A "body" physical entity. More...

#include <playrho/d2/Body.hpp>

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

void	Advance0 (ZeroToUnderOneFF< Real > value) noexcept
	Advances the body sweep's position 0 and alpha 0 values. More...

Body &	Attach (ShapeID shapeId)
	Adds the given shape identifier to the identifiers associated with this body. More...

bool	Detach (ShapeID shapeId)
	Removes the given shape identifier from the identifiers associated with this body. More...

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

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

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

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

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

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

const std::vector< ShapeID > &	GetShapes () const noexcept
	Gets the identifiers of the shapes attached to this body. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	JustSetVelocity (const Velocity &value) noexcept

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

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

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

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

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

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

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

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

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

void	SetInvMassData (NonNegative< InvMass > invMass, NonNegative< InvRotInertia > invRotI) noexcept
	Sets the inverse mass data and clears the mass-data-dirty flag. More...

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

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

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

void	SetShapes (std::vector< ShapeID > value)
	Sets the identifiers of the shapes attached to this body. More...

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

void	SetSweep (const Sweep &value) noexcept
	Sets the body's sweep value. More...

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

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

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

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

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

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

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

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

Static Public Attributes
static constexpr auto	DefaultAngularDamping = NonNegative<Frequency>{}
	Default angular damping.

static constexpr auto	DefaultLinearDamping = NonNegative<Frequency>{}
	Default linear damping.

Related Functions
(Note that these are not member functions.)
void	ApplyAngularImpulse (Body &body, AngularMomentum impulse) noexcept
	Applies an angular impulse. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Position	GetPosition0 (const Body &body) noexcept
	Gets the "position 0" Position information for the given body.

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

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

const std::vector< ShapeID > &	GetShapes (const Body &body) noexcept
	Gets the identifiers of the shapes attached to the body.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	SetAngle (Body &body, Angle value)
	Sets the body's angular orientation. More...

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

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

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

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

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

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

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

void	SetLocation (Body &body, const Length2 &value)
	Sets the body's location. More...

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

void	SetPosition0 (Body &body, const Position &value) noexcept
	Sets the "position 0" Position information for the given body.

void	SetPosition1 (Body &body, const Position &value) noexcept
	Sets the "position 1" Position information for the given body.

void	SetRotInertia (Body &body, RotInertia value) noexcept
	Sets the rotational inertia of the body.

void	SetSleepingAllowed (Body &body, bool value) noexcept

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

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

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

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

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

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

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

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

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

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

Detailed Description

A "body" physical entity.

A rigid body entity having associated properties like position, velocity, acceleration, and mass.

Invariant: Only bodies that allow sleeping, can be put to sleep.; Only "speedable" bodies can be awake or have non-zero velocities.; Only "accelerable" bodies can have non-zero accelerations or non-zero "under-active" times.; The body's transformation is always the body's sweep position one's linear position and the unit vector of the body's sweep position one's angular position.

See also: World, BodyConf.

Constructor & Destructor Documentation

◆ Body()

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

explicit

Initializing constructor.

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

Parameters

bd	Configuration data for the body to construct.

Postcondition: GetLinearDamping() returns value of bd.linearDamping.; GetAngularDamping() returns value of bd.angularDamping.; GetInvMass() returns Real(0)/Kilogram if bd.type != BodyType::Dynamic, otherwise it returns value of bd.invMass.; GetInvRotInertia() returns InvRotInertia{} if bd.type != BodyType::Dynamic, otherwise it returns value of bd.invRotI.; GetVelocity() will return the value as if SetVelocity(const Velocity&) had been called with the values of bd.linearVelocity and bd.angularVelocity as the velocity.; GetAcceleration() will return the value as if SetAcceleration(LinearAcceleration2, AngularAcceleration) had been called with values of bd.linearAcceleration and bd.angularAcceleration.

See also: GetLinearDamping, GetAngularDamping, GetInvMass, GetTransformation, GetVelocity, GetAcceleration.; World::CreateBody.

Member Function Documentation

◆ Advance0()

void playrho::d2::Body::Advance0 ( ZeroToUnderOneFF< Real > value )

inlinenoexcept

Advances the body sweep's position 0 and alpha 0 values.

Precondition: The body is speedable or body's sweep positions 0 and 1 are the same.

Postcondition: GetSweep() returns what calling Advance0(GetSweep(), value) would return before this call.

