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

#include <playrho/d2/World.hpp>

Public Member Functions
	World (const World &other)
	Copy constructs this world with a deep copy of the given world. More...

	World (const WorldConf &def=WorldConf{})
	Constructs a world object. More...

template<typename T , typename DT = std::decay_t<T>, typename Tp = std::enable_if_t<!std::is_same_v<DT, World> && !std::is_same_v<DT, WorldConf>, DT>, typename = std::enable_if_t<std::is_constructible_v<DT, T>>>
	World (T &&arg)
	Polymorphic initializing constructor. More...

	World (World &&other) noexcept
	Move constructs this world. More...

	~World () noexcept
	Destroys all contained physics entities and releases all related resources. More...

World &	operator= (const World &other)
	Copy assigns this world with a deep copy of the given world. More...

World &	operator= (World &&other) noexcept
	Move assigns this world. More...

Friends
void	Clear (World &world) noexcept
	Clears the given world. More...

BodyID	CreateBody (World &world, const Body &body, bool resetMassData)
	Creates a rigid body within the world that's a copy of the given one. More...

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

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

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

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

void	Destroy (World &world, ShapeID id)
	Destroys the identified shape. More...

std::vector< BodyID >	GetBodies (const World &world)
	Gets the valid world body identifiers container for this constant world. More...

std::vector< BodyID >	GetBodiesForProxies (const World &world)
	Gets the bodies-for-proxies container for this world. More...

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

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

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

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

std::vector< KeyedContactID >	GetContacts (const World &world)
	Gets the contacts identified within the given world. More...

std::vector< std::tuple< ContactKey, ContactID > >	GetContacts (const World &world, BodyID id)
	Gets the container of contacts attached to the identified body. More...

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

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

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

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

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

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

std::optional< pmr::StatsResource::Stats >	GetResourceStats (const World &world) noexcept
	Gets the polymorphic memory resource allocator statistics of the specified world. More...

Shape	GetShape (const World &world, ShapeID id)
	Gets the shape associated with the identifier. More...

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

std::vector< ShapeID >	GetShapes (const World &world, BodyID id)
	Gets the identities of the shapes associated with the identified body. More...

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

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

TypeID	GetType (const World &world) noexcept
	Gets the identifier of the type of data the given world can be casted to. More...

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

bool	IsLocked (const World &world) noexcept
	Is the specified world locked. More...

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

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

bool	operator== (const World &lhs, const World &rhs) noexcept
	Equality operator for world comparisons. More...

void	SetBeginContactListener (World &world, ContactFunction listener) noexcept
	Sets the begin-contact lister. More...

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

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

void	SetDetachListener (World &world, BodyShapeFunction listener) noexcept
	Sets the detach listener for shapes detaching from bodies. More...

void	SetEndContactListener (World &world, ContactFunction listener) noexcept
	Sets the end-contact lister. More...

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

void	SetJointDestructionListener (World &world, JointFunction listener) noexcept
	Sets the destruction listener for joints. More...

void	SetManifold (World &world, ContactID id, const Manifold &value)
	Sets the identified manifold's state. More...

void	SetPostSolveContactListener (World &world, ContactImpulsesFunction listener) noexcept
	Sets the post-solve-contact lister. More...

void	SetPreSolveContactListener (World &world, ContactManifoldFunction listener) noexcept
	Sets the pre-solve-contact lister. More...

void	SetShape (World &world, ShapeID, const Shape &def)
	Sets the identified shape to the new value. More...

void	SetShapeDestructionListener (World &world, ShapeFunction listener) noexcept
	Sets the destruction listener for shapes. More...

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

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

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

template<typename T >
std::add_pointer_t< std::add_const_t< T > >	TypeCast (const World *value) noexcept
	Casts the given world into its current underlying configuration value. More...

template<typename T >
std::add_pointer_t< T >	TypeCast (World *value) noexcept
	Casts the given world into its current configuration value. More...

Related Functions
(Note that these are not member functions.)
void	ApplyAngularImpulse (World &world, BodyID id, AngularMomentum impulse)
	Applies an angular impulse. More...

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

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

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

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

void	Attach (World &world, BodyID id, const Shape &shape, bool resetMassData=true)
	Creates the shape within the world and then associates it with the validly identified body. More...

void	Attach (World &world, BodyID id, ShapeID shapeID, bool resetMassData=true)
	Associates a validly identified shape with the validly identified body. More...

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

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

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

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

AABB	ComputeAABB (const World &world, BodyID bodyID, ShapeID shapeID)
	Computes the AABB for the identified shape relative to the identified body within the given world. More...

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

AABB	ComputeIntersectingAABB (const World &world, BodyID bA, ShapeID sA, ChildCounter iA, BodyID bB, ShapeID sB, ChildCounter iB)
	Computes the intersecting AABB for the given pair of body-shape-index values. More...

