
true if this contact is said to be touching, false otherwise.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ NeedsFiltering()

bool NeedsFiltering	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ NeedsUpdating()

bool NeedsUpdating	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ ResetFriction()

void ResetFriction	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ ResetMassData()

void ResetMassData	(	World &	world,
		BodyID	id
	)

This resets the mass data to the sum of the mass properties of the fixtures.

Note: This method must be called after calling CreateFixture to update the body mass data properties unless SetMassData is used.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetMassData.

◆ ResetRestitution()

void ResetRestitution	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ RotateAboutLocalPoint()

void RotateAboutLocalPoint	(	World &	world,
		BodyID	id,
		Angle	amount,
		Length2	localPoint
	)

This changes both the linear and angular positions of the body.

Note: Manipulating a body's position this way may cause non-physical behavior.; This is a convenience function that translates the local point into world coordinates and then calls the RotateAboutWorldPoint function.

Parameters

world	The world in which the identified body exists.
id	Identifier of body to rotate.
amount	Amount to rotate body by (in counter-clockwise direction).
localPoint	Point in local coordinates.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ RotateAboutWorldPoint()

void RotateAboutWorldPoint	(	World &	world,
		BodyID	id,
		Angle	amount,
		Length2	worldPoint
	)

This changes both the linear and angular positions of the body.

Note: Manipulating a body's position this way may cause non-physical behavior.

Parameters

world	The world in which the identified body exists.
id	Identifier of body to rotate.
amount	Amount to rotate body by (in counter-clockwise direction).
worldPoint	Point in world coordinates.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetAcceleration() [1/4]

void SetAcceleration	(	World &	world,
		BodyID	id,
		Acceleration	value
	)

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

Parameters

world	The world in which the identified body's acceleration should be set.
id	Identifier of body whose acceleration should be set.
value	Acceleration value to set.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ SetAcceleration() [2/4]

void SetAcceleration	(	World &	world,
		BodyID	id,
		AngularAcceleration	value
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ SetAcceleration() [3/4]

void SetAcceleration	(	World &	world,
		BodyID	id,
		LinearAcceleration2	linear,
		AngularAcceleration	angular
	)

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

Parameters

world	World in which it all happens.
id	Identifier of body whose acceleration should be set.
linear	Linear acceleration.
angular	Angular acceleration.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ SetAcceleration() [4/4]

void SetAcceleration	(	World &	world,
		BodyID	id,
		LinearAcceleration2	value
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAcceleration(const World& world, BodyID id).

◆ SetAccelerations() [1/2]

template<class F >

void SetAccelerations	(	World &	world,
		F	fn
	)

Parameters

world	World instance to set the acceleration of all contained bodies for.
fn	Function or functor with a signature like: `Acceleration (*fn)(World&,BodyID)`.

◆ SetAccelerations() [2/2]

void SetAccelerations	(	World &	world,
		LinearAcceleration2	acceleration
	)

Note: This will leave the angular acceleration alone.

◆ SetAngle()

void SetAngle	(	World &	world,
		BodyID	id,
		Angle	value
	)

This instantly adjusts the body to be at the new angular orientation.

Warning: Manipulating a body's angle this way can cause non-physical behavior!

Parameters

world	The world in which the identified body's angle should be set.
id	Identifier of body to move.
value	Valid world angle of the body's local origin. Behavior is undefined if value is invalid.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetAngle(const World& world, BodyID id).

◆ SetAngularDamping()

void SetAngularDamping	(	World &	world,
		BodyID	id,
		NonNegative< Frequency >	angularDamping
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetAngularLimits()

void SetAngularLimits	(	World &	world,
		JointID	id,
		Angle	lower,
		Angle	upper
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetAngularOffset()

void SetAngularOffset	(	World &	world,
		JointID	id,
		Angle	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetAwake() [1/4]

void SetAwake	(	World &	world,
		BodyID	id
	)

Note: This wakes up any associated contacts that had been asleep.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: IsAwake(const World& world, BodyID id), UnsetAwake(World& world, BodyID id).

◆ SetAwake() [2/4]

void SetAwake	(	World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetAwake() [3/4]

void SetAwake	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetAwake() [4/4]

void SetAwake	(	World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetBody()

void SetBody	(	World &	world,
		BodyID	id,
		const Body &	body
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetBody(const World& world, BodyID id).