See also: GetSweep.

◆ Attach()

Body & playrho::d2::Body::Attach ( ShapeID shapeId )

Adds the given shape identifier to the identifiers associated with this body.

Parameters

shapeId Identifier of the shape to attach.

Precondition: shapeId is not InvalidShapeID .

Postcondition: IsMassDataDirty() returns true.; GetShapes() returned container contains the given identifier.

See also: Detach, GetShapes, SetShapes, IsMassDataDirty.

◆ Detach()

bool playrho::d2::Body::Detach ( ShapeID shapeId )

Removes the given shape identifier from the identifiers associated with this body.

Note: This also sets the mass-data-dirty flag. Call SetInvMassData to clear it.

Parameters

shapeId Identifier of the shape to detach.

Returns: true if identified shape was detached, false otherwise.

Postcondition: IsMassDataDirty() returns true if this function returned true.; GetShapes() returned container contains one less of the identifier.

See also: GetShapes, SetShapes, Attach, SetInvMassData.

◆ GetAngularAcceleration()

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

inlinenoexcept

Gets this body's angular acceleration.

See also: SetAcceleration.

◆ GetAngularDamping()

NonNegative< Frequency > playrho::d2::Body::GetAngularDamping ( ) const

inlinenoexcept

Gets the angular damping of the body.

See also: SetAngularDamping.

◆ GetInvMass()

NonNegativeFF< InvMass > playrho::d2::Body::GetInvMass ( ) const

inlinenoexcept

Gets the inverse total mass of the body.

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

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

See also: SetInvMassData.

◆ GetInvRotInertia()

NonNegativeFF< InvRotInertia > playrho::d2::Body::GetInvRotInertia ( ) const

inlinenoexcept

Gets the inverse rotational inertia of the body.

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

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

See also: SetInvMassData.

Referenced by SetMass().

◆ GetLinearAcceleration()

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

inlinenoexcept

Gets this body's linear acceleration.

See also: SetAcceleration.

◆ GetLinearDamping()

NonNegative< Frequency > playrho::d2::Body::GetLinearDamping ( ) const

inlinenoexcept

Gets the linear damping of the body.

See also: SetLinearDamping.

◆ GetShapes()

const std::vector< ShapeID > & playrho::d2::Body::GetShapes ( ) const

inlinenoexcept

Gets the identifiers of the shapes attached to this body.

See also: SetShapes, Attach, Detach.

Referenced by playrho::d2::AabbTreeWorld::GetShapes().

◆ GetSweep()

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

inlinenoexcept

Gets the body's sweep.

Returns: The sweep used by this body.

See also: SetSweep.

◆ GetTransformation()

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

inlinenoexcept

Gets the body transform for the body's origin.

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

Location and direction at the last time step.
Forces and torques acting on the body (applied force, applied impulse, etc.).
The mass and rotational inertia of the body.
Damping of the body.
Restitutioen and friction values of body's shape parts when experiencing collisions.

Returns: the world transform of the body's origin.

See also: SetSweep.

◆ GetType()

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

noexcept

Gets the type of this body.

See also: SetType.

◆ GetUnderActiveTime()

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

inlinenoexcept

Gets this body's under-active time value.

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

See also: SetUnderActiveTime.

◆ GetVelocity()

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

inlinenoexcept

Gets the velocity.

See also: SetVelocity, JustSetVelocity.

◆ IsAccelerable()

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

inlinenoexcept

Is "accelerable".

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

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

See also: GetType, SetType.

◆ IsAwake()

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

inlinenoexcept

Gets the awake/asleep state of this body.

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

Returns: true if the body is awake.

See also: SetAwake.

◆ IsDestroyed()

constexpr bool playrho::d2::Body::IsDestroyed ( ) const

constexprnoexcept

Whether or not this was destroyed.

If you have gotten this body's value from a world, this function says whether the world considers the body destroyed or not.

See also: SetDestroyed, UnsetDestroyed.

◆ IsEnabled()

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

inlinenoexcept

Gets the enabled/disabled state of the body.

See also: SetEnabled, UnsetEnabled.

◆ IsFixedRotation()

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

inlinenoexcept

Does this body have fixed rotation?

See also: SetFixedRotation.

◆ IsImpenetrable()

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

inlinenoexcept

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

See also: SetImpenetrable, UnsetImpenetrable.