AABB	ComputeIntersectingAABB (const World &world, const Contact &contact)
	Computes the intersecting AABB for the given contact. More...

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

MassData	ComputeMassData (const World &world, const Span< const ShapeID > &ids)
	Computes the mass data total of the identified shapes. More...

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

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

template<typename T >
auto	CreateShape (World &world, const T &shapeConf) -> decltype(CreateShape(world, Shape{shapeConf}))
	Creates a shape within the specified world using a configuration of the shape. More...

bool	Detach (World &world, BodyID id, bool resetMassData=true)
	Disassociates all of the associated shape from the validly identified body. More...

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

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

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

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

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

Length2	GetAnchorA (const World &world, JointID id)

Length2	GetAnchorB (const World &world, JointID id)

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

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

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

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

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

Angle	GetAngularLowerLimit (const World &world, JointID id)

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

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

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

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

Angle	GetAngularUpperLimit (const World &world, JointID id)

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

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

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

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

ShapeCounter	GetAssociationCount (const World &world)
	Gets the count of body-shape associations in the given world. More...

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

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

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

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

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

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

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

ChildCounter	GetChildIndexA (const World &world, ContactID id)
	Gets the child primitive index A for the identified contact. More...

ChildCounter	GetChildIndexB (const World &world, ContactID id)
	Gets the child primitive index B for the identified contact. More...

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

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

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

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

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

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

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

NonNegative< AreaDensity >	GetDensity (const World &world, ShapeID id)
	Gets the density of this shape. More...

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

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

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

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

NonNegativeFF< Real >	GetFriction (const World &world, ShapeID id)
	Gets the coefficient of friction of the specified shape. More...

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

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

Length2	GetGroundAnchorA (const World &world, JointID id)

Length2	GetGroundAnchorB (const World &world, JointID id)

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

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

JointCounter	GetJointCount (const World &world)

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

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

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

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

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

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

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

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

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

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

Length2	GetLocalAnchorA (const World &world, JointID id)

Length2	GetLocalAnchorB (const World &world, JointID id)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

ShapeID	GetShapeA (const World &world, ContactID id)
	Gets shape A of the identified contact. More...

ShapeID	GetShapeB (const World &world, ContactID id)
	Gets shape B of the identified contact. More...

ShapeCounter	GetShapeCount (const World &world, BodyID id)
	Gets the count of shapes associated with the identified body. More...

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

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

std::optional< UnitIntervalFF< Real > >	GetToi (const World &world, ContactID id)
	Gets the time of impact (TOI) as a fraction or empty value. More...

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

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

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

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

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

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

ShapeCounter	GetUsedShapesCount (const World &world) noexcept
	Gets the count of uniquely identified shapes that are in use - i.e. that are attached to bodies. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

bool	IsMotorEnabled (const World &world, JointID id)

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

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

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

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

auto	MakeTouchingMap (const World &world) -> std::map< std::pair< Contactable, Contactable >, ContactID >
	Makes a map of contacts in the given world that are in the touching state.

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

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

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

void	ResetFriction (World &world, ContactID id)

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

void	ResetRestitution (World &world, ContactID id)

void	Rotate (World &world, ShapeID id, const UnitVec &value)
	Rotates all of the given shape's vertices by the given amount. More...

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

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

auto	SameTouching (const World &lhs, const World &rhs) -> bool
	Determines whether the given worlds have the same touching contacts & manifolds.

void	Scale (World &world, ShapeID id, const Vec2 &value)
	Scales all of the given shape's vertices by the given amount. More...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	SetDensity (World &world, ShapeID id, NonNegative< AreaDensity > value)
	Sets the density of this shape. More...

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

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

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

void	SetFilterData (World &world, ShapeID id, const Filter &filter)
	Convenience function for setting the contact filtering data. More...

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

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

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

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

void	SetFriction (World &world, ShapeID id, NonNegative< Real > value)
	Convenience function for setting the coefficient of friction of the specified shape. More...

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

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

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

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

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

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

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

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

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

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

void	SetRestitution (World &world, ShapeID id, Real value)
	Sets the coefficient of restitution of the specified shape. More...

void	SetSensor (World &world, ShapeID id, bool value)
	Convenience function for setting whether the shape is a sensor or not. More...

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

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

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

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

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

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

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

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

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

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

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

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

bool	TestPoint (const World &world, BodyID bodyId, ShapeID shapeId, const Length2 &p)
	Tests a point for containment in a shape associated with a body. More...

void	Translate (World &world, ShapeID id, const Length2 &value)
	Translates all of the given shape's vertices by the given amount. More...

template<typename T >
T	TypeCast (const World &value)
	Converts the given joint into its current configuration value. More...

template<typename T >
T	TypeCast (World &&value)
	Converts the given joint into its current configuration value. More...

template<typename T >
T	TypeCast (World &value)
	Converts the given joint into its current configuration value. More...

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

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

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

Detailed Description

Definition of an independent and simulatable "world".

