A potential contact between the children of two body associated shapes. More...

#include <playrho/Contact.hpp>

Public Types
using	substep_type = TimestepIters
	Substep type.

Public Member Functions
constexpr	Contact () noexcept=default
	Default constructor.

constexpr	Contact (const Contactable &a, const Contactable &b) noexcept
	Initializing constructor. More...

constexpr void	FlagForFiltering () noexcept
	Flags the contact for filtering. More...

constexpr void	FlagForUpdating () noexcept
	Flags the contact for updating. More...

constexpr const Contactable &	GetContactableA () const noexcept
	Gets contactable A.

constexpr const Contactable &	GetContactableB () const noexcept
	Gets contactable B.

constexpr NonNegativeFF< Real >	GetFriction () const noexcept
	Gets the coefficient of friction. More...

constexpr Real	GetRestitution () const noexcept
	Gets the restitution.

constexpr LinearVelocity	GetTangentSpeed () const noexcept
	Gets the desired tangent speed.

constexpr std::optional< UnitIntervalFF< Real > >	GetToi () const noexcept
	Gets the time of impact (TOI) as a fraction. More...

constexpr substep_type	GetToiCount () const noexcept
	Gets the time of impact count. More...

constexpr bool	HasValidToi () const noexcept
	Gets whether a TOI is set. More...

constexpr void	IncrementToiCount () noexcept
	Increments the TOI count. More...

constexpr bool	IsDestroyed () const noexcept
	Whether or not this contact was destroyed. More...

constexpr bool	IsEnabled () const noexcept
	Has this contact been disabled?

constexpr bool	IsImpenetrable () const noexcept
	Whether or not this contact is "impenetrable". More...

constexpr bool	IsSensor () const noexcept
	Whether or not this contact is a "sensor". More...

constexpr bool	IsTouching () const noexcept
	Is this contact touching? More...

constexpr bool	NeedsFiltering () const noexcept
	Whether or not the contact needs filtering.

constexpr bool	NeedsUpdating () const noexcept
	Whether or not the contact needs updating.

constexpr void	SetDestroyed () noexcept
	Sets the destroyed property of this contact. More...

constexpr void	SetEnabled () noexcept
	Enables this contact. More...

constexpr void	SetFriction (NonNegative< Real > friction) noexcept
	Sets the friction value for this contact. More...

constexpr void	SetImpenetrable () noexcept
	Sets the impenetrability of this contact. More...

constexpr void	SetRestitution (Real restitution) noexcept
	Sets the restitution. More...

constexpr void	SetSensor () noexcept
	Sets the sensor state of this contact. More...

constexpr void	SetTangentSpeed (LinearVelocity speed) noexcept
	Sets the desired tangent speed for a conveyor belt behavior. More...

constexpr void	SetToi (const std::optional< UnitIntervalFF< Real >> &toi) noexcept
	Sets the time of impact (TOI). More...

constexpr void	SetToiCount (substep_type value) noexcept
	Sets the TOI count to the given value. More...

constexpr void	SetTouching () noexcept
	Sets the touching flag state. More...

constexpr void	UnflagForFiltering () noexcept
	Unflags this contact for filtering. More...

constexpr void	UnflagForUpdating () noexcept
	Unflags this contact for updating. More...

constexpr void	UnsetDestroyed () noexcept
	Unsets the destroyed property of this contact. More...

constexpr void	UnsetEnabled () noexcept
	Disables this contact. More...

constexpr void	UnsetImpenetrable () noexcept
	Unsets the impenetrability of this contact. More...

constexpr void	UnsetSensor () noexcept
	Unsets the sensor state of this contact. More...

constexpr void	UnsetTouching () noexcept
	Unsets the touching flag state. More...

Static Public Attributes
static constexpr auto	DefaultContactable = Contactable{InvalidBodyID, InvalidShapeID, 0}
	Default contactable value.