◆ SetContact()

void SetContact	(	World &	world,
		ContactID	id,
		const Contact &	value
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetEnabled() [1/3]

void SetEnabled	(	World &	world,
		BodyID	id,
		bool	value
	)

A disabled body is not simulated and cannot be collided with or woken up. If you pass a flag of true, all fixtures will be added to the broad-phase. If you pass a flag of false, all fixtures will be removed from the broad-phase and all contacts will be destroyed. Fixtures and joints are otherwise unaffected.

Note: A disabled body is still owned by a World object and remains in the world's body container.; You may continue to create/destroy fixtures and joints on disabled bodies.; Fixtures on a disabled body are implicitly disabled and will not participate in collisions, ray-casts, or queries.; Joints connected to a disabled body are implicitly disabled.

Exceptions

WrongState	If call would change body's state when world is locked.
std::out_of_range	If given an invalid body identifier.

Postcondition: IsEnabled() returns the state given to this function.

See also: IsEnabled.

◆ SetEnabled() [2/3]

void SetEnabled	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetEnabled() [3/3]

void SetEnabled	(	World &	world,
		ContactID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: IsEnabled(const World&, ContactID).

◆ SetFilterData()

void SetFilterData	(	World &	world,
		FixtureID	id,
		const Filter &	filter
	)

Note: This won't update contacts until the next time step when either parent body is speedable and awake.; This automatically refilters contacts.

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: GetFilterData.

◆ SetFixedRotation()

void SetFixedRotation	(	World &	world,
		BodyID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

Note: This also causess the mass data to be reset.

See also: IsFixedRotation.

◆ SetForce()

void SetForce	(	World &	world,
		BodyID	id,
		Force2	force,
		Length2	point
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetFrequency()

void SetFrequency	(	World &	world,
		JointID	id,
		Frequency	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetFriction()

void SetFriction	(	World &	world,
		ContactID	id,
		Real	friction
	)

Overrides the default friction mixture.

Note: You can call this in "pre-solve" listeners.; This value persists until set or reset.

Warning: Behavior is undefined if given a negative friction value.

Parameters

world	The world in which the contact is identified in.
id	Identifier of the contact whose friction value should be set.
friction	Co-efficient of friction value of zero or greater.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetImpenetrable() [1/2]

void SetImpenetrable	(	World &	world,
		BodyID	id
	)

Sets that the body should be treated like a bullet for continuous collision detection.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetImpenetrable() [2/2]

void SetImpenetrable	(	World &	world,
		BodyID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetJoint() [1/2]

void SetJoint	(	World &	world,
		JointID	id,
		const Joint &	def
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetJoint() [2/2]

template<typename T >

void SetJoint	(	World &	world,
		JointID	id,
		const T &	value
	)

This is a convenience function for allowing limited implicit conversions to joints.

◆ SetLinearDamping()

void SetLinearDamping	(	World &	world,
		BodyID	id,
		NonNegative< Frequency >	linearDamping
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetLinearOffset()

void SetLinearOffset	(	World &	world,
		JointID	id,
		Length2	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetLocation()

void SetLocation	(	World &	world,
		BodyID	id,
		Length2	value
	)

This instantly adjusts the body to be at the new location.

Warning: Manipulating a body's location this way can cause non-physical behavior!

Parameters

world	The world in which the identified body's location should be set.
id	Identifier of body to move.
value	Valid world location of the body's local origin. Behavior is undefined if value is invalid.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetLocation(const World& world, BodyID id).

◆ SetMassData()

void SetMassData	(	World &	world,
		BodyID	id,
		const MassData &	massData
	)

Note: This changes the center of mass position.; Creating or destroying fixtures can also alter the mass.; This function has no effect if the body isn't dynamic.

Parameters

world	The world in which the identified body exists.
id	Identifier of the body.
massData	the mass properties.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetMaxMotorTorque()

void SetMaxMotorTorque	(	World &	world,
		JointID	id,
		Torque	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetMotorSpeed()

void SetMotorSpeed	(	World &	world,
		JointID	id,
		AngularVelocity	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

See also: GetMotorSpeed(const World& world, JointID id)

◆ SetRestitution()

void SetRestitution	(	World &	world,
		ContactID	id,
		Real	restitution
	)

This override the default restitution mixture.

Note: You can call this in "pre-solve" listeners.; The value persists until you set or reset.

◆ SetSensor()

void SetSensor	(	World &	world,
		FixtureID	id,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

See also: IsSensor.