◆ IsSleepingAllowed()

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

inlinenoexcept

Gets whether or not this body allowed to sleep.

See also: SetSleepingAllowed.

◆ IsSpeedable()

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

inlinenoexcept

Is "speedable".

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

See also: GetType, SetType.

◆ JustSetVelocity()

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

noexcept

Sets the body's velocity.

Note: This sets what GetVelocity() returns.

Parameters

value Value of the velocity to set.

Precondition: IsSpeedable(const Body&) is true or given velocity is zero.

Postcondition: GetVelocity() returns the value set.

See also: GetVelocity, IsSpeedable(const Body&).

◆ ResetAlpha0()

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

inlinenoexcept

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

Postcondition: GetSweep().alpha0 is zero.

See also: GetSweep.

◆ SetAcceleration()

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

noexcept

Sets the linear and rotational accelerations on this body.

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

Parameters

linear	Linear acceleration.
angular	Angular acceleration.

Precondition: linear and angular are both valid. I.e. IsValid(linear) && IsValid(angular).

Postcondition: GetLinearAcceleration() returns linear .; GetAngularAcceleration() returns angular .; IsAwake() is true and GetUnderActiveTime() returns zero if either of the new accelerations are higher, or the new linear acceleration is in a new direction, or the sign of the new angular acceleration is different.

◆ SetAngularDamping()

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

inlinenoexcept

Sets the angular damping of the body.

Postcondition: GetAngularDamping() returns the value set.

See also: GetAngularDamping.

◆ SetAwake()

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

noexcept

Awakens this body.

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

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

See also: IsAwake.

◆ SetAwakeFlag()

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

inlinenoexcept

Sets the body's awake flag.

This is done unconditionally.

Precondition: IsSpeedable(const Body&) is true.

See also: UnsetAwakeFlag.

◆ SetDestroyed()

constexpr void playrho::d2::Body::SetDestroyed ( )

constexprnoexcept

Sets the destroyed property.

Note: This is only meaningfully used by the world implementation. While calling this in your code will have the stated post condition, it won't effect any bodies within a world.

Postcondition: IsDestroyed() returns true.

◆ SetEnabled()

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

inlinenoexcept

Sets the enabled state.

Postcondition: IsEnabled() returns true.

See also: IsEnabled(const Body&).

◆ SetFixedRotation()

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

Sets this body to have fixed rotation.

Note: This causes the mass to be reset.

Postcondition: IsFixedRotation() returns the value set.

See also: IsFixedRotation.

Referenced by SetFixedRotation().

◆ SetImpenetrable()

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

inlinenoexcept

Sets the impenetrable status of this body.

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

Postcondition: IsImpenetrable() returns true.

See also: IsImpenetrable.

◆ SetInvMassData()

void playrho::d2::Body::SetInvMassData	(	NonNegative< InvMass >	invMass,
		NonNegative< InvRotInertia >	invRotI
	)

inlinenoexcept

Sets the inverse mass data and clears the mass-data-dirty flag.

Postcondition: GetInvMass() returns the set inverse mass.; GetInvRotInertia() returns the set inverse rotational inertia.; IsMassDataDirty() returns false.

See also: GetInvMass, GetInvRotInertia, IsMassDataDirty.

Referenced by SetMass().

◆ SetLinearDamping()

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

inlinenoexcept

Sets the linear damping of the body.

Postcondition: GetLinearDamping() returns the value set.

See also: GetLinearDamping().

◆ SetPosition0()

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

inlinenoexcept

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

Precondition: The body is speedable or the new position is equal to the existing position 0.

Postcondition: GetSweep().pos0 is the value set.

See also: GetSweep, SetSweep.

◆ SetPosition1()

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

inlinenoexcept

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

Precondition: The body is speedable or the new position is equal to the existing position 1.

Postcondition: GetSweep().pos1 is the value set.; GetTransformation() returns GetTransform1(GetSweep()) of the new sweep.

See also: GetSweep, SetSweep, GetTransformation.

◆ SetShapes()

void playrho::d2::Body::SetShapes ( std::vector< ShapeID > value )

inline

Sets the identifiers of the shapes attached to this body.

Postcondition: GetShapes() returns the value given.; IsMassDataDirty() returns true.

See also: GetShapes, Attach, Detach.

◆ SetSleepingAllowed()

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

noexcept

Sets whether or not this body is allowed to sleep.

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

See also: IsSleepingAllowed.