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

Note: World instances do not themselves have any force or acceleration properties. They simply utilize the acceleration property of the bodies they manage. This is different than some other engines (like Box2D which provides a world gravity property).; World instances are composed of — i.e. contain and own — body, contact, shape, and joint entities. These are identified by BodyID, ContactID, ShapeID, and JointID values respectively.; This class uses the pointer to implementation (PIMPL) technique and non-vitural interface (NVI) pattern to provide a complete layer of abstraction from the actual implementations used. This forms a "compilation firewall" — or application binary interface (ABI) — to help provide binary stability while facilitating experimentation and optimization.; This class's design provides a "polymorphic value type" offering polymorphism without public inheritance. This is based on a technique that's described by Sean Parent in his January 2017 Norwegian Developers Conference London talk "Better Code: Runtime Polymorphism".

Invariant: GetType(const World& world) for a world in a valid and specified state, always returns the ID for the type which a TypeCast function template can be instantiated for when called with the world object, to access the underlying typed data of that world.

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

const auto shape = CreateShape(world, Shape{DiskShapeConf{1_m}});

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

playrho::d2::World::CreateShape
friend ShapeID CreateShape(World &world, const Shape &def)
Creates an identifiable copy of the given shape within the specified world.
Definition: World.hpp:1048

playrho::d2::World::World
World(const WorldConf &def=WorldConf{})
Constructs a world object.
Definition: World.cpp:28

playrho::d2::World::CreateBody
friend BodyID CreateBody(World &world, const Body &body, bool resetMassData)
Creates a rigid body within the world that's a copy of the given one.
Definition: World.cpp:50

playrho::BodyType::Dynamic
@ Dynamic

See also: BodyID, ContactID, ShapeID, JointID, Physical Entities.; https://en.wikipedia.org/wiki/Non-virtual_interface_pattern; https://en.wikipedia.org/wiki/Application_binary_interface; https://en.wikibooks.org/wiki/More_C%2B%2B_Idioms/Polymorphic_Value_Types; https://en.cppreference.com/w/cpp/language/pimpl; https://youtu.be/QGcVXgEVMJg

Constructor & Destructor Documentation

◆ World() [1/4]

playrho::d2::World::World ( const WorldConf & def = WorldConf{} )

explicit

Constructs a world object.

Constructs a world object using the default world implementation class that's instantiated with the given configuraion.

Note: More configurability can be had via the StepConf data given to the Step(World&, const StepConf&) function.

Parameters

def	A customized world configuration or its default value.

Postcondition: GetType(const World&) for the created object returns the value returned by GetTypeID<AabbTreeWorld>().; GetBodyCount(const World&), GetJointCount(const World&), GetContactCount(const World&) for the created object all return 0.; GetBodies(const World&), GetJoints(const World&), GetContacts(const World&) for the created object all return empty containers.; IsLocked(const World&), GetSubStepping(const World&) all return false.

See also: Step(World&, const StepConf&).

◆ World() [2/4]

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

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

Parameters

other The world to copy construct this one from.

Exceptions

std::bad_alloc if memory cannot be allocated.

Postcondition: The state of the created object is equal to the state of the copied from object.

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

◆ World() [3/4]

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

inlinenoexcept

Move constructs this world.

Parameters

other The world to move construct this one from.

Postcondition: this is what other used to be.; other is in a "valid but unspecified state". The only thing it can be used for, is as the destination of an assignment.

◆ World() [4/4]

template<typename T , typename DT = std::decay_t<T>, typename Tp = std::enable_if_t<!std::is_same_v<DT, World> && !std::is_same_v<DT, WorldConf>, DT>, typename = std::enable_if_t<std::is_constructible_v<DT, T>>>

playrho::d2::World::World ( T && arg )

inlineexplicit

Polymorphic initializing constructor.

Constructor for constructing an instance from any class supporting the World functionality.

Parameters

arg	A value of a world-concept supporting type to construct this object from.

Exceptions

std::bad_alloc if there's a failure allocating storage for the given value.

Postcondition: GetType(const World&) for the created object returns the value returned by GetTypeID<std::decay_t<T>>().

◆ ~World()

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

noexcept

Destroys all contained physics entities and releases all related resources.

Note: This calls the Clear(World&) function.

See also: Clear.

Member Function Documentation

◆ operator=() [1/2]

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

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

Note: Provides the strong exception guarantee. If this operation throws an exception, the state of this object is unchanged.

Parameters

other The other world to copy assign from.

Exceptions

std::bad_alloc if memory cannot be allocated.

Postcondition: On success: the state of the assigned-to object is equal to the state of the copied from object.

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

◆ operator=() [2/2]

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

inlinenoexcept

Move assigns this world.

Parameters

other The other world to move assign from.

Postcondition: this is what other used to be.; other is in a "valid but unspecified state". The only thing it can be used for, is as the destination of an assignment.

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

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

Parameters

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

Exceptions

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

◆ ApplyForce()

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

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

Parameters

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

Exceptions

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

◆ ApplyForceToCenter()

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

Note: Non-zero forces wakes up the body.

Parameters

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

Exceptions

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

◆ ApplyLinearImpulse()

void ApplyLinearImpulse	(	World &	world,
		BodyID	id,
		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

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

Exceptions

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

◆ ApplyTorque()

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

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

Parameters

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

Exceptions

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

◆ Attach() [1/2]

void Attach	(	World &	world,
		BodyID	id,
		const Shape &	shape,
		bool	resetMassData = `true`
	)

Exceptions

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

See also: GetShapes, ResetMassData.

◆ Attach() [2/2]

void Attach	(	World &	world,
		BodyID	id,
		ShapeID	shapeID,
		bool	resetMassData = `true`
	)

Note: This function should not be called if the world is locked.

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, ResetMassData.

◆ Awaken() [1/2]

BodyCounter Awaken ( World & world )

Convenience function for calling Awaken(World&, BodyID) for all bodies identified in the given world.

Parameters

world The world whose bodies are to be awoken.

Returns: Sum total of calls to Awaken(World&, BodyID) that returned true.

Postcondition: On normal return: IsAwake(const World&, BodyID) returns true for all the "speedable" bodies of the given world.

See also: GetBodies(const World&), Awaken(World&, BodyID), IsAwake(const World&, BodyID), IsSpeedable(BodyType).

◆ Awaken() [2/2]

bool Awaken	(	World &	world,
		BodyID	id
	)

Parameters

world	The world for which the identified body is to be awoken.
id	Identifier of the body within the world to awaken.

Returns: true if SetAwake(World&, BodyID) was called on the identified body, false otherwise.

Exceptions

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

Postcondition: On returning true: IsAwake(const World&, BodyID) returns true for the given world and identified body.

See also: IsAwake(const World&, BodyID), IsSpeedable(BodyType), GetType(const World&, BodyID), SetAwake(World&, BodyID).

◆ CalcGravitationalAcceleration()

Acceleration CalcGravitationalAcceleration	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ Clear

void Clear ( World & world )

friend

Clears the given 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.

Parameters

world The world to clear.

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

See also: SetJointDestructionListener, SetShapeDestructionListener.

◆ ClearForces()

void ClearForces ( World & world )

Manually clear the force buffer on all bodies.

Exceptions

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

◆ ComputeAABB() [1/2]

AABB ComputeAABB	(	const World &	world,
		BodyID	bodyID,
		ShapeID	shapeID
	)

Parameters

world	The world in which the given body and shape identifiers identify a body and shape.
bodyID	Identifier of the body the identified shape is associated with.
shapeID	Identifier of the shape associated with the identified body to compute the AABB for.

See also: ComputeAABB(const World&, BodyID).

◆ ComputeAABB() [2/2]

AABB ComputeAABB	(	const World &	world,
		BodyID	id
	)

Parameters

world	The world in which the given body identifier identifies a body.
id	Identifier of the body to compute the AABB for.

See also: ComputeAABB(const World&, BodyID, ShapeID).

◆ ComputeIntersectingAABB() [1/2]

AABB ComputeIntersectingAABB	(	const World &	world,
		BodyID	bA,
		ShapeID	sA,
		ChildCounter	iA,
		BodyID	bB,
		ShapeID	sB,
		ChildCounter	iB
	)

The intersecting AABB for the given pair of body-shape-index values is the intersection of the AABB for child A of shape A of body A with the AABB for child B of shape B of body B.

◆ ComputeIntersectingAABB() [2/2]

AABB ComputeIntersectingAABB	(	const World &	world,
		const Contact &	contact
	)

Parameters

world	The world for which the given contact relates to.
contact	The contact identifying bodies, shapes, and children with `world` to compute the intersecting AABB for.

◆ ComputeMassData() [1/2]

MassData ComputeMassData	(	const World &	world,
		BodyID	id
	)

This basically accumulates the mass data over all fixtures.

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

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ ComputeMassData() [2/2]

MassData ComputeMassData	(	const World &	world,
		const Span< const ShapeID > &	ids
	)

This basically accumulates the mass data over all shapes.

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

Returns: accumulated mass data for all shapes identified.

Exceptions

std::out_of_range If given an invalid shape identifier.

◆ CreateBody [1/2]

BodyID CreateBody	(	World &	world,
		const Body &	body = `Body{}`,
		bool	resetMassData = `true`
	)

friend

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

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

Parameters

world	The world within which to create the body.
body	A customized body or its default value.
resetMassData	Whether or not the mass data of the body should be reset.

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 out of range shape identifiers.

Postcondition: The created body's identifier will be present in the container returned from the GetBodies(const World&) function.; Calling GetBody(const World&, BodyID) with the returned body identifer returns the body given to this create function.

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

◆ CreateBody() [2/2]

BodyID CreateBody	(	World &	world,
		const BodyConf &	def,
		bool	resetMassData = `true`
	)

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

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

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

Parameters

world	The world within which to create the body.
def	A customized body configuration or its default value.
resetMassData	Whether or not the mass data of the body should be reset.

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

Exceptions

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

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

◆ CreateJoint [1/2]

JointID CreateJoint	(	World &	world,
		const Joint &	def
	)

friend

Creates a new joint within the given world.

Parameters

world	The world in which the specified joint is to be created within.
def	State of the joint to create within the world.

Exceptions

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

Postcondition: On success: GetJoints(const World&) for this same world will contain the identifier returned by this function; GetJoint(const World&, JointID) for world and the returned identifier, returns def .

◆ CreateJoint() [2/2]

template<typename T >

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

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

Exceptions

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

◆ CreateShape [1/2]

ShapeID CreateShape	(	World &	world,
		const Shape &	def
	)

friend

Creates an identifiable copy of the given shape within the specified 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(World&, ShapeID), GetShape, SetShape, GetVertexRadiusInterval.

◆ CreateShape() [2/2]

template<typename T >

auto CreateShape	(	World &	world,
		const T &	shapeConf
	)		-> decltype(CreateShape(world, Shape{shapeConf}))

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

Exceptions

InvalidArgument	if called for a shape with a vertex radius that's not within the world's allowable vertex radius interval.
WrongState	if called while the world is "locked".

See also: CreateShape(World& world, const Shape& def), GetVertexRadiusInterval.

◆ Destroy [1/3]

void Destroy	(	World &	world,
		BodyID	id
	)

friend

Destroys the identified body.

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

Note: This automatically deletes all associated shapes and joints.; This function is locked during callbacks. The detatch listener, if set, is called for every shape associated with the identified body.

Parameters

world	The world from which to delete the identified body from.
id	Identifier of body to destroy that had been created in `world`.

Exceptions

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

Postcondition: On success: the destroyed body's identifier is no longer present in the container returned from the GetBodies(const World&) function; the count returned by GetBodyCount(const World&) will be one less than before this was called; GetBodyRange(const World&) will be unchanged.

See also: CreateBody, GetBodies, GetBodyCount, GetBodyRange, SetDetachListener, IsLocked.; Physical Entities.

◆ Destroy [2/3]

void Destroy	(	World &	world,
		JointID	id
	)

friend

Destroys the identified joint.

Parameters

world	The world in which the specified joint is to be destroyed from.
id	Identifier of the joint to destroy.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an out of range joint identifier.

Postcondition: On success: the given identifier is no longer within those returned by GetJoints(const World&), the count returned by GetJointCount(const World&) will be one less than before this was called.

See also: CreateJoint, IsLocked, GetJointRange.

◆ Destroy [3/3]

void Destroy	(	World &	world,
		ShapeID	id
	)

friend

Destroys the identified shape.

Parameters

world	The world in which the specified shape is to be destroyed from.
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 out of range identifier.

Postcondition: On success: no body in the specified world will have the identified shape attached to it; GetShapeRange(const World&) will be unchanged.

See also: CreateShape, IsLocked, GetShapeRange.

◆ Detach() [1/2]

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

Exceptions

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

See also: Attach, ResetMassData.

◆ Detach() [2/2]

bool Detach	(	World &	world,
		BodyID	id,
		ShapeID	shapeID,
		bool	resetMassData = `true`
	)

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: ResetMassData.

◆ EnableLimit()

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

Exceptions

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

◆ EnableMotor()

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

Exceptions

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

◆ FindClosestBody()

BodyID FindClosestBody	(	const World &	world,
		const Length2 &	location
	)

Parameters

world	The world to find closest body to location in.
location	Location in the given world to find the closest body to.

Returns: Identifier of the closest body, or InvalidBodyID.

◆ GetAcceleration()

Acceleration GetAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetAnchorA()

Length2 GetAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAnchorB()

Length2 GetAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngle() [1/3]

Angle GetAngle	(	const World &	world,
		BodyID	id
	)

Returns: the current world rotation angle.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngle() [2/3]

Angle GetAngle	(	const World &	world,
		const RevoluteJointConf &	conf
	)

Parameters

world	The world the given joint configuration relates to.
conf	Configuration of the joint to get the angle for.

Exceptions

std::out_of_range If given an invalid body identifier in the joint configuration.

◆ GetAngle() [3/3]

Angle GetAngle	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularAcceleration()

AngularAcceleration GetAngularAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetAngularDamping()

Frequency GetAngularDamping	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngularLowerLimit()

Angle GetAngularLowerLimit	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularMass()

RotInertia GetAngularMass	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularMotorImpulse()

AngularMomentum GetAngularMotorImpulse	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularOffset()

Angle GetAngularOffset	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularReaction()

AngularMomentum GetAngularReaction	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularUpperLimit()

Angle GetAngularUpperLimit	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAngularVelocity() [1/4]

AngularVelocity GetAngularVelocity	(	const World &	world,
		BodyID	id
	)

Parameters

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

Returns: the angular velocity.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetAngularVelocity() [2/4]

AngularVelocity GetAngularVelocity	(	const World &	world,
		const RevoluteJointConf &	conf
	)

Parameters

world	The world the given joint configuration relates to.
conf	Configuration of the joint to get the angular velocity for.

Exceptions

std::out_of_range If given an invalid body identifier in the joint configuration.

◆ GetAngularVelocity() [3/4]

AngularVelocity GetAngularVelocity	(	const World &	world,
		const WheelJointConf &	conf
	)

Parameters

world	The world the given joint configuration relates to.
conf	Configuration of the joint to get the angular velocity for.

Exceptions

std::out_of_range If given an invalid body identifier in the joint configuration.

◆ GetAngularVelocity() [4/4]

AngularVelocity GetAngularVelocity	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetAssociationCount()

ShapeCounter GetAssociationCount ( const World & world )

Parameters

world The world in which to get the shape association count for.

See also: GetUsedShapesCount.

◆ GetAwakeCount()

BodyCounter GetAwakeCount ( const World & world )

Parameters

world The world for which to get the awake count for.

See also: Awaken.

◆ GetBodies

std::vector<BodyID> GetBodies ( const World & world )

friend

Gets the valid world body identifiers container for this constant world.

Gets a container enumerating the identifiers of bodies currently existing within this world. These are the bodies that had been created from previous calls to CreateBody(World&, const Body&) that haven't yet been destroyed by a call to Destroy(World& world, BodyID) or to Clear(World&).

Parameters

world The world whose body identifiers are to be returned for.

Returns: Container of body identifiers.

See also: CreateBody(World&, const Body&), Destroy(World& world, BodyID), Clear(World&).

◆ GetBodiesForProxies

std::vector<BodyID> GetBodiesForProxies ( const World & 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.

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

◆ GetBody

Body GetBody	(	const World &	world,
		BodyID	id
	)

friend

Gets the state of the identified body.

Exceptions

std::out_of_range If given an out of range body identifier.

See also: CreateBody(World&, const Body&, bool), SetBody(World&, BodyID, const Body&), GetBodyRange.

◆ GetBodyA() [1/2]

BodyID GetBodyA	(	const World &	world,
		ContactID	id
	)

Returns: Identification of the body-A or InvalidBodyID.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetBodyA() [2/2]

BodyID GetBodyA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetBodyB() [1/2]

BodyID GetBodyB	(	const World &	world,
		ContactID	id
	)

Returns: Identification of the body-B or InvalidBodyID.

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetBodyB() [2/2]

BodyID GetBodyB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetBodyCount()

BodyCounter GetBodyCount ( const World & world )

Returns: 0 or higher.

◆ GetBodyRange

BodyCounter GetBodyRange ( const World & world )

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.

Parameters

world The world whose body range is to be returned for.

◆ GetCentripetalForce()

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetChildIndexA()

ChildCounter GetChildIndexA	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetChildIndexB()

ChildCounter GetChildIndexB	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetCollideConnected()

bool GetCollideConnected	(	const World &	world,
		JointID	id
	)

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

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetContact

Contact GetContact	(	const World &	world,
		ContactID	id
	)

friend

Gets the identified contact.

Exceptions

std::out_of_range If given an out of range contact identifier.

See also: GetContantRange.

◆ GetContactCount()

ContactCounter GetContactCount ( const World & world )

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

Returns: 0 or higher.

◆ GetContactRange

ContactCounter GetContactRange ( const World & world )

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]

std::vector<KeyedContactID> GetContacts ( const World & world )

friend

Gets the contacts identified within the given world.

Note: Further information for each element of the returned container is available from functions like GetContact or GetManifold.

◆ GetContacts [2/2]

std::vector<std::tuple<ContactKey, ContactID> > GetContacts	(	const World &	world,
		BodyID	id
	)

friend

Gets the container of contacts attached to the identified body.

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

Exceptions

std::out_of_range If given an out of range body identifier.

See also: GetBodyRange.

◆ GetCurrentLengthA()

Length GetCurrentLengthA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetCurrentLengthB()

Length GetCurrentLengthB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetDampingRatio()

Real GetDampingRatio	(	const World &	world,
		JointID	id
	)

Exceptions

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

◆ GetDefaultFriction()

Real GetDefaultFriction	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetFriction.

◆ GetDefaultRestitution()

Real GetDefaultRestitution	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetRestitution.

◆ GetDensity()

NonNegative< AreaDensity > GetDensity	(	const World &	world,
		ShapeID	id
	)

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

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetDistanceJointConf()

DistanceJointConf GetDistanceJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchorA = `Length2{}`,
		const Length2 &	anchorB = `Length2{}`
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetFilterData()

Filter GetFilterData	(	const World &	world,
		ShapeID	id
	)

Exceptions

std::out_of_range If given an invalid identifier.

See also: SetFilterData.

◆ GetFrequency()

Frequency GetFrequency	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetFriction() [1/2]

NonNegativeFF< Real > GetFriction	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetFriction.

◆ GetFriction() [2/2]

NonNegativeFF< Real > GetFriction	(	const World &	world,
		ShapeID	id
	)

Returns: Value of 0 or higher.

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetFrictionJointConf()

FrictionJointConf GetFrictionJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetGearJointConf()

GearJointConf GetGearJointConf	(	const World &	world,
		JointID	id1,
		JointID	id2,
		Real	ratio = `Real{1}`
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetGroundAnchorA()

Length2 GetGroundAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetGroundAnchorB()

Length2 GetGroundAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetInvDeltaTime

Frequency GetInvDeltaTime ( const World & 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.

Parameters

world The world whose inverse delta time is to be returned for.

See also: Step.

◆ GetInvMass()

InvMass GetInvMass	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetMassData.

◆ GetInvRotInertia()

InvRotInertia GetInvRotInertia	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetJoint

Joint GetJoint	(	const World &	world,
		JointID	id
	)

friend

Gets the value of the identified joint.

Exceptions

std::out_of_range If given an out of range joint identifier.

See also: GetJointRange.

◆ GetJointCount()

JointCounter GetJointCount ( const World & world )

Returns: 0 or higher.

◆ GetJointRange

JointCounter GetJointRange ( const World & 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]

std::vector<JointID> GetJoints ( const World & world )

friend

Gets the joints of the specified world.

Note: These are joints created by previous calls to CreateJoint(World&, const Joint&) that haven't yet been destroyed by a call to Destroy(World& world, JointID) or Clear(World&).

See also: CreateJoint(World&, const Joint&), Destroy(World& world, JointID), Clear(World&).

◆ GetJoints [2/2]

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

friend

Gets the container of valid joints attached to the identified body.

Exceptions

std::out_of_range If given an out of range body identifier.

See also: CreateJoint, GetBodyRange.

◆ GetJointTranslation()

Length GetJointTranslation	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLength()

Length GetLength	(	const World &	world,
		JointID	id
	)

Exceptions

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

◆ GetLimitState()

LimitState GetLimitState	(	const World &	world,
		JointID	id
	)

Exceptions

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

◆ GetLinearAcceleration()

LinearAcceleration2 GetLinearAcceleration	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetLinearDamping()

Frequency GetLinearDamping	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLinearMotorImpulse()

Momentum GetLinearMotorImpulse	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearOffset()

Length2 GetLinearOffset	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearReaction()

Momentum2 GetLinearReaction	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLinearVelocity() [1/2]

LinearVelocity2 GetLinearVelocity	(	const World &	world,
		BodyID	id
	)

Parameters

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

Returns: the linear velocity of the center of mass.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLinearVelocity() [2/2]

LinearVelocity GetLinearVelocity	(	const World &	world,
		const PrismaticJointConf &	joint
	)

Exceptions

std::out_of_range If given an invalid body identifier in the given joint conifguration.

◆ GetLocalAnchorA()

Length2 GetLocalAnchorA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalAnchorB()

Length2 GetLocalAnchorB	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalCenter()

Length2 GetLocalCenter	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalPoint()

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

Parameters

world	The world in which the identified body exists.
id	Identifier of body that the returned point should be relative to.
worldPoint	point in world coordinates.

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia	(	const World &	world,
		BodyID	id
	)

Returns: the rotational inertia.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalVector()

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetLocalXAxisA()

UnitVec GetLocalXAxisA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocalYAxisA()

UnitVec GetLocalYAxisA	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetLocation()

Length2 GetLocation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetManifold

Manifold GetManifold	(	const World &	world,
		ContactID	id
	)

friend

Gets the manifold for the identified contact.

Note: There is a manifold for every contact and vice-versa.

Exceptions

std::out_of_range If given an out of range contact identifier.

See also: SetManifold, GetContantRange.

◆ GetMass()

Mass GetMass	(	const World &	world,
		BodyID	id
	)

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

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

Exceptions

std::out_of_range If given an invalid body identifier.

See also: GetInvMass, SetMassData

◆ GetMassData() [1/2]

MassData GetMassData	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetMassData() [2/2]

MassData GetMassData	(	const World &	world,
		ShapeID	id
	)

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetMaxMotorTorque()

Torque GetMaxMotorTorque	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetMotorForce()

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

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetMotorJointConf()

MotorJointConf GetMotorJointConf	(	const World &	world,
		BodyID	bA,
		BodyID	bB
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetMotorSpeed()

AngularVelocity GetMotorSpeed	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

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

◆ GetMotorTorque()

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

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetPrismaticJointConf()

PrismaticJointConf GetPrismaticJointConf	(	const World &	world,
		BodyID	bA,
		BodyID	bB,
		const Length2 &	anchor,
		const UnitVec &	axis
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetPulleyJointConf()

PulleyJointConf GetPulleyJointConf	(	const World &	world,
		BodyID	bA,
		BodyID	bB,
		const Length2 &	groundA,
		const Length2 &	groundB,
		const Length2 &	anchorA,
		const Length2 &	anchorB
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetRatio()

Real GetRatio	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetReferenceAngle()

Angle GetReferenceAngle	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetResourceStats

std::optional<pmr::StatsResource::Stats> GetResourceStats ( const World & world )

friend

Gets the polymorphic memory resource allocator statistics of the specified world.

Note: This will be the empty value unless the world configuration the given world was constructed with specified the collection of these statistics.; This information can be used to tweak the world configuration to pre-allocate enough space to avoid the less deterministic performance behavior of dynamic memory allocation during world step processing that may otherwise occur.

Parameters

world The world to get the memory resource allocator statistics for.

See also: WorldConf.

◆ GetRestitution() [1/2]

Real GetRestitution	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

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

◆ GetRestitution() [2/2]

Real GetRestitution	(	const World &	world,
		ShapeID	id
	)

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetRevoluteJointConf()

RevoluteJointConf GetRevoluteJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetRotInertia()

RotInertia GetRotInertia	(	const World &	world,
		BodyID	id
	)

Parameters

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

Returns: the rotational inertia.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetShape

Shape GetShape	(	const World &	world,
		ShapeID	id
	)

friend

Gets the shape associated with the identifier.

Exceptions

std::out_of_range If given an out of range identifier.

See also: GetShapeRange.

◆ GetShapeA()

ShapeID GetShapeA	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetShapeB()

ShapeID GetShapeB	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetShapeCount()

ShapeCounter GetShapeCount	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetShapeRange

ShapeCounter GetShapeRange ( const World & 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

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

friend

Gets the identities of the shapes associated with the identified body.

Exceptions

std::out_of_range If given an out of range body identifier.

See also: GetBodyRange, CreateBody, SetBody.

◆ GetSubStepping

bool GetSubStepping ( const World & world )

friend

Gets whether or not sub-stepping is enabled.

Parameters

world The world to return whether sub-stepping is enabled for.

See also: SetSubStepping, IsStepComplete.

◆ GetTangentSpeed()

LinearVelocity GetTangentSpeed	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetTarget()

Length2 GetTarget	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetToi()

std::optional< UnitIntervalFF< Real > > GetToi	(	const World &	world,
		ContactID	id
	)

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.

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: HasValidToi.

◆ GetToiCount()

TimestepIters GetToiCount	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetTouchingCount()

ContactCounter GetTouchingCount ( const World & world )

Basically a convenience function for iterating over all contact identifiers returned from GetContacts(const World&) for the given world and counting for how many IsTouching(const World&, ContactID) returns true.

See also: GetContacts(const World&), IsTouching(const World&, ContactID).

◆ GetTransformation()

Transformation GetTransformation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetTree

const DynamicTree& GetTree ( const World & world )

friend

Gets access to the broad-phase dynamic tree information.

Todo:: Consider removing this function. This function exposes the implementation detail of the broad-phase contact detection system.

◆ GetType [1/4]

TypeID GetType ( const World & world )

friend

Gets the identifier of the type of data the given world can be casted to.

Parameters

world The world for which an identifier of the type of its underlying value is to be returned.

See also: TypeCast.

◆ GetType() [2/4]

BodyType GetType	(	const World &	world,
		BodyID	id
	)

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

◆ GetType() [3/4]

TypeID GetType	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetType() [4/4]

TypeID GetType	(	const World &	world,
		ShapeID	id
	)

Exceptions

std::out_of_range If given an invalid identifier.

◆ GetUsedShapesCount()

ShapeCounter GetUsedShapesCount ( const World & world )

Parameters

world The world in which to get the used shapes count for.

See also: GetAssociationCount.

◆ GetVelocity()

Velocity GetVelocity	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ GetVertexRadiusInterval

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

friend

Gets the vertex radius interval allowable for the given world.

Parameters

world The world whose allowable vertex radius interval is to be returned for.

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

◆ GetWeldJointConf()

WeldJointConf GetWeldJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor = `Length2{}`
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWheelJointConf()

WheelJointConf GetWheelJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor,
		const UnitVec &	axis = `UnitVec::GetRight()`
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldCenter()

Length2 GetWorldCenter	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldIndex() [1/2]

BodyCounter GetWorldIndex	(	const World &	,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldIndex() [2/2]

JointCounter GetWorldIndex	(	const World &	,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ GetWorldManifold()

WorldManifold GetWorldManifold	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ GetWorldPