Definition of a "world" implementation. More...

#include <WorldImpl.hpp>

Collaboration diagram for playrho::d2::WorldImpl:

Classes
struct	ContactToiData
	Contact TOI data. More...

struct	ContactUpdateConf
	Contact updating configuration. More...

struct	DestroyContactsStats
	Destroy contacts statistics. More...

struct	ProcessContactsOutput
	Process contacts output. More...

struct	UpdateContactsData
	Update contacts data. More...

struct	UpdateContactsStats
	Update contacts statistics. More...

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

using	Contacts = std::vector< KeyedContactPtr >
	Contacts container type.

using	Joints = std::vector< JointID >
	Joints container type. More...

using	BodyJoints = std::vector< std::pair< BodyID, JointID > >
	Body joints container type.

using	Fixtures = std::vector< FixtureID >
	Fixtures container type.

using	ProxyId = DynamicTree::Size
	Proxy ID type alias.

using	Proxies = std::vector< ProxyId >
	Proxy container type alias.

using	FixtureListener = std::function< void(FixtureID)>
	Fixture listener.

using	JointListener = std::function< void(JointID)>
	Joint listener.

using	ContactListener = std::function< void(ContactID)>
	Contact listener.

using	ManifoldContactListener = std::function< void(ContactID, const Manifold &)>
	Manifold contact listener.

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.
	WorldImpl (const WorldConf &def=GetDefaultWorldConf())
	Constructs a world implementation for a world. More...

	WorldImpl (const WorldImpl &other)=default
	Copy constructor. More...

WorldImpl &	operator= (const WorldImpl &other)=default
	Assignment operator. More...

	~WorldImpl () noexcept
	Destructor. More...

Listener Member Functions
void	SetFixtureDestructionListener (FixtureListener listener) noexcept
	Register a destruction listener for fixtures.

void	SetJointDestructionListener (JointListener listener) noexcept
	Register a destruction listener for joints.

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

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

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

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

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

StepStats	Step (const StepConf &conf)
	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.

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

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

const Proxies &	GetProxies () const noexcept
	Gets the dynamic tree leaves queued for finding new contacts. More...

void	AddProxies (const Proxies &proxies)
	Adds the given dynamic tree leaves to the queue for finding new contacts. More...

ContactCounter	FindNewContacts ()
	Finds new contacts. 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 identified body. More...

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

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

bool	IsDestroyed (BodyID id) const noexcept
	Gets whether the given identifier is to a body that's been destroyed.

SizedRange< WorldImpl::Contacts::const_iterator >	GetContacts (BodyID id) const
	Gets the contacts associated with the identified body. More...

SizedRange< WorldImpl::BodyJoints::const_iterator >	GetJoints (BodyID id) const

SizedRange< WorldImpl::Fixtures::const_iterator >	GetFixtures (BodyID id) const
	Gets the range of all constant fixtures attached to this body.

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 with the given parameters. 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 fixture)
	Destroys a fixture. More...

bool	IsDestroyed (FixtureID id) const noexcept
	Gets whether the given identifier is to a fixture that's been destroyed.

SizedRange< Fixtures::const_iterator >	GetFixturesForProxies () const noexcept
	Gets the fixtures-for-proxies range for this world. More...

const Proxies &	GetProxies (FixtureID id) const
	Gets the proxies for 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 identified joint. More...

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

void	Destroy (JointID joint)
	Destroys a joint. More...

bool	IsDestroyed (JointID id) const noexcept
	Gets whether the given identifier is to a joint that's been destroyed.

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 identified manifold. More...

bool	IsDestroyed (ContactID id) const noexcept
	Gets whether the given identifier is to a contact that's been destroyed.

Private Types
enum	Flag : FlagsType { e_newFixture = 0x0001, e_locked = 0x0002, e_substepping = 0x0020, e_stepComplete = 0x0040 }
	Flag enumeration. More...

using	FlagsType = std::uint32_t
	Flags type data type.

using	ContactKeyQueue = std::vector< ContactKey >
	Contact key queue type alias.

using	BodyStack = std::stack< BodyID, std::vector< BodyID > >
	Body stack.

Private Member Functions
RegStepStats	SolveReg (const StepConf &conf)
	Solves the step. More...

IslandStats	SolveRegIslandViaGS (const StepConf &conf, const Island &island)
	Solves the given island (regularly). More...

void	AddToIsland (Island &island, BodyID seed, BodyCounter &remNumBodies, ContactCounter &remNumContacts, JointCounter &remNumJoints)
	Adds to the island based off of a given "seed" body. More...

void	AddToIsland (Island &island, BodyStack &stack, BodyCounter &remNumBodies, ContactCounter &remNumContacts, JointCounter &remNumJoints)
	Adds to the island.

void	AddContactsToIsland (Island &island, BodyStack &stack, const Contacts &contacts, BodyID bodyID)
	Adds contacts to the island.

void	AddJointsToIsland (Island &island, BodyStack &stack, const BodyJoints &joints)
	Adds joints to the island.

ToiStepStats	SolveToi (const StepConf &conf)
	Solves the step using successive time of impact (TOI) events. More...

IslandStats	SolveToi (ContactID contactID, const StepConf &conf)
	Solves collisions for the given time of impact. More...

IslandStats	SolveToiViaGS (const Island &island, const StepConf &conf)
	Solves the time of impact for bodies 0 and 1 of the given island. More...

ProcessContactsOutput	ProcessContactsForTOI (BodyID id, Island &island, Real toi, const StepConf &conf)
	Processes the contacts of a given body for TOI handling. More...

void	Remove (BodyID id) noexcept
	Removes the given body from this world.

void	AddFixture (BodyID id, FixtureID fixture)
	Adds the given fixture to the given body.

bool	RemoveFixture (BodyID id, FixtureID fixture)
	Removes the given fixture from the given body.

void	Add (JointID j, bool flagForFiltering=false)
	Updates associated bodies and contacts for specified joint's addition.

void	Remove (JointID id) noexcept
	Updates associated bodies and contacts for specified joint's removal.

void	SetStepComplete (bool value) noexcept
	Sets the step complete state. More...

void	SetAllowSleeping () noexcept
	Sets the allow sleeping state.

void	UnsetAllowSleeping () noexcept
	Unsets the allow sleeping state.

bool	HasNewFixtures () const noexcept
	Determines whether this world has new fixtures.

void	UnsetNewFixtures () noexcept
	Unsets the new fixtures state.

DestroyContactsStats	DestroyContacts (Contacts &contacts)
	Processes the narrow phase collision for the contacts collection. More...

UpdateContactsStats	UpdateContacts (const StepConf &conf)
	Update contacts.

void	Destroy (ContactID contact, const Body *from)
	Destroys the given contact and removes it from its container. More...

bool	Add (ContactKey key)
	Adds a contact for the proxies identified by the key if appropriate. More...

void	InternalDestroy (ContactID contact, const Body *from=nullptr)
	Destroys the given contact.

ContactCounter	Synchronize (const Fixtures &fixtures, const Transformation &xfm1, const Transformation &xfm2, Real multiplier, Length extension)
	Synchronizes the given body. More...

void	CreateAndDestroyProxies (Length extension)
	Creates and destroys proxies.

PreStepStats::counter_type	SynchronizeProxies (const StepConf &conf)
	Synchronizes proxies of the bodies for proxies.

void	Update (ContactID id, const ContactUpdateConf &conf)
	Updates the touching related state and notifies listener (if one given). More...

Static Private Member Functions
static Bodies::size_type	RemoveUnspeedablesFromIslanded (const std::vector< BodyID > &bodies, const ArrayAllocator< Body > &buffer, std::vector< bool > &islanded)
	Removes unspeedables from the is is-in-island state.

static bool	UpdateBody (Body &body, const Position &pos)
	Updates the given body. More...

static UpdateContactsData	UpdateContactTOIs (ArrayAllocator< Contact > &contactBuffer, ArrayAllocator< Body > &bodyBuffer, const ArrayAllocator< FixtureConf > &fixtureBuffer, const Contacts &contacts, const StepConf &conf)
	Updates the contact times of impact.

static ContactToiData	GetSoonestContact (const Contacts &contacts, const ArrayAllocator< Contact > &buffer) noexcept
	Gets the soonest contact. More...

Private Attributes
ArrayAllocator< Body >	m_bodyBuffer
	Array of body data both used and freed.

ArrayAllocator< Contacts >	m_bodyContacts
	Cache of contacts associated with bodies.

ArrayAllocator< BodyJoints >	m_bodyJoints
	Cache of joints associated with bodies.

ArrayAllocator< Fixtures >	m_bodyFixtures
	Cache of fixtures associated with bodies. More...

ArrayAllocator< FixtureConf >	m_fixtureBuffer
	Array of fixture data both used and freed.

ArrayAllocator< Proxies >	m_fixtureProxies
	Array of arrays of dynamic tree leaves.

ArrayAllocator< Joint >	m_jointBuffer
	Array of joint data both used and freed.

ArrayAllocator< Contact >	m_contactBuffer
	Array of contact data both used and freed.

ArrayAllocator< Manifold >	m_manifoldBuffer
	Array of manifold data both used and freed.

DynamicTree	m_tree
	Dynamic tree.

ContactKeyQueue	m_proxyKeys
	Proxy keys.

Proxies	m_proxies
	Proxies queue.

Fixtures	m_fixturesForProxies
	Fixtures for proxies queue.

Bodies	m_bodiesForProxies
	Bodies for proxies queue.

Bodies	m_bodies
	Body collection.

Joints	m_joints
	Joint collection.

Contacts	m_contacts
	Container of contacts. More...

Island	m_island
	Island buffer.

std::vector< bool >	m_islandedBodies
	Per body boolean on whether body islanded.

std::vector< bool >	m_islandedContacts
	Per contact boolean on whether contact islanded.

std::vector< bool >	m_islandedJoints
	Per joint boolean on whether joint islanded.

FixtureListener	m_fixtureDestructionListener
	Listener for fixture destruction.

JointListener	m_jointDestructionListener
	Listener for joint destruction.

ContactListener	m_beginContactListener
	Listener for beginning contact events.

ContactListener	m_endContactListener
	Listener for ending contact events.

ManifoldContactListener	m_preSolveContactListener
	Listener for pre-solving contacts.

ImpulsesContactListener	m_postSolveContactListener
	Listener for post-solving contacts.

FlagsType	m_flags = e_stepComplete
	Flags.

Frequency	m_inv_dt0 = 0
	Inverse delta-t from previous step. More...

Positive< Length >	m_minVertexRadius
	Minimum vertex radius.

Positive< Length >	m_maxVertexRadius
	Maximum vertex radius. More...

Related Functions
(Note that these are not member functions.)
BodyCounter	GetBodyRange (const WorldImpl &world) noexcept
	Gets the extent of the currently valid body range. More...

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

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

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

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

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

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

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

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

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

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

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

FixtureID	CreateFixture (WorldImpl &world, const FixtureConf &def)
	Creates a fixture per the given configuration. More...

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

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

bool	Destroy (WorldImpl &world, FixtureID id)
	Destroys the identified fixture. More...

const std::vector< ContactCounter > &	GetProxies (const WorldImpl &world, FixtureID id)
	Gets the dynamic tree leaves awaiting processing for the finding of new contacts.

ChildCounter	GetProxyCount (const WorldImpl &world, FixtureID id)
	Gets the count of proxies of the identified fixture. More...

ContactCounter	GetProxy (const WorldImpl &world, FixtureID id, ChildCounter child)
	Gets the specified proxy of the identified fixture. More...

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

JointID	CreateJoint (WorldImpl &world, const Joint &def)
	Creates a new joint.

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

const Joint &	GetJoint (const WorldImpl &world, JointID id)
	Gets the identified joint's value.

void	SetJoint (WorldImpl &world, JointID id, const Joint &def)
	Sets the identified joint's new value.

void	Clear (WorldImpl &world) noexcept
	Clears the given world.

void	SetFixtureDestructionListener (WorldImpl &world, std::function< void(FixtureID)> listener) noexcept
	Registers a destruction listener for fixtures.

void	SetJointDestructionListener (WorldImpl &world, std::function< void(JointID)> listener) noexcept
	Registers a destruction listener for joints.

void	SetBeginContactListener (WorldImpl &world, std::function< void(ContactID)> listener) noexcept
	Registers a begin contact event listener.

void	SetEndContactListener (WorldImpl &world, std::function< void(ContactID)> listener) noexcept
	Registers an end contact event listener.

void	SetPreSolveContactListener (WorldImpl &world, std::function< void(ContactID, const Manifold &)> listener) noexcept
	Registers a pre-solve contact event listener.

void	SetPostSolveContactListener (WorldImpl &world, std::function< void(ContactID, const ContactImpulsesList &, unsigned)> listener) noexcept
	Registers a post-solve contact event listener.

StepStats	Step (WorldImpl &world, const StepConf &conf)
	Steps the given world the specified amount.

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

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

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

SizedRange< std::vector< FixtureID >::const_iterator >	GetFixturesForProxies (const WorldImpl &world) noexcept
	Gets the fixtures-for-proxies range for this world. More...

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

SizedRange< std::vector< KeyedContactPtr >::const_iterator >	GetContacts (const WorldImpl &world) noexcept
	Gets the contacts of the specified world.

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

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

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

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

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

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

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

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

Detailed Description

Definition of a "world" implementation.

See also: World.

Member Typedef Documentation

◆ Joints

using playrho::d2::WorldImpl::Joints = std::vector<JointID>

Joints container type.

Note: Cannot be container of Joint instances since joints are polymorphic types.

Member Enumeration Documentation

◆ Flag

enum playrho::d2::WorldImpl::Flag : FlagsType

private

Flag enumeration.

Enumerator
e_newFixture	New fixture.
e_locked	Locked.
e_substepping	Sub-stepping.
e_stepComplete	Step complete. Used for sub-stepping. See also e_substepping.

Constructor & Destructor Documentation

◆ WorldImpl() [1/2]

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

explicit

Constructs a world implementation for a world.

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.

◆ WorldImpl() [2/2]

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

default

Copy constructor.

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

◆ ~WorldImpl()

playrho::d2::WorldImpl::~WorldImpl ( )

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

◆ Add()

bool playrho::d2::WorldImpl::Add ( ContactKey key )

private

Adds a contact for the proxies identified by the key if appropriate.

Adds a new contact object to represent a contact between proxy A and proxy B if all of the following are true:

The bodies of the fixtures of the proxies are not the one and the same.
No contact already exists for these two proxies.
The bodies of the proxies should collide (according to ShouldCollide).
The contact filter says the fixtures of the proxies should collide.
There exists a contact-create function for the pair of shapes of the proxies.
Postcondition
The size of the contacts collection is one greater-than it was before this method is called if it returns true.

Parameters

key ID's of dynamic tree entries identifying the fixture proxies involved.

Returns
true if a new contact was indeed added (and created), else false.

See also
bool ShouldCollide(const Body& lhs, const Body& rhs) noexcept.

◆ AddProxies()

void playrho::d2::WorldImpl::AddProxies ( const Proxies & proxies )

inline

Adds the given dynamic tree leaves to the queue for finding new contacts.

See also: GetProxies, FindNewContacts.

Referenced by CreateAndDestroyProxies(), SetBody(), and SetFixture().

◆ AddToIsland()

void playrho::d2::WorldImpl::AddToIsland	(	Island &	island,
		BodyID	seed,
		BodyCounter &	remNumBodies,
		ContactCounter &	remNumContacts,
		JointCounter &	remNumJoints
	)

private

Adds to the island based off of a given "seed" body.

Postcondition: Contacts are listed in the island in the order that bodies provide those contacts.; Joints are listed the island in the order that bodies provide those joints.

Referenced by SolveReg().

◆ Clear()

void playrho::d2::WorldImpl::Clear ( )

noexcept

Clears this world.

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

Referenced by ~WorldImpl().

◆ CreateBody()

BodyID playrho::d2::WorldImpl::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.

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

◆ CreateFixture()

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

Creates a fixture with the given parameters.

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

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

Warning: This function is locked during callbacks.

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".
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, GetFixtures; Physical Entities

Referenced by playrho::d2::CreateFixture(), and SetFixture().

◆ CreateJoint()

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

Creates a joint to constrain one or more bodies.

Warning: This function is locked during callbacks.

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

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

Returns: Identifier for the 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`.
InvalidArgument	if the given definition is not allowed.

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

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

◆ Destroy() [1/4]

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

Destroys the given body.

Destroys a given 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 given a null body.; Behavior is undefined if the passed 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.; None of the body's fixtures will be present in the fixtures-for-proxies collection.

Parameters

id	Body to destroy that had been created by this world.

Exceptions

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

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

Referenced by CreateAndDestroyProxies(), Destroy(), playrho::d2::Destroy(), SetBody(), and SetFixture().

◆ Destroy() [2/4]

void playrho::d2::WorldImpl::Destroy	(	ContactID	contact,
		const Body *	from
	)

private

Destroys the given contact and removes it from its container.

This updates the contacts container, returns the memory to the allocator, and decrements the contact manager's contact count.

Parameters

contact	Contact to destroy.
from	From body.

◆ Destroy() [3/4]

bool playrho::d2::WorldImpl::Destroy ( FixtureID fixture )

Destroys a fixture.

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: This function does not reset the body's mass data.

Parameters

fixture the fixture to be removed.

Exceptions

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

◆ Destroy() [4/4]

void playrho::d2::WorldImpl::Destroy ( JointID joint )

Destroys a joint.

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

Warning: This function is locked during callbacks.; Behavior is undefined if the passed joint was not created by this world.

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

joint Joint to destroy that had been created by this world.

Exceptions

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

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

◆ DestroyContacts()

WorldImpl::DestroyContactsStats playrho::d2::WorldImpl::DestroyContacts ( Contacts & contacts )

private

Processes the narrow phase collision for the contacts collection.

This finds and destroys the contacts that need filtering and no longer should collide or that no longer have AABB-based overlapping fixtures. Those contacts that persist and have active bodies (either or both) get their Update methods called with the current contact listener as its argument. Essentially this really just purges contacts that are no longer relevant.

Referenced by Step().

◆ FindNewContacts()

ContactCounter playrho::d2::WorldImpl::FindNewContacts ( )

Finds new contacts.

Processes the proxy queue for finding new contacts and adding them to the contacts container.

Note: New contacts will all have overlapping AABBs.

Postcondition: GetProxies() will return an empty container.

See also: GetProxies.

Referenced by SolveReg(), SolveToi(), and Step().

◆ GetBodies()

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

inlinenoexcept

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: Body range that can be iterated over using its begin and end methods or using ranged-based for-loops.

See also: CreateBody(const BodyConf&).

Referenced by playrho::d2::GetBodies(), and ShiftOrigin().

◆ GetBodiesForProxies()

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

inlinenoexcept

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.

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

◆ GetBody()

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

Gets the identified body.

Exceptions

std::out_of_range if given an invalid id.

Referenced by Destroy(), playrho::d2::GetBody(), and SetBody().

◆ GetBodyRange()

BodyCounter playrho::d2::WorldImpl::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::WorldImpl::GetContact ( ContactID id ) const

Gets the identified contact.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetContact.

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

◆ GetContactRange()

ContactCounter playrho::d2::WorldImpl::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< WorldImpl::Contacts::const_iterator > playrho::d2::WorldImpl::GetContacts ( ) const

inlinenoexcept

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

Gets the contacts associated with the identified body.

Exceptions

std::out_of_range if given an invalid id.

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

◆ GetFixture()

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

Gets the identified fixture state.

Exceptions

std::out_of_range If given an invalid fixture identifier.

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

◆ GetFixtureRange()

FixtureCounter playrho::d2::WorldImpl::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.

◆ GetFixturesForProxies()

SizedRange< WorldImpl::Fixtures::const_iterator > playrho::d2::WorldImpl::GetFixturesForProxies ( ) const

inlinenoexcept

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

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

See also: Step.

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

◆ GetInvDeltaTime()

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

inlinenoexcept

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::GetInvDeltaTime().

◆ GetJoint()

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

Gets the identified joint.

Exceptions

std::invalid_argument If given an invalid identifier.

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

◆ GetJointRange()

JointCounter playrho::d2::WorldImpl::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< WorldImpl::Joints::const_iterator > playrho::d2::WorldImpl::GetJoints ( ) const

inlinenoexcept

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(const JointConf&) method that haven't yet been destroyed.

Returns: World joints sized-range.

See also: CreateJoint(const JointConf&).

◆ GetJoints() [2/2]

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

Exceptions

std::out_of_range if given an invalid id.

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

◆ GetManifold()

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

Gets the identified manifold.

Exceptions

std::out_of_range If given an invalid contact identifier.

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

◆ GetProxies() [1/2]

const WorldImpl::Proxies & playrho::d2::WorldImpl::GetProxies ( ) const

inlinenoexcept

Gets the dynamic tree leaves queued for finding new contacts.

See also: FindNewContacts, AddProxies.

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

◆ GetProxies() [2/2]

const WorldImpl::Proxies & playrho::d2::WorldImpl::GetProxies ( FixtureID id ) const

Gets the proxies for the identified fixture.

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetSoonestContact()

WorldImpl::ContactToiData playrho::d2::WorldImpl::GetSoonestContact	(	const Contacts &	contacts,
		const ArrayAllocator< Contact > &	buffer
	)

staticprivatenoexcept

Gets the soonest contact.

This finds the contact with the lowest (soonest) time of impact.

Returns: Contact with the least time of impact and its time of impact, or null contact. A non-null contact will be enabled, not have sensors, be active, and impenetrable.

Referenced by SolveToi().

◆ GetSubStepping()

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

inlinenoexcept

Gets whether or not sub-stepping is enabled.

See also: SetSubStepping, IsStepComplete.

Referenced by playrho::d2::GetSubStepping(), and SolveToi().

◆ IsStepComplete()

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

inlinenoexcept

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.

Referenced by playrho::d2::IsStepComplete(), SolveToi(), and Step().

◆ operator=()

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

default

Assignment operator.

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

◆ ProcessContactsForTOI()

WorldImpl::ProcessContactsOutput playrho::d2::WorldImpl::ProcessContactsForTOI	(	BodyID	id,
		Island &	island,
		Real	toi,
		const StepConf &	conf
	)

private

Processes the contacts of a given body for TOI handling.

This does the following:

Advances the appropriate associated other bodies to the given TOI (advancing their sweeps and synchronizing their transforms to their new sweeps).
Updates the contact manifolds and touching statuses and notifies listener (if one given) of the appropriate contacts of the body.
Adds those contacts that are still enabled and still touching to the given island (or resets the other bodies advancement).

Adds to the island, those other bodies that haven't already been added of the contacts that got added.

Note: Precondition: there should be no lower TOI for which contacts have not already been processed.

Parameters

[in,out]	id	Identifier of the dynamic/accelerable body to process contacts for.
[in,out]	island	Island. On return this may contain additional contacts or bodies.
[in]	toi	Time of impact (TOI). Value between 0 and 1.
[in]	conf	Step configuration data.

Referenced by SolveToi().

◆ SetBody()

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

Sets the identified body.

Exceptions

std::out_of_range if given an invalid id.

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

◆ SetContact()

void playrho::d2::WorldImpl::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.

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

◆ SetFixture()

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

Sets the identified fixture's state.

Exceptions

std::out_of_range	If given an invalid fixture identifier.
std::invalid_argument	If given an invalid fixture state.

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

◆ SetJoint()

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

Sets the identified joint.

Exceptions

std::invalid_argument If given an invalid identifier.

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

◆ SetStepComplete()

void playrho::d2::WorldImpl::SetStepComplete ( bool value )

inlineprivatenoexcept

Sets the step complete state.

Postcondition: IsStepComplete() will return the value set.

See also: IsStepComplete.

Referenced by SolveToi().

◆ SetSubStepping()

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

inlinenoexcept

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.

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

◆ ShiftOrigin()

void playrho::d2::WorldImpl::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.

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

◆ SolveReg()

RegStepStats playrho::d2::WorldImpl::SolveReg ( const StepConf & conf )

private

Solves the step.

Finds islands, integrates and solves constraints, solves position constraints.

Note: This may miss collisions involving fast moving bodies and allow them to tunnel through each other.

Referenced by Step().

◆ SolveRegIslandViaGS()

IslandStats playrho::d2::WorldImpl::SolveRegIslandViaGS	(	const StepConf &	conf,
		const Island &	island
	)

private

Solves the given island (regularly).

This:

Updates every island-body's sweep.pos0 to its sweep.pos1.
Updates every island-body's sweep.pos1 to the new normalized "solved" position for it.
Updates every island-body's velocity to the new accelerated, dampened, and "solved" velocity for it.
Synchronizes every island-body's transform (by updating it to transform one of the body's sweep).
Reports to the listener (if non-null).

Parameters

conf	Time step configuration information.
island	Island of bodies, contacts, and joints to solve for. Must contain at least one body, contact, or joint.

Warning: Behavior is undefined if the given island doesn't have at least one body, contact, or joint.

Returns: Island solver results.

< Time step.

Referenced by SolveReg().

◆ SolveToi() [1/2]

ToiStepStats playrho::d2::WorldImpl::SolveToi ( const StepConf & conf )

private

Solves the step using successive time of impact (TOI) events.

Used for continuous physics.

Note: This is intended to detect and prevent the tunneling that the faster Solve method may miss.

Parameters

conf	Time step configuration to use.

Referenced by Step().

◆ SolveToi() [2/2]

IslandStats playrho::d2::WorldImpl::SolveToi	(	ContactID	contactID,
		const StepConf &	conf
	)

private

Solves collisions for the given time of impact.

Parameters

contactID	Identifier of contact to solve for.
conf	Time step configuration to solve for.

Note: Precondition 1: there is no contact having a lower TOI in this time step that has not already been solved for.; Precondition 2: there is not a lower TOI in the time step for which collisions have not already been processed.

◆ SolveToiViaGS()

IslandStats playrho::d2::WorldImpl::SolveToiViaGS	(	const Island &	island,
		const StepConf &	conf
	)

private

Solves the time of impact for bodies 0 and 1 of the given island.

This:

Updates position 0 of the sweeps of bodies 0 and 1.
Updates position 1 of the sweeps, the transforms, and the velocities of the other bodies in this island.

Precondition: island.bodies contains at least two bodies, the first two of which are bodies 0 and 1.; island.bodies contains appropriate other bodies of the contacts of the two bodies.; island.contacts contains the contact that specified the two identified bodies.; island.contacts contains appropriate other contacts of the two bodies.

Parameters

conf	Time step configuration information.
island	Island to do time of impact solving for.

Returns: Island solver results.

Referenced by SolveToi().

◆ Step()

StepStats playrho::d2::WorldImpl::Step ( const StepConf & conf )

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 proxy 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.; The bodies for proxies queue will be empty.; The fixtures for proxies queue will be empty.

Parameters

conf	Configuration for the simulation step.

Returns: Statistics for the step.

Exceptions

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

See also: GetBodiesForProxies, GetFixturesForProxies.

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

◆ Synchronize()

ContactCounter playrho::d2::WorldImpl::Synchronize	(	const Fixtures &	fixtures,
		const Transformation &	xfm1,
		const Transformation &	xfm2,
		Real	multiplier,
		Length	extension
	)

private

Synchronizes the given body.

This updates the broad phase dynamic tree data for all of the given fixtures.

Referenced by SolveReg(), SolveToi(), and SynchronizeProxies().

◆ Update()

void playrho::d2::WorldImpl::Update	(	ContactID	id,
		const ContactUpdateConf &	conf
	)

private

Updates the touching related state and notifies listener (if one given).

Note

Ideally this method is only called when a dependent change has occurred.

Touching related state depends on the following data:

The fixtures' sensor states.
The fixtures bodies' transformations.
The maxCirclesRatio per-step configuration state OR the maxDistanceIters per-step configuration state.

Parameters

id	Identifies the contact to update.
conf	Per-step configuration information.

See also: GetManifold, IsTouching

Referenced by ProcessContactsForTOI(), SolveToi(), and UpdateContacts().

◆ UpdateBody()

bool playrho::d2::WorldImpl::UpdateBody	(	Body &	body,
		const Position &	pos
	)

staticprivate

Updates the given body.

Updates the given body's sweep position 1, and its transformation.

Parameters

body	Body to update.
pos	New position to set the given body to.

Returns: true if body's contacts should be flagged for updating, otherwise false.

Referenced by SolveRegIslandViaGS(), and SolveToiViaGS().

Friends And Related Function Documentation

◆ CreateFixture()

FixtureID CreateFixture	(	WorldImpl &	world,
		const FixtureConf &	def
	)

See also: Destroy(WorldImpl& world, FixtureID id).

◆ Destroy()

bool Destroy	(	WorldImpl &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

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

◆ GetBodiesForProxies()

SizedRange< std::vector< BodyID >::const_iterator > GetBodiesForProxies ( const WorldImpl & world )

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

See also: WorldImpl::Step.

◆ GetBody()

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetBodyRange()

BodyCounter GetBodyRange ( const WorldImpl & world )

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

◆ GetContact()

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

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetContactRange()

ContactCounter GetContactRange ( const WorldImpl & 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 WorldImpl &	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.

◆ GetFixture()

const FixtureConf & GetFixture	(	const WorldImpl &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetFixtureRange()

FixtureCounter GetFixtureRange ( const WorldImpl & world )

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

◆ GetFixtures()

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetFixturesForProxies()

SizedRange< std::vector< FixtureID >::const_iterator > GetFixturesForProxies ( const WorldImpl & world )

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

See also: Step.

◆ GetInvDeltaTime()

Frequency GetInvDeltaTime ( const WorldImpl & world )

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.

◆ GetJointRange()

JointCounter GetJointRange ( const WorldImpl & 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 WorldImpl &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetProxy()

ContactCounter GetProxy	(	const WorldImpl &	world,
		FixtureID	id,
		ChildCounter	child
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetProxyCount()

ChildCounter GetProxyCount	(	const WorldImpl &	world,
		FixtureID	id
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ GetSubStepping()

bool GetSubStepping ( const WorldImpl & world )

See also: SetSubStepping, IsStepComplete.

◆ IsStepComplete()

bool IsStepComplete ( const WorldImpl & world )

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.

◆ SetBody()

void SetBody	(	WorldImpl &	world,
		BodyID	id,
		const Body &	value
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ SetContact()

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

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetFixture()

void SetFixture	(	WorldImpl &	world,
		FixtureID	id,
		const FixtureConf &	value
	)

Exceptions

std::out_of_range If given an invalid fixture identifier.

◆ SetSubStepping()

void SetSubStepping	(	WorldImpl &	world,
		bool	value
	)

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.

◆ ShiftOrigin()

void ShiftOrigin	(	WorldImpl &	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.

Member Data Documentation

◆ m_bodyFixtures

ArrayAllocator<Fixtures> playrho::d2::WorldImpl::m_bodyFixtures

private

Cache of fixtures associated with bodies.

Todo:: Consider eliminating this variable since calling GetFixtures() isn't done within the World::Step except by World::Synchronize which may be replacable with iterating over the entire fixture array.

Referenced by AddFixture(), Clear(), CreateBody(), Destroy(), GetFixtures(), RemoveFixture(), SetBody(), SolveReg(), SolveToi(), and SynchronizeProxies().

◆ m_contacts

Contacts playrho::d2::WorldImpl::m_contacts

private

Container of contacts.

Note: In the add pair stress-test, 401 bodies can have some 31000 contacts during a given time step.

Referenced by Add(), Clear(), Destroy(), GetContacts(), SolveReg(), SolveToi(), Step(), and UpdateContacts().

◆ m_inv_dt0

Frequency playrho::d2::WorldImpl::m_inv_dt0 = 0

private

Inverse delta-t from previous step.

Used to compute time step ratio to support a variable time step.

Note: 4-bytes large.

See also: Step.

Referenced by GetInvDeltaTime(), and Step().

◆ m_maxVertexRadius

Positive<Length> playrho::d2::WorldImpl::m_maxVertexRadius

private

Maximum vertex radius.

This is the maximum shape vertex radius that any bodies' of this world should create fixtures for. Requests to create fixtures for shapes with vertex radiuses bigger than this must be rejected. As an upper bound, this value prevents shapes from getting associated with this world that would otherwise not be able to be simulated due to numerical issues. It can also be set below this upper bound to constrain the differences between shape vertex radiuses to possibly more limited visual ranges.

Referenced by GetMaxVertexRadius(), and Step().

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

WorldImpl.hpp
WorldImpl.cpp
WorldImplBody.hpp
WorldImplContact.hpp
WorldImplFixture.hpp
WorldImplJoint.hpp
WorldImplMisc.hpp

Classes

Public Types

Public Member Functions

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Related Functions

Detailed Description

Member Typedef Documentation

◆ Joints

Member Enumeration Documentation

◆ Flag

Constructor & Destructor Documentation

◆ WorldImpl() [1/2]

◆ WorldImpl() [2/2]

◆ ~WorldImpl()

Member Function Documentation

◆ Add()

◆ AddProxies()

◆ AddToIsland()

◆ Clear()

◆ CreateBody()

◆ CreateFixture()

◆ CreateJoint()

◆ Destroy() [1/4]

◆ Destroy() [2/4]

◆ Destroy() [3/4]

◆ Destroy() [4/4]

◆ DestroyContacts()

◆ FindNewContacts()

◆ GetBodies()

◆ GetBodiesForProxies()

◆ GetBody()

◆ GetBodyRange()

◆ GetContact()

◆ GetContactRange()

◆ GetContacts() [1/2]

◆ GetContacts() [2/2]

◆ GetFixture()

◆ GetFixtureRange()

◆ GetFixturesForProxies()

◆ GetInvDeltaTime()

◆ GetJoint()

◆ GetJointRange()

◆ GetJoints() [1/2]

◆ GetJoints() [2/2]

◆ GetManifold()

◆ GetProxies() [1/2]

◆ GetProxies() [2/2]

◆ GetSoonestContact()

◆ GetSubStepping()

◆ IsStepComplete()

◆ operator=()

◆ ProcessContactsForTOI()

◆ SetBody()

◆ SetContact()

◆ SetFixture()

◆ SetJoint()

◆ SetStepComplete()

◆ SetSubStepping()

◆ ShiftOrigin()

◆ SolveReg()

◆ SolveRegIslandViaGS()

◆ SolveToi() [1/2]

◆ SolveToi() [2/2]

◆ SolveToiViaGS()

◆ Step()

◆ Synchronize()

◆ Update()

◆ UpdateBody()

Friends And Related Function Documentation

◆ CreateFixture()

◆ Destroy()

◆ GetBodiesForProxies()

◆ GetBody()

◆ GetBodyRange()

◆ GetContact()

◆ GetContactRange()

◆ GetContacts()