◆ SetSweep()

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

inlinenoexcept

Sets the body's sweep value.

Note: This may also change the body's transformation.

Precondition: The body is speedable or the new sweep's position 0 and 1 are equal to each other.

Postcondition: GetSweep() returns the value set.; GetTransformation() returns GetTransform1(value).

See also: GetSweep, GetTransformation, IsSpeedable.

◆ SetType()

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

noexcept

Sets the type of this body.

Postcondition: GetType() returns type set.; GetFlags() returns a value reflective of the type set.; GetUnderActiveTime() returns 0.; IsAwake(const Body&) returns true for BodyType::Dynamic or BodyType::Kinematic, and returns false for BodyType::Static.

See also: GetType, GetFlags.

◆ SetUnderActiveTime()

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

inlinenoexcept

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

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

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

See also: GetUnderActiveTime.

◆ SetVelocity()

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

noexcept

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

Parameters

value Value of the velocity to set.

Postcondition: If velocity is non-zero and IsSpeedable(const Body&) is true, IsAwake(const Body&) returns true and GetUnderActiveTime() returns 0.; If velocity is zero or IsSpeedable(const Body&) is true, GetVelocity() returns the value set.

See also: IsAwake(const Body&), IsSpeedable(const Body&), GetUnderActiveTime, GetVelocity.

◆ UnsetAwake()

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

noexcept

Sets this body to asleep if sleeping is allowed.

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

Postcondition: The IsAwake() function returns false.; This body's GetUnderActiveTime function returns zero.; This body's GetVelocity function returns zero linear & zero angular speed.

See also: IsAwake.

◆ UnsetAwakeFlag()

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

inlinenoexcept

Unsets the body's awake flag.

Precondition: Either !IsSpeedable(const Body&) or IsSleepingAllowed(const Body&).

See also: SetAwakeFlag.

◆ UnsetDestroyed()

constexpr void playrho::d2::Body::UnsetDestroyed ( )

constexprnoexcept

Unsets the destroyed property.

Note: This is only meaningfully used by the world implementation. While calling this in your code will have the stated post condition, it won't effect any bodies within a world.

Postcondition: IsDestroyed() returns false.

◆ UnsetEnabled()

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

inlinenoexcept

Unsets the enabled flag.

Postcondition: IsEnabled() returns false.

See also: IsEnabled.

◆ UnsetImpenetrable()

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

inlinenoexcept

Unsets the impenetrable status of this body.

Unsets that this body should be treated like a bullet for continuous collision detection.

Postcondition: IsImpenetrable() returns false.

See also: IsImpenetrable.

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

void ApplyAngularImpulse	(	Body &	body,
		AngularMomentum	impulse
	)

Parameters

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

◆ ApplyLinearImpulse()

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

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

Parameters

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

◆ Awaken()

bool Awaken ( Body & body )

See also: Unawaken(Body& body).

◆ GetAcceleration()

Acceleration GetAcceleration ( const Body & body )

Parameters

body	Body whose acceleration should be returned.

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

◆ GetAngle()

Angle GetAngle ( const Body & body )

Returns: Body's angle relative to its World.

◆ GetAngularAcceleration()

AngularAcceleration GetAngularAcceleration ( const Body & body )

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

◆ GetAngularDamping()

NonNegative< Frequency > GetAngularDamping ( const Body & body )

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

◆ GetAngularVelocity()

AngularVelocity GetAngularVelocity ( const Body & body )

Parameters

body	Body to get the angular velocity for.

Returns: the angular velocity.

See also: GetVelocity(const Body& body).

◆ GetBodyConf()

BodyConf GetBodyConf ( const Body & body )

Parameters

body	Body to get the `BodyConf` for.

◆ GetInvMass()

NonNegativeFF< InvMass > GetInvMass ( const Body & body )

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

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

See also: SetInvMassData.

◆ GetInvRotInertia()

NonNegativeFF< InvRotInertia > GetInvRotInertia ( const Body & body )

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

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

◆ GetLinearAcceleration()

LinearAcceleration2 GetLinearAcceleration ( const Body & body )

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

◆ GetLinearDamping()

NonNegative< Frequency > GetLinearDamping ( const Body & body )

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

◆ GetLinearVelocity()

LinearVelocity2 GetLinearVelocity ( const Body & body )

Parameters

body	Body to get the linear velocity for.

Returns: the linear velocity of the center of mass.

See also: GetVelocity(const Body& body).

◆ GetLinearVelocityFromLocalPoint()

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

Parameters

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

Returns: the world velocity of a point.

◆ GetLinearVelocityFromWorldPoint()

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

Parameters

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

Returns: the world velocity of a point.

◆ GetLocalPoint()

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

Parameters

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

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

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia ( const Body & body )

Returns: the rotational inertia.

See also: Body::GetInvRotInertia, Body::SetInvMassData.

◆ GetLocalVector()

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

Parameters

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

Returns: the corresponding local vector.

◆ GetLocation()

Length2 GetLocation ( const Body & body )

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

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

See also
GetAngle.

◆ GetMass()

Mass GetMass ( const Body & body )

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

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

See also: GetInvMass, SetInvMassData

◆ GetRotInertia()

RotInertia GetRotInertia ( const Body & body )

Parameters

body	Body to get the rotational inertia for.

Returns: the rotational inertia.

See also: Body::GetInvRotInertia, Body::SetInvMassData.

◆ GetSweep()

const Sweep & GetSweep ( const Body & body )

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

◆ GetTransformation()

const Transformation & GetTransformation ( const Body & body )

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

◆ GetType()

BodyType GetType ( const Body & body )

See also: SetType(Body&,BodyType).

◆ GetUnderActiveTime()

Time GetUnderActiveTime ( const Body & body )

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

◆ GetVelocity() [1/2]

Velocity GetVelocity ( const Body & body )

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

◆ GetVelocity() [2/2]

Velocity GetVelocity	(	const Body &	body,
		Time	h
	)

Parameters

body	Body to get the velocity for.
h	Time elapsed to get velocity for.

◆ GetWorldPoint()

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

Parameters

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

Returns: the same point expressed in world coordinates.

◆ GetWorldVector()

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

Parameters

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

Returns: the same vector expressed in world coordinates.

◆ IsAccelerable()

bool IsAccelerable ( const Body & body )

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

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

See also: GetType(const Body& body), SetType(Body& body, BodyType value).

◆ IsAwake()

bool IsAwake ( const Body & body )

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

Returns: true if the body is awake.

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

◆ IsEnabled()

bool IsEnabled ( const Body & body )

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

◆ IsFixedRotation()

bool IsFixedRotation ( const Body & body )

See also: SetFixedRotation(Body&, bool).

◆ IsImpenetrable()

bool IsImpenetrable ( const Body & body )

See also: SetImpenetrable(Body&).

◆ IsSleepingAllowed()

bool IsSleepingAllowed ( const Body & body )

See also: SetSleepingAllowed(Body&).

◆ IsSpeedable()

bool IsSpeedable ( const Body & body )

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

◆ operator!=()

bool operator!=	(	const Body &	lhs,
		const Body &	rhs
	)

See also: operator==(const Body&, const Body&).

◆ operator==()

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

See also: operator!=(const Body&, const Body&).

◆ SetAcceleration() [1/4]

void SetAcceleration	(	Body &	body,
		AngularAcceleration	value
	)

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [2/4]

void SetAcceleration	(	Body &	body,
		const Acceleration &	value
	)

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

Parameters

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

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [3/4]

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

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

Parameters

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

See also: GetAcceleration(const Body& body).

◆ SetAcceleration() [4/4]

void SetAcceleration	(	Body &	body,
		const LinearAcceleration2 &	value
	)

See also: GetAcceleration(const Body& body).

◆ SetAngle()

void SetAngle	(	Body &	body,
		Angle	value
	)

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

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

Parameters

body	The body to update.
value	Valid world angle of the body's local origin.

See also: GetAngle(const Body& body).

◆ SetAngularDamping()

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

See also: GetAngularDamping(const Body& body).

◆ SetAwake()

void SetAwake ( Body & body )

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

Postcondition: If this body is a "speedable" body, then IsAwake(const Body&) function returns true.; If this body is a "speedable" body, then this body's GetUnderActiveTime function returns zero.

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

◆ SetEnabled() [1/2]

void SetEnabled ( Body & body )

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

◆ SetEnabled() [2/2]

void SetEnabled	(	Body &	body,
		bool	value
	)

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

◆ SetFixedRotation()

void SetFixedRotation	(	Body &	body,
		bool	value
	)

Note: This causes the mass to be reset.

See also: IsFixedRotation(const Body&).

◆ SetImpenetrable()

void SetImpenetrable ( Body & body )

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

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

◆ SetLinearDamping()

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

See also: GetLinearDamping(const Body& body).

◆ SetLocation()

void SetLocation	(	Body &	body,
		const Length2 &	value
	)

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

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

Parameters

body	The body to update.
value	Valid world location of the body's local origin.

See also: GetLocation(const Body& body).

◆ SetSleepingAllowed()

void SetSleepingAllowed	(	Body &	body,
		bool	value
	)

See also: IsSleepingAllowed(const Body&).

◆ SetSweep()

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

See also: GetSweep(const Body& body).

◆ SetTransformation()

void SetTransformation	(	Body &	body,
		const Transformation &	value
	)

Note: This sets the sweep to the new transformation.

Postcondition: GetTransformation(const Body& body) will return the value set.; GetPosition1(const Body& body) will return a position equivalent to value given.

See also: GetTransformation(const Body& body), GetPosition1(const Body& body).

◆ SetType()

void SetType	(	Body &	body,
		BodyType	value
	)

See also: GetType(const Body&).

◆ SetVelocity() [1/3]

void SetVelocity	(	Body &	body,
		AngularVelocity	value
	)

Parameters

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

See also: GetAngularVelocity(const Body& body).

◆ SetVelocity() [2/3]

void SetVelocity	(	Body &	body,
		const LinearVelocity2 &	value
	)

Parameters

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

See also: GetLinearVelocity(const Body& body).

◆ SetVelocity() [3/3]

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

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

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

◆ Unawaken()

bool Unawaken ( Body & body )

See also: Awaken(Body& body).

◆ UnsetAwake()

void UnsetAwake ( Body & body )

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

Postcondition: IsAwake(const Body&) function returns false.; This body's GetUnderActiveTime function returns zero.; This body's GetVelocity function returns zero linear and zero angular speed.

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

◆ UnsetEnabled()

void UnsetEnabled ( Body & body )

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

◆ UnsetImpenetrable()

void UnsetImpenetrable ( Body & body )

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

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

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

Library/include/playrho/d2/Body.hpp
Library/include/playrho/d2/BodyConf.hpp
Library/source/playrho/d2/Body.cpp

Public Member Functions

Static Public Attributes

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ Body()

Member Function Documentation

◆ Advance0()

◆ Attach()

◆ Detach()

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetInvMass()

◆ GetInvRotInertia()

◆ GetLinearAcceleration()

◆ GetLinearDamping()

◆ GetShapes()

◆ GetSweep()

◆ GetTransformation()

◆ GetType()

◆ GetUnderActiveTime()

◆ GetVelocity()

◆ IsAccelerable()

◆ IsAwake()

◆ IsDestroyed()

◆ IsEnabled()

◆ IsFixedRotation()

◆ IsImpenetrable()

◆ IsSleepingAllowed()

◆ IsSpeedable()

◆ JustSetVelocity()

◆ ResetAlpha0()

◆ SetAcceleration()

◆ SetAngularDamping()

◆ SetAwake()

◆ SetAwakeFlag()

◆ SetDestroyed()

◆ SetEnabled()

◆ SetFixedRotation()

◆ SetImpenetrable()

◆ SetInvMassData()

◆ SetLinearDamping()

◆ SetPosition0()

◆ SetPosition1()

◆ SetShapes()

◆ SetSleepingAllowed()

◆ SetSweep()

◆ SetType()

◆ SetUnderActiveTime()

◆ SetVelocity()

◆ UnsetAwake()

◆ UnsetAwakeFlag()

◆ UnsetDestroyed()

◆ UnsetEnabled()

◆ UnsetImpenetrable()

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

◆ ApplyLinearImpulse()

◆ Awaken()

◆ GetAcceleration()

◆ GetAngle()

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetAngularVelocity()

◆ GetBodyConf()

◆ GetInvMass()

◆ GetInvRotInertia()

◆ GetLinearAcceleration()

◆ GetLinearDamping()

◆ GetLinearVelocity()

◆ GetLinearVelocityFromLocalPoint()

◆ GetLinearVelocityFromWorldPoint()

◆ GetLocalPoint()

◆ GetLocalRotInertia()

◆ GetLocalVector()

◆ GetLocation()

◆ GetMass()

◆ GetRotInertia()

◆ GetSweep()

◆ GetTransformation()