Related Functions
(Note that these are not member functions.)
constexpr void	FlagForFiltering (Contact &contact) noexcept
	Flags the contact for filtering. More...

constexpr void	FlagForUpdating (Contact &contact) noexcept
	Flags the contact for updating. More...

constexpr BodyID	GetBodyA (const Contact &contact) noexcept
	Gets the body A ID of the given contact.

constexpr BodyID	GetBodyB (const Contact &contact) noexcept
	Gets the body B ID of the given contact.

constexpr ChildCounter	GetChildIndexA (const Contact &contact) noexcept
	Gets the child index A of the given contact.

constexpr ChildCounter	GetChildIndexB (const Contact &contact) noexcept
	Gets the child index B of the given contact.

constexpr auto	GetFriction (const Contact &contact) noexcept
	Gets the coefficient of friction. More...

constexpr auto	GetOtherBody (const Contact &c, BodyID bodyID) noexcept
	Gets the other body ID for the contact than the one given.

constexpr auto	GetRestitution (const Contact &contact) noexcept
	Gets the coefficient of restitution. More...

constexpr ShapeID	GetShapeA (const Contact &contact) noexcept
	Gets the shape A associated with the given contact.

constexpr ShapeID	GetShapeB (const Contact &contact) noexcept
	Gets the shape B associated with the given contact.

constexpr auto	GetTangentSpeed (const Contact &contact) noexcept
	Gets the desired tangent speed. More...

constexpr auto	GetToi (const Contact &contact) noexcept
	Gets the time of impact (TOI) as a fraction. More...

constexpr auto	GetToiCount (const Contact &contact) noexcept
	Gets the time of impact count. More...

WorldManifold	GetWorldManifold (const World &world, const Contact &contact, const Manifold &manifold)

constexpr auto	HasValidToi (const Contact &contact) noexcept
	Gets whether a TOI is set. More...

constexpr auto	IsDestroyed (const Contact &c) noexcept -> bool
	Whether or not the given contact was destroyed. More...

constexpr bool	IsEnabled (const Contact &contact) noexcept
	Gets whether the given contact is enabled or not.

constexpr bool	IsFor (const Contact &c, BodyID bodyID, ShapeID shapeID) noexcept
	Is-for convenience function. More...

constexpr bool	IsFor (const Contact &c, ShapeID shapeID) noexcept
	Is-for convenience function. More...

constexpr bool	IsImpenetrable (const Contact &contact) noexcept
	Whether the given contact is "impenetrable". More...

constexpr bool	IsSensor (const Contact &contact) noexcept
	Gets whether the given contact is for sensors or not.

constexpr bool	IsTouching (const Contact &contact) noexcept
	Gets whether the given contact is touching or not.

constexpr auto	NeedsFiltering (const Contact &contact) noexcept
	Whether or not the contact needs filtering.

constexpr auto	NeedsUpdating (const Contact &contact) noexcept
	Whether or not the contact needs updating.

constexpr bool	operator!= (const Contact &lhs, const Contact &rhs) noexcept
	Operator not-equals.

constexpr bool	operator== (const Contact &lhs, const Contact &rhs) noexcept
	Operator equals.

constexpr void	SetDestroyed (Contact &c) noexcept
	Sets the destroyed property of the given contact. More...

constexpr void	SetEnabled (Contact &contact) noexcept
	Enables the contact. More...

constexpr void	SetFriction (Contact &contact, NonNegative< Real > value) noexcept
	Sets the friction value for the identified contact. More...

constexpr void	SetImpenetrable (Contact &contact) noexcept
	Sets the impenetrability of the given contact. More...

constexpr void	SetRestitution (Contact &contact, Real value)
	Sets the restitution value for the identified contact. More...

constexpr void	SetSensor (Contact &contact) noexcept
	Sets the sensor state of the given contact. More...

constexpr void	SetTangentSpeed (Contact &contact, LinearVelocity value) noexcept
	Sets the desired tangent speed for a conveyor belt behavior. More...

constexpr void	SetToi (Contact &contact, const std::optional< UnitIntervalFF< Real >> &toi) noexcept
	Sets the time of impact (TOI). More...

constexpr void	SetToiCount (Contact &contact, Contact::substep_type value) noexcept
	Sets the TOI count to the given value. More...

constexpr void	UnflagForFiltering (Contact &contact) noexcept
	Unflags this contact for filtering. More...

constexpr void	UnflagForUpdating (Contact &contact) noexcept
	Unflags this contact for updating. More...

constexpr void	UnsetDestroyed (Contact &c) noexcept
	Unsets the destroyed property of the given contact. More...

constexpr void	UnsetImpenetrable (Contact &contact) noexcept
	Unsets the impenetrability of the given contact. More...

constexpr void	UnsetSensor (Contact &contact) noexcept
	Unsets the sensor state of the given contact. More...

Detailed Description

A potential contact between the children of two body associated shapes.

The class manages contact between two shapes. A contact exists for each overlapping AABB in the broad-phase (except if filtered). Therefore a contact object may exist that has no actual contact points.

Constructor & Destructor Documentation

◆ Contact()

constexpr playrho::Contact::Contact	(	const Contactable &	a,
		const Contactable &	b
	)

constexprnoexcept

Initializing constructor.

Parameters

a	The "a" contactable value.
b	The "b" contactable value.

Postcondition: If either a or b is not the value of DefaultContactable then: IsEnabled() and NeedsUpdating() return true, else they return false.

Member Function Documentation

◆ FlagForFiltering()

constexpr void playrho::Contact::FlagForFiltering ( )

constexprnoexcept

Flags the contact for filtering.

Postcondition: NeedsFiltering() returns true.

See also: NeedsFiltering.

◆ FlagForUpdating()

constexpr void playrho::Contact::FlagForUpdating ( )

constexprnoexcept

Flags the contact for updating.

Postcondition: NeedsUpdating() returns true.

See also: NeedsUpdating.

◆ GetFriction()

constexpr NonNegativeFF< Real > playrho::Contact::GetFriction ( ) const

constexprnoexcept

Gets the coefficient of friction.

Gets combined friction of two shapes associated with this.

See also: SetFriction.

◆ GetToi()

constexpr std::optional< UnitIntervalFF< Real > > playrho::Contact::GetToi ( ) const

constexprnoexcept

Gets the time of impact (TOI) as a fraction.

Note: This is a non-essential part - it doesn't participate in equality.

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 empty.

See also: SetToi(const std::optional<UnitIntervalFF<Real>>&).

◆ GetToiCount()

constexpr Contact::substep_type playrho::Contact::GetToiCount ( ) const

constexprnoexcept

Gets the time of impact count.

Note: This is a non-essential part - it doesn't participate in equality.

See also: SetToiCount.

◆ HasValidToi()

constexpr bool playrho::Contact::HasValidToi ( ) const

constexprnoexcept

Gets whether a TOI is set.

Note: This is a non-essential part - it doesn't participate in equality.

Returns: true if this object has a TOI set for it, false otherwise.

Referenced by GetToi().

◆ IncrementToiCount()

constexpr void playrho::Contact::IncrementToiCount ( )

constexprnoexcept

Increments the TOI count.

Precondition: GetToiCount() is less than numeric_limits<substep_type>::max().

Postcondition: GetToiCount() returns one more than before.

See also: GetToiCount, SetToiCount.

◆ IsDestroyed()

constexpr bool playrho::Contact::IsDestroyed ( ) const

constexprnoexcept

Whether or not this contact was destroyed.

See also: SetDestroyed, UnsetDestroyed.

◆ IsImpenetrable()

constexpr bool playrho::Contact::IsImpenetrable ( ) const

constexprnoexcept

Whether or not this contact is "impenetrable".

Note: This should be true whenever body A or body B are impenetrable.

◆ IsSensor()

constexpr bool playrho::Contact::IsSensor ( ) const

constexprnoexcept

Whether or not this contact is a "sensor".

Note: This should be true whenever shape A or shape B is a sensor.

◆ IsTouching()

constexpr bool playrho::Contact::IsTouching ( ) const

constexprnoexcept

Is this contact touching?

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.

◆ SetDestroyed()

constexpr void playrho::Contact::SetDestroyed ( )

constexprnoexcept

Sets the destroyed property of this contact.

Note: This is only meaningfully used by the world implementation.

◆ SetEnabled()

constexpr void playrho::Contact::SetEnabled ( )

constexprnoexcept

Enables this contact.

Postcondition: IsEnabled() returns true.

See also: IsEnabled.

◆ SetFriction()

constexpr void playrho::Contact::SetFriction ( NonNegative< Real > friction )

constexprnoexcept

Sets the friction value for this contact.

Override the default friction mixture.

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

Parameters

friction Co-efficient of friction value of zero or greater.

Postcondition: GetFriction() returns the value set.

See also: GetFriction.

◆ SetImpenetrable()

constexpr void playrho::Contact::SetImpenetrable ( )

constexprnoexcept

Sets the impenetrability of this contact.

Attention: Call this if body A or body B are impenetrable.

Postcondition: IsImpenetrable() returns true.

See also: IsImpenetrable().

◆ SetRestitution()

constexpr void playrho::Contact::SetRestitution ( Real restitution )

constexprnoexcept

Sets the restitution.

This override the default restitution mixture.

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

Postcondition: GetRestitution() returns the value set.

See also: GetRestitution.

Referenced by SetRestitution().

◆ SetSensor()

constexpr void playrho::Contact::SetSensor ( )

constexprnoexcept

Sets the sensor state of this contact.

Attention: Call this if shape A or shape B is a sensor.

Postcondition: IsSensor() returns true.

See also: IsSensor().

◆ SetTangentSpeed()

constexpr void playrho::Contact::SetTangentSpeed ( LinearVelocity speed )

constexprnoexcept

Sets the desired tangent speed for a conveyor belt behavior.

Postcondition: GetTangentSpeed() returns the value set.

See also: GetTangentSpeed.

◆ SetToi()

constexpr void playrho::Contact::SetToi ( const std::optional< UnitIntervalFF< Real >> & toi )

constexprnoexcept

Sets the time of impact (TOI).

Note: This is a non-essential part. So changing this doesn't effect equality!

Parameters

toi	Time of impact as a fraction between 0 and 1 where 1 indicates no actual impact in the current time slot, or empty.

Postcondition: GetToi() returns the value set and HasValidToi() returns toi.has_value().

See also: Real GetToi() const, HasValidToi.

◆ SetToiCount()

constexpr void playrho::Contact::SetToiCount ( substep_type value )

constexprnoexcept

Sets the TOI count to the given value.

Note: This is a non-essential part. So changing this doesn't effect equality!

Postcondition: GetToiCount() returns the value set.

See also: GetToiCount.

◆ SetTouching()

constexpr void playrho::Contact::SetTouching ( )

constexprnoexcept

Sets the touching flag state.

Note

This should only be called if either:

The contact's manifold has more than 0 contact points, or
The contact has sensors and the two shapes of this contact are found to be overlapping.

Postcondition: IsTouching() returns true.

See also: IsTouching().

◆ UnflagForFiltering()

constexpr void playrho::Contact::UnflagForFiltering ( )

constexprnoexcept

Unflags this contact for filtering.

Postcondition: NeedsFiltering() returns false.

See also: NeedsFiltering.

◆ UnflagForUpdating()

constexpr void playrho::Contact::UnflagForUpdating ( )

constexprnoexcept

Unflags this contact for updating.

Postcondition: NeedsUpdating() returns false.

See also: NeedsUpdating.

◆ UnsetDestroyed()

constexpr void playrho::Contact::UnsetDestroyed ( )

constexprnoexcept

Unsets the destroyed property of this contact.

Note: This is only meaningfully used by the world implementation.

◆ UnsetEnabled()

constexpr void playrho::Contact::UnsetEnabled ( )

constexprnoexcept

Disables this contact.

Postcondition: IsEnabled() returns false.

See also: IsEnabled.

◆ UnsetImpenetrable()

constexpr void playrho::Contact::UnsetImpenetrable ( )

constexprnoexcept

Unsets the impenetrability of this contact.

Postcondition: IsImpenetrable() returns false.

See also: IsImpenetrable().

◆ UnsetSensor()

constexpr void playrho::Contact::UnsetSensor ( )

constexprnoexcept

Unsets the sensor state of this contact.

Postcondition: IsSensor() returns false.

See also: IsSensor().

◆ UnsetTouching()

constexpr void playrho::Contact::UnsetTouching ( )

constexprnoexcept

Unsets the touching flag state.

Postcondition: IsTouching() returns false.

See also: IsTouching().

Friends And Related Function Documentation

◆ FlagForFiltering()

constexpr void FlagForFiltering ( Contact & contact )

Postcondition: NeedsFiltering(contact) returns true.

See also: NeedsFiltering(const Contact &).

◆ FlagForUpdating()

constexpr void FlagForUpdating ( Contact & contact )

Postcondition: NeedsUpdating(contact) returns true.

See also: NeedsUpdating(const Contact &).

◆ GetFriction()

constexpr auto GetFriction ( const Contact & contact )

See also: SetFriction.

◆ GetRestitution()

constexpr auto GetRestitution ( const Contact & contact )

See also: SetRestitution.

◆ GetTangentSpeed()

constexpr auto GetTangentSpeed ( const Contact & contact )

See also: SetTangentSpeed.

◆ GetToi()

constexpr auto GetToi ( const Contact & contact )

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 empty.

See also: HasValidToi, SetToi(Contact&, const std::optional<UnitIntervalFF<Real>>&).

◆ GetToiCount()

constexpr auto GetToiCount ( const Contact & contact )

See also: SetToiCount.

◆ GetWorldManifold()

WorldManifold GetWorldManifold	(	const World &	world,
		const Contact &	contact,
		const Manifold &	manifold
	)

Note: This is a convenience function that in turn calls the GetWorldManifold(const Manifold&, const Transformation&, const Real, const Transformation& xfB, const Real) function.

Parameters

world	World that the result is to be relative to.
contact	Contact to return a world manifold for.
manifold	The manifold to covert to a world manifold.

Returns: World manifold value for the given inputs which will have the same number of points as the given manifold has. The returned world manifold points will be the mid-points of the contact's intersection.

◆ HasValidToi()

constexpr auto HasValidToi ( const Contact & contact )

See also: GetToi.

◆ IsDestroyed()

constexpr auto IsDestroyed ( const Contact & c ) -> bool

See also: SetDestroyed, UnsetDestroyed.

◆ IsFor() [1/2]

constexpr bool IsFor	(	const Contact &	c,
		BodyID	bodyID,
		ShapeID	shapeID
	)

Returns: true if contact is for the identified body and shape, else false.

◆ IsFor() [2/2]

constexpr bool IsFor	(	const Contact &	c,
		ShapeID	shapeID
	)

Returns: true if contact is for the identified shape, else false.

◆ IsImpenetrable()

constexpr bool IsImpenetrable ( const Contact & contact )

Note: This should be true whenever body A or body B are impenetrable.

◆ SetDestroyed()

constexpr void SetDestroyed ( Contact & c )

Note: This is only meaningfully used by the world implementation.

◆ SetEnabled()

constexpr void SetEnabled ( Contact & contact )

Postcondition: IsEnabled(contact) returns true.

See also: IsEnabled(const Contact &).

◆ SetFriction()

constexpr void SetFriction	(	Contact &	contact,
		NonNegative< Real >	value
	)

Overrides the default friction mixture.

Note: This value persists until set or reset.

Parameters

contact	The contact whose friction should be set.
value	Co-efficient of friction value of zero or greater.

Precondition: friction must be greater-than or equal-to zero.

Postcondition: GetFriction(contact) returns the value set.

See also: GetFriction.

◆ SetImpenetrable()

constexpr void SetImpenetrable ( Contact & contact )

Attention: Call this if body A or body B are impenetrable.

Postcondition: IsImpenetrable(contact) returns true.

See also: IsImpenetrable(const Contact &).

◆ SetRestitution()

constexpr void SetRestitution	(	Contact &	contact,
		Real	value
	)

This override the default restitution mixture.

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

Postcondition: GetRestitution(contact) returns the value set.

See also: GetRestitution.

◆ SetSensor()

constexpr void SetSensor ( Contact & contact )

Attention: Call this if shape A or shape B is a sensor.

Postcondition: IsSensor(contact) returns true.

See also: IsSensor(const Contact &).

◆ SetTangentSpeed()

constexpr void SetTangentSpeed	(	Contact &	contact,
		LinearVelocity	value
	)

Postcondition: GetTangentSpeed(contact) returns the value set.

See also: GetTangentSpeed.

◆ SetToi()

constexpr void SetToi	(	Contact &	contact,
		const std::optional< UnitIntervalFF< Real >> &	toi
	)

Parameters

contact	The contact to update.
toi	Optional time of impact as a fraction between 0 and 1 where 1 indicates no actual impact in the current time slot.

Postcondition: HasValidToi(contact) returns toi.has_value().; GetToi(const Contact&) returns the value set.

See also: HasValidToi, GetToi.

◆ SetToiCount()

constexpr void SetToiCount	(	Contact &	contact,
		Contact::substep_type	value
	)

Postcondition: GetToiCount(contact) returns value.

See also: GetToiCount.

◆ UnflagForFiltering()

constexpr void UnflagForFiltering ( Contact & contact )

Postcondition: NeedsFiltering(contact) returns false.

See also: NeedsFiltering(const Contact &).

◆ UnflagForUpdating()

constexpr void UnflagForUpdating ( Contact & contact )

Postcondition: NeedsUpdating(contact) returns false.

See also: NeedsUpdating(const Contact &).

◆ UnsetDestroyed()

constexpr void UnsetDestroyed ( Contact & c )

Note: This is only meaningfully used by the world implementation.

◆ UnsetImpenetrable()

constexpr void UnsetImpenetrable ( Contact & contact )

Attention: Call this if body A or body B are no longer impenetrable.

Postcondition: IsImpenetrable(contact) returns false.

See also: IsImpenetrable(const Contact &).

◆ UnsetSensor()

constexpr void UnsetSensor ( Contact & contact )

Postcondition: IsSensor(contact) returns false.

See also: IsSensor(const Contact &).

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

Library/include/playrho/Contact.hpp
Library/include/playrho/d2/WorldManifold.hpp

Public Types

Public Member Functions

Static Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Contact()

Member Function Documentation

◆ FlagForFiltering()

◆ FlagForUpdating()

◆ GetFriction()

◆ GetToi()

◆ GetToiCount()

◆ HasValidToi()

◆ IncrementToiCount()

◆ IsDestroyed()

◆ IsImpenetrable()

◆ IsSensor()

◆ IsTouching()

◆ SetDestroyed()

◆ SetEnabled()

◆ SetFriction()

◆ SetImpenetrable()

◆ SetRestitution()

◆ SetSensor()

◆ SetTangentSpeed()

◆ SetToi()

◆ SetToiCount()

◆ SetTouching()

◆ UnflagForFiltering()

◆ UnflagForUpdating()

◆ UnsetDestroyed()

◆ UnsetEnabled()

◆ UnsetImpenetrable()

◆ UnsetSensor()

◆ UnsetTouching()

Friends And Related Function Documentation

◆ FlagForFiltering()

◆ FlagForUpdating()

◆ GetFriction()

◆ GetRestitution()

◆ GetTangentSpeed()

◆ GetToi()

◆ GetToiCount()

◆ GetWorldManifold()

◆ HasValidToi()

◆ IsDestroyed()

◆ IsFor() [1/2]

◆ IsFor() [2/2]

◆ IsImpenetrable()

◆ SetDestroyed()

◆ SetEnabled()

◆ SetFriction()

◆ SetImpenetrable()

◆ SetRestitution()

◆ SetSensor()

◆ SetTangentSpeed()

◆ SetToi()

◆ SetToiCount()

◆ UnflagForFiltering()

◆ UnflagForUpdating()

◆ UnsetDestroyed()

◆ UnsetImpenetrable()

◆ UnsetSensor()