◆ SetSleepingAllowed()

void SetSleepingAllowed	(	World &	world,
		BodyID	,
		bool	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetSubStepping()

void SetSubStepping	(	World &	world,
		bool	flag
	)

Note: This is not normally used. Enabling sub-stepping is meant for testing.

Postcondition: The GetSubStepping() method will return the value this method was called with.

See also: IsStepComplete, GetSubStepping.

◆ SetTangentSpeed()

void SetTangentSpeed	(	World &	world,
		ContactID	id,
		LinearVelocity	value
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetTarget()

void SetTarget	(	World &	world,
		JointID	id,
		Length2	value
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetTorque()

void SetTorque	(	World &	world,
		BodyID	id,
		Torque	torque
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetTransform()

void SetTransform	(	World &	world,
		BodyID	id,
		Length2	location,
		Angle	angle
	)

This instantly adjusts the body to be at the new position and new orientation.

Warning: Manipulating a body's transform can cause non-physical behavior!

Note: Contacts are updated on the next call to World::Step.

Parameters

world	The world in which the identified body's transform should be set.
id	Identifier of body whose transform is to be set.
location	Valid world location of the body's local origin. Behavior is undefined if value is invalid.
angle	Valid world rotation. Behavior is undefined if value is invalid.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetTransformation()

void SetTransformation	(	World &	world,
		BodyID	id,
		Transformation	xfm
	)

This instantly adjusts the body to be at the new transformation.

Warning: Manipulating a body's transformation can cause non-physical behavior!

Note: Contacts are updated on the next call to World::Step.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetTransformation(const World& world, BodyID id).

◆ SetType()

void SetType	(	World &	world,
		BodyID	id,
		BodyType	value,
		bool	resetMassData = `true`
	)

Note: This may alter the body's mass and velocity.

Exceptions

WrongState	if this method is called while the world is locked.
std::out_of_range	If given an invalid body identifier.

See also: GetType(const World& world, BodyID id)

◆ SetVelocity() [1/4]

void SetVelocity	(	World &	world,
		BodyID	id,
		AngularVelocity	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetVelocity() [2/4]

void SetVelocity	(	World &	world,
		BodyID	id,
		const LinearVelocity2 &	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetVelocity() [3/4]

void SetVelocity	(	World &	world,
		BodyID	id,
		const Velocity &	value
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetVelocity(BodyID), SetAwake, SetUnderActiveTime.

◆ SetVelocity() [4/4]

void SetVelocity	(	World &	world,
		BodyID	id,
		const Velocity &	value
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetVelocity.

◆ ShiftOrigin() [1/2]

bool ShiftOrigin	(	World &	world,
		JointID	id,
		Length2	value
	)

Note: This only effects joints having points in world coordinates.

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ ShiftOrigin() [2/2]

void ShiftOrigin	(	World &	world,
		Length2	newOrigin
	)

Note: Useful for large worlds.; The body shift formula is: position -= newOrigin.

Postcondition: The "origin" of this world's bodies, joints, and the board-phase dynamic tree have been translated per the shift amount and direction.

Parameters

world	The world whose origin should be shifted.
newOrigin	the new origin with respect to the old origin

Exceptions

WrongState if this method is called while the world is locked.

◆ Step()

StepStats Step	(	World &	world,
		Time	delta,
		TimestepIters	velocityIterations = `8`,
		TimestepIters	positionIterations = `3`
	)

Performs position and velocity updating, sleeping of non-moving bodies, updating of the contacts, and notifying the contact listener of begin-contact, end-contact, pre-solve, and post-solve events. If the given velocity and position iterations are more than zero, this method also respectively performs velocity and position resolution of the contacting bodies.

Note: While body velocities are updated accordingly (per the sum of forces acting on them), body positions (barring any collisions) are updated as if they had moved the entire time step at those resulting velocities. In other words, a body initially at p0 going v0 fast with a sum acceleration of a, after time t and barring any collisions, will have a new velocity (v1) of v0 + (a * t) and a new position (p1) of p0 + v1 * t.

Warning: Varying the time step may lead to non-physical behaviors.

Postcondition: Static bodies are unmoved.; Kinetic bodies are moved based on their previous velocities.; Dynamic bodies are moved based on their previous velocities, gravity, applied forces, applied impulses, masses, damping, and the restitution and friction values of their fixtures when they experience collisions.

Parameters

world	World to step.
delta	Time to simulate as a delta from the current state. This should not vary.
velocityIterations	Number of iterations for the velocity constraint solver.
positionIterations	Number of iterations for the position constraint solver. The position constraint solver resolves the positions of bodies that overlap.

◆ UnsetAwake() [1/2]

void UnsetAwake	(	World &	world,
		BodyID	id
	)

Note: This sleeps any associated contacts whose other body is also asleep.

Exceptions

std::out_of_range If given an invalid body identifier.

See also: IsAwake(const World& world, BodyID id), SetAwake(World& world, BodyID id).

◆ UnsetAwake() [2/2]

void UnsetAwake	(	World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: IsAwake, SetAwake.

◆ UnsetEnabled()

void UnsetEnabled	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ UnsetImpenetrable()

void UnsetImpenetrable	(	World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

Member Data Documentation

◆ m_impl

propagate_const<std::unique_ptr<WorldImpl> > playrho::d2::World::m_impl

private

Pointer to implementation (PIMPL)

See also: https://en.cppreference.com/w/cpp/language/pimpl

Referenced by Clear(), CreateBody(), CreateFixture(), CreateJoint(), Destroy(), GetBodies(), GetBodiesForProxies(), GetBody(), GetBodyRange(), GetContact(), GetContactRange(), GetContacts(), GetFixture(), GetFixtureRange(), GetFixtures(), GetInvDeltaTime(), GetJoint(), GetJointRange(), GetJoints(), GetManifold(), GetMaxVertexRadius(), GetMinVertexRadius(), GetSubStepping(), GetTree(), IsLocked(), IsStepComplete(), operator=(), SetBody(), SetContact(), SetFixture(), SetJoint(), ShiftOrigin(), Step(), World(), and ~World().

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

World.hpp
AABB.hpp
RayCastOutput.hpp
DistanceJointConf.hpp
FrictionJointConf.hpp
GearJointConf.hpp
MotorJointConf.hpp
PrismaticJointConf.hpp
PulleyJointConf.hpp
RevoluteJointConf.hpp
WeldJointConf.hpp
WheelJointConf.hpp
World.cpp
WorldBody.hpp
WorldContact.hpp
WorldFixture.hpp
WorldJoint.hpp
WorldMisc.hpp
WorldSpecial.cpp

Public Types

Public Member Functions

Private Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ World() [1/2]

◆ World() [2/2]

◆ ~World()

Member Function Documentation

◆ Clear()

◆ CreateBody()

◆ CreateFixture()

◆ CreateJoint()

◆ Destroy() [1/3]

◆ Destroy() [2/3]

◆ Destroy() [3/3]

◆ GetBodies()

◆ GetBodiesForProxies()

◆ GetBody()

◆ GetBodyRange()

◆ GetContact()

◆ GetContactRange()

◆ GetContacts() [1/2]

◆ GetContacts() [2/2]

◆ GetFixture()

◆ GetFixtureRange()

◆ GetFixtures()

◆ GetInvDeltaTime()

◆ GetJoint()

◆ GetJointRange()

◆ GetJoints() [1/2]

◆ GetJoints() [2/2]

◆ GetManifold()

◆ GetMaxVertexRadius()

◆ GetMinVertexRadius()

◆ GetSubStepping()

◆ IsStepComplete()

◆ operator=()

◆ SetBody()

◆ SetContact()

◆ SetFixture()

◆ SetJoint()

◆ SetSubStepping()

◆ ShiftOrigin()

◆ Step()

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

◆ ApplyForce()

◆ ApplyForceToCenter()

◆ ApplyLinearImpulse()

◆ ApplyTorque()

◆ Awaken() [1/2]

◆ Awaken() [2/2]

◆ CalcGravitationalAcceleration()

◆ Clear()

◆ ClearForces()

◆ ComputeMassData()

◆ CreateBody()

◆ CreateFixture() [1/3]

◆ CreateFixture() [2/3]

◆ CreateFixture() [3/3]

◆ CreateJoint()

◆ Destroy() [1/3]

◆ Destroy() [2/3]

◆ Destroy() [3/3]

◆ DestroyFixtures()

◆ EnableLimit()

◆ EnableMotor()

◆ GetAcceleration()

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetAngle() [1/2]

◆ GetAngle() [2/2]

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetAngularLowerLimit()

◆ GetAngularMass()

◆ GetAngularMotorImpulse()

◆ GetAngularOffset()