An AABB dynamic-tree based world implementation. More...

#include <playrho/d2/AabbTreeWorld.hpp>

Classes
struct	ContactUpdateConf
	The contact updating configuration. More...

Public Types
using	ProxyKey = std::tuple< ContactKey, Contactable, Contactable >
	Broad phase generated data for identifying potentially new contacts. More...

Public Member Functions
	AabbTreeWorld (AabbTreeWorld &&other) noexcept
	Move constructor. More...

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

	AabbTreeWorld (const WorldConf &conf=WorldConf{})
	Constructs a world implementation for a world. More...

	~AabbTreeWorld () noexcept
	Destructor. More...

AabbTreeWorld &	operator= (AabbTreeWorld &&other)=delete
	Move assignment is explicitly deleted. More...

AabbTreeWorld &	operator= (const AabbTreeWorld &other)=delete
	Copy assignment is explicitly deleted. More...

Friends
void	Clear (AabbTreeWorld &world) noexcept
	Clears this world. More...

BodyID	CreateBody (AabbTreeWorld &world, Body body)
	Creates a rigid body that's a copy of the given one. More...

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

ShapeID	CreateShape (AabbTreeWorld &world, Shape def)
	Creates an identifiable copy of the given shape within this world. More...

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

void	Destroy (AabbTreeWorld &world, JointID id)
	Destroys a joint. More...

void	Destroy (AabbTreeWorld &world, ShapeID id)
	Destroys the identified shape removing any body associations with it first. More...

const BodyIDs &	GetBodies (const AabbTreeWorld &world) noexcept
	Gets a container of valid world body identifiers for this constant world. More...

const BodyIDs &	GetBodiesForProxies (const AabbTreeWorld &world) noexcept
	Gets the bodies-for-proxies container for this world. More...

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

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

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

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

KeyedContactIDs	GetContacts (const AabbTreeWorld &world)
	Gets a container of valid world contact identifiers. More...

const BodyContactIDs &	GetContacts (const AabbTreeWorld &world, BodyID id)
	Gets the contacts associated with the identified body. More...

const BodyShapeIDs &	GetFixturesForProxies (const AabbTreeWorld &world) noexcept
	Gets the fixtures-for-proxies for this world. More...

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

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

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

const JointIDs &	GetJoints (const AabbTreeWorld &world) noexcept
	Gets the container of joint IDs of the given world. More...

const BodyJointIDs &	GetJoints (const AabbTreeWorld &world, BodyID id)

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

const ProxyIDs &	GetProxies (const AabbTreeWorld &world) noexcept
	Gets the dynamic tree leaves queued for finding new contacts.

const ProxyIDs &	GetProxies (const AabbTreeWorld &world, BodyID id)
	Gets the proxies for the identified body. More...

std::optional< pmr::StatsResource::Stats >	GetResourceStats (const AabbTreeWorld &world) noexcept
	Gets the resource statistics of the specified world.

const Shape &	GetShape (const AabbTreeWorld &world, ShapeID id)
	Gets the identified shape. More...

ShapeCounter	GetShapeRange (const AabbTreeWorld &world) noexcept
	Gets the extent of the currently valid shape range. More...

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

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

Interval< Positive< Length > >	GetVertexRadiusInterval (const AabbTreeWorld &world) noexcept
	Gets the vertex radius interval allowable for the given world. More...

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

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

bool	operator!= (const AabbTreeWorld &lhs, const AabbTreeWorld &rhs)
	Inequality operator for world comparisons.

bool	operator== (const AabbTreeWorld &lhs, const AabbTreeWorld &rhs)
	Equality operator for world comparisons.

void	SetBeginContactListener (AabbTreeWorld &world, ContactFunction listener) noexcept
	Register a begin contact event listener.

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

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

void	SetDetachListener (AabbTreeWorld &world, BodyShapeFunction listener) noexcept
	Registers a detach listener for shapes detaching from bodies.

void	SetEndContactListener (AabbTreeWorld &world, ContactFunction listener) noexcept
	Register an end contact event listener.

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

void	SetJointDestructionListener (AabbTreeWorld &world, JointFunction listener) noexcept
	Register a destruction listener for joints. More...

void	SetManifold (AabbTreeWorld &world, ContactID id, const Manifold &value)
	Sets the identified manifold. More...

void	SetPostSolveContactListener (AabbTreeWorld &world, ContactImpulsesFunction listener) noexcept
	Register a post-solve contact event listener.

void	SetPreSolveContactListener (AabbTreeWorld &world, ContactManifoldFunction listener) noexcept
	Register a pre-solve contact event listener.

void	SetShape (AabbTreeWorld &world, ShapeID id, Shape def)
	Sets the value of the identified shape. More...

void	SetShapeDestructionListener (AabbTreeWorld &world, ShapeFunction listener) noexcept
	Registers a destruction listener for shapes. More...

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

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

StepStats	Step (AabbTreeWorld &world, const StepConf &conf)
	Steps the world simulation according to the given configuration. More...

Related Functions
(Note that these are not member functions.)
void	Attach (AabbTreeWorld &world, BodyID id, ShapeID shapeID)
	Associates a validly identified shape with the validly identified body. More...

BodyID	CreateBody (AabbTreeWorld &world, const BodyConf &def)
	Creates a body within the world that's a copy of the given one.

bool	Detach (AabbTreeWorld &world, BodyID id, ShapeID shapeID)
	Disassociates a validly identified shape from the validly identified body. More...

const std::vector< ShapeID > &	GetShapes (const AabbTreeWorld &world, BodyID id)
	Disassociates all of the associated shape from the validly identified body. More...

Detailed Description

An AABB dynamic-tree based world implementation.

Note: This is designed to be compatible with the World class interface.

See also: World

Member Typedef Documentation

◆ ProxyKey

using playrho::d2::AabbTreeWorld::ProxyKey = std::tuple<ContactKey, Contactable, Contactable>

Broad phase generated data for identifying potentially new contacts.

Stores the contact-key followed by the key's min contactable then max contactable data.

Constructor & Destructor Documentation

◆ AabbTreeWorld() [1/3]

playrho::d2::AabbTreeWorld::AabbTreeWorld ( const WorldConf & conf = WorldConf{} )

explicit

Constructs a world implementation for a world.

Parameters

conf	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 function.

See also: Step.

Postcondition: GetResourceStats(const AabbTreeWorld&) for this world returns an empty value if conf.doStats is false, a non-empty value otherwise.; GetVertexRadiusInterval(const AabbTreeWorld&) for this world returns conf.vertexRadius.

◆ AabbTreeWorld() [2/3]

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

Copy constructor.

Basically copy constructs this world as a deep copy of the given world.

Postcondition: GetResourceStats(const AabbTreeWorld&) for this world returns an empty value if GetResourceStats(other) returns an empty value, a non-empty value that's zero initialized otherwise.; GetVertexRadiusInterval(const AabbTreeWorld&) for this world returns the same value as GetVertexRadiusInterval(other).

◆ AabbTreeWorld() [3/3]

playrho::d2::AabbTreeWorld::AabbTreeWorld ( AabbTreeWorld && other )

noexcept

Move constructor.

Postcondition: GetResourceStats(const AabbTreeWorld&) for this world returns an empty value if GetResourceStats(other) returned an empty value, a non-empty value that's zero initialized otherwise.; GetVertexRadiusInterval(const AabbTreeWorld&) for this world returns the value of GetVertexRadiusInterval(other) just before this call.

◆ ~AabbTreeWorld()

playrho::d2::AabbTreeWorld::~AabbTreeWorld ( )

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

◆ operator=() [1/2]

AabbTreeWorld& playrho::d2::AabbTreeWorld::operator= ( AabbTreeWorld && other )

delete

Move assignment is explicitly deleted.

Note: This type is not assignable.

◆ operator=() [2/2]

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

delete

Copy assignment is explicitly deleted.

Note: This type is not assignable.

Friends And Related Function Documentation

◆ Attach()

void Attach	(	AabbTreeWorld &	world,
		BodyID	id,
		ShapeID	shapeID
	)

Exceptions

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

See also: GetShapes.

◆ Clear

void Clear ( AabbTreeWorld & world )

friend

Clears this world.

Note: This calls the joint and shape destruction listeners (if they're set), for all defined joints and shapes, before clearing anything. Any exceptions thrown from these listeners are ignored.

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

See also: SetJointDestructionListener, SetShapeDestructionListener.

Referenced by ~AabbTreeWorld().

◆ CreateBody

BodyID CreateBody	(	AabbTreeWorld &	world,
		Body	body = `Body{}`
	)

friend

Creates a rigid body that's a copy of the given one.

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.; This function does not reset the mass data for the body.

Postcondition: The created body will be present in the container returned from the GetBodies(const AabbTreeWorld&) function.

Parameters

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

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

Exceptions

WrongState	if this function is called while the world is locked.
LengthError	if this operation would create more than `MaxBodies`.
std::out_of_range	if the given body references any invalid shape identifiers.

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

◆ CreateJoint

JointID CreateJoint	(	AabbTreeWorld &	world,
		Joint	def
	)

friend

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 container returned from the GetJoints(const AabbTreeWorld&) function.

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

Exceptions

WrongState	if this function is called while the world is locked.
LengthError	if this operation would create more than `MaxJoints`.
InvalidArgument	if the given definition is not allowed.
std::out_of_range	if the given joint references any invalid body id.

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

◆ CreateShape

ShapeID CreateShape	(	AabbTreeWorld &	world,
		Shape	def
	)

friend

Creates an identifiable copy of the given shape within this world.

Exceptions

InvalidArgument	if called for a shape with a vertex radius that's not within the world's allowable vertex radius interval.
WrongState	if this function is called while the world is locked.
LengthError	if this operation would create more than `MaxShapes`.

See also: Destroy(ShapeID), GetShape, SetShape, GetVertexRadiusInterval(const AabbTreeWorld& world).

◆ Destroy [1/3]

void Destroy	(	AabbTreeWorld &	world,
		BodyID	id
	)

friend

Destroys the identified body.

Destroys a given body that had previously been created by a call to this world's CreateBody(const Body&) function.

Warning: This automatically deletes all associated shapes and joints.

Note: This function is locked during callbacks.

Parameters

world	The world within which the identified body is to be destroyed.
id	Identifier of body to destroy that had been created by this world.

Exceptions

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

Postcondition: On success: the destroyed body will no longer be present in the container returned from the GetBodies(const AabbTreeWorld&) function; none of the body's fixtures will be present in the fixtures-for-proxies collection; IsDestroyed(const AabbTreeWorld& world, BodyID) for world and id returns true.

See also: CreateBody, GetBodies(const AabbTreeWorld&), GetFixturesForProxies, IsDestroyed(const AabbTreeWorld& world, BodyID).; Physical Entities.

◆ Destroy [2/3]

void Destroy	(	AabbTreeWorld &	world,
		JointID	id
	)

friend

Destroys a joint.

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

Note: This function is locked during callbacks.; This may cause the connected bodies to begin colliding.

Parameters

world	The world within which the identified joint is to be destroyed.
id	Identifier of joint to destroy that had been created by this world.

Postcondition: On success: the destroyed joint will no longer be present in the container returned from the GetJoints(const AabbTreeWorld&) function; IsDestroyed(const AabbTreeWorld&,JointID) returns true.

Exceptions

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

See also: CreateJoint, GetJoints, IsDestroyed(const AabbTreeWorld& world, JointID).; Physical Entities.

◆ Destroy [3/3]

void Destroy	(	AabbTreeWorld &	world,
		ShapeID	id
	)

friend

Destroys the identified shape removing any body associations with it first.

Note: This function is locked during callbacks.; This function does not reset the mass data of any effected bodies.

Parameters

world	The world from which the identified shape is to be destroyed.
id	Identifier of the shape to destroy.

Exceptions

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

Postcondition: On success: IsDestroyed(const AabbTreeWorld& world, ShapeID) for world and id returns true.

See also: CreateShape, Detach, IsDestroyed(const AabbTreeWorld& world, ShapeID).

◆ Detach()

bool Detach	(	AabbTreeWorld &	world,
		BodyID	id,
		ShapeID	shapeID
	)

Exceptions

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

◆ GetBodies

const BodyIDs& GetBodies ( const AabbTreeWorld & world )

friend

Gets a container of valid world body identifiers for this constant world.

Gets a container of identifiers of bodies currently existing within this world. These are the bodies that had been created from previous calls to the CreateBody(const Body&) function that haven't yet been destroyed.

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

See also: CreateBody(const Body&).

◆ GetBodiesForProxies

const BodyIDs& GetBodiesForProxies ( const AabbTreeWorld & world )

friend

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

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

See also: Step.

◆ GetBody

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

friend

Gets the identified body.

Exceptions

std::out_of_range if given an invalid id.

See also: SetBody, GetBodyRange.

◆ GetBodyRange

BodyCounter GetBodyRange ( const AabbTreeWorld & world )

friend

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& GetContact	(	const AabbTreeWorld &	world,
		ContactID	id
	)

friend

Gets the identified contact.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetContact.

◆ GetContactRange

ContactCounter GetContactRange ( const AabbTreeWorld & world )

friend

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]

KeyedContactIDs GetContacts ( const AabbTreeWorld & world )

friend

Gets a container of valid world contact identifiers.

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

Returns: Container of keyed contact IDs of existing contacts.

◆ GetContacts [2/2]

const BodyContactIDs& GetContacts	(	const AabbTreeWorld &	world,
		BodyID	id
	)

friend

Gets the contacts associated with the identified body.

Exceptions

std::out_of_range if given an invalid id.

◆ GetFixturesForProxies

const BodyShapeIDs& GetFixturesForProxies ( const AabbTreeWorld & world )

friend

Gets the fixtures-for-proxies for this world.

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

See also: Step.

◆ GetInvDeltaTime

Frequency GetInvDeltaTime ( const AabbTreeWorld & world )

friend

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() function having a non-zero delta-time.

See also: Step.

◆ GetJoint

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

friend

Gets the identified joint.

Exceptions

std::out_of_range if given an invalid ID.

◆ GetJointRange

JointCounter GetJointRange ( const AabbTreeWorld & world )

friend

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]

const JointIDs& GetJoints ( const AabbTreeWorld & world )

friend

Gets the container of joint IDs of the given world.

Gets a container enumerating the joints currently existing within this world. These are the joints that had been created from previous calls to the CreateJoint(const Joint&) function that haven't yet been destroyed.

Returns: Container of joint IDs of existing joints.

See also: CreateJoint(const Joint&).

◆ GetJoints [2/2]

const BodyJointIDs& GetJoints	(	const AabbTreeWorld &	world,
		BodyID	id
	)

friend

Exceptions

std::out_of_range if given an invalid id.

◆ GetManifold

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

friend

Gets the identified manifold.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetManifold, GetContactRange.

◆ GetProxies

const ProxyIDs& GetProxies	(	const AabbTreeWorld &	world,
		BodyID	id
	)

friend

Gets the proxies for the identified body.

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetShape

const Shape& GetShape	(	const AabbTreeWorld &	world,
		ShapeID	id
	)

friend

Gets the identified shape.

Exceptions

std::out_of_range If given an invalid shape identifier.

See also: CreateShape.

◆ GetShapeRange

ShapeCounter GetShapeRange ( const AabbTreeWorld & world )

friend

Gets the extent of the currently valid shape range.

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

◆ GetShapes()

const std::vector< ShapeID > & GetShapes	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Exceptions

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

◆ GetSubStepping

bool GetSubStepping ( const AabbTreeWorld & world )

friend

Gets whether or not sub-stepping is enabled.

See also: SetSubStepping, IsStepComplete.

◆ GetVertexRadiusInterval

Interval<Positive<Length> > GetVertexRadiusInterval ( const AabbTreeWorld & world )

friend

Gets the vertex radius interval allowable for the given world.

See also: CreateShape(AabbTreeWorld&, const Shape&).

◆ IsStepComplete

bool IsStepComplete ( const AabbTreeWorld & world )

friend

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 function returned without finishing all of its sub-steps.

See also: GetSubStepping, SetSubStepping.

◆ SetBody

void SetBody	(	AabbTreeWorld &	world,
		BodyID	id,
		Body	value
	)

friend

Sets the identified body.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	if given an invalid id of if the given body references any invalid shape identifiers.
InvalidArgument	if the specified ID was destroyed.

See also: GetBody, GetBodyRange.

◆ SetContact

void SetContact	(	AabbTreeWorld &	world,
		ContactID	id,
		Contact	value
	)

friend

Sets the identified contact's state.

Note

The new state:

Is not allowed to change the bodies, shapes, or children identified.
Is not allowed to change whether the contact is awake.
Is not allowed to change whether the contact is impenetrable.
Is not allowed to change whether the contact is for a sensor.
Is not allowed to change the TOI of the contact.
Is not allowed to change the TOI count of the contact.

Parameters

world	The world of the contact whose state is to be set.
id	Identifier of the contact whose state is to be set.
value	Value the contact is to be set to.

Exceptions

std::out_of_range	If given an invalid contact identifier or an invalid identifier in the new contact value.
InvalidArgument	if the identifier is to a freed contact or if the new state is not allowable.

See also: GetContact, GetContactRange.

◆ SetJoint

void SetJoint	(	AabbTreeWorld &	world,
		JointID	id,
		Joint	def
	)

friend

Sets the identified joint.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	if given an invalid ID or the given joint references any invalid body ID.
InvalidArgument	if the specified ID was destroyed.

See also: CreateJoint(Joint def), Destroy(JointID joint).

◆ SetJointDestructionListener

void SetJointDestructionListener	(	AabbTreeWorld &	world,
		JointFunction	listener
	)

friend

Register a destruction listener for joints.

Note: This listener is called on Clear() for every joint. It's also called on Destroy(BodyID) for every joint associated with the identified body.

See also: Clear, Destroy(BodyID).

◆ SetManifold

void SetManifold	(	AabbTreeWorld &	world,
		ContactID	id,
		const Manifold &	value
	)

friend

Sets the identified manifold.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: GetManifold, GetContactRange.

◆ SetShape

void SetShape	(	AabbTreeWorld &	world,
		ShapeID	id,
		Shape	def
	)

friend

Sets the value of the identified shape.

Warning: This function is locked during callbacks.

Note: This function does not reset the mass data of any effected bodies.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an invalid identifier.
InvalidArgument	if the specified ID was destroyed.

See also: CreateShape, Destroy(ShapeID id).

◆ SetShapeDestructionListener

void SetShapeDestructionListener	(	AabbTreeWorld &	world,
		ShapeFunction	listener
	)

friend

Registers a destruction listener for shapes.

Note: This listener is called on Clear(AabbTreeWorld&) for every shape.

See also: Clear(AabbTreeWorld&).

◆ SetSubStepping

void SetSubStepping	(	AabbTreeWorld &	world,
		bool	flag
	)

friend

Enables/disables single stepped continuous physics.

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

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

See also: IsStepComplete, GetSubStepping.

◆ ShiftOrigin

void ShiftOrigin	(	AabbTreeWorld &	world,
		const Length2 &	newOrigin
	)

friend

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

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

Exceptions

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

◆ Step

StepStats Step	(	AabbTreeWorld &	world,
		const StepConf &	conf
	)

friend

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: 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 function 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.

Parameters

world	The world that is to be stepped.
conf	Configuration for the simulation step.

Precondition: conf.linearSlop is significant enough compared to GetVertexRadiusInterval(const AabbTreeWorld& world).GetMax().

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.; No contact in the world needs updating.

Returns: Statistics for the step.

Exceptions

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

See also: GetBodiesForProxies, GetFixturesForProxies.

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

Library/include/playrho/d2/AabbTreeWorld.hpp
Library/source/playrho/d2/AabbTreeWorld.cpp

Classes

Public Types

Public Member Functions

Friends

Related Functions

Detailed Description

Member Typedef Documentation

◆ ProxyKey

Constructor & Destructor Documentation

◆ AabbTreeWorld() [1/3]

◆ AabbTreeWorld() [2/3]

◆ AabbTreeWorld() [3/3]

◆ ~AabbTreeWorld()

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

Friends And Related Function Documentation

◆ Attach()

◆ Clear

◆ CreateBody

◆ CreateJoint

◆ CreateShape

◆ Destroy [1/3]

◆ Destroy [2/3]

◆ Destroy [3/3]

◆ Detach()

◆ GetBodies

◆ GetBodiesForProxies

◆ GetBody

◆ GetBodyRange

◆ GetContact

◆ GetContactRange

◆ GetContacts [1/2]

◆ GetContacts [2/2]

◆ GetFixturesForProxies

◆ GetInvDeltaTime

◆ GetJoint

◆ GetJointRange

◆ GetJoints [1/2]

◆ GetJoints [2/2]

◆ GetManifold

◆ GetProxies

◆ GetShape

◆ GetShapeRange

◆ GetShapes()

◆ GetSubStepping

◆ GetVertexRadiusInterval

◆ IsStepComplete

◆ SetBody

◆ SetContact

◆ SetJoint

◆ SetJointDestructionListener

◆ SetManifold

◆ SetShape

◆ SetShapeDestructionListener

◆ SetSubStepping

◆ ShiftOrigin

◆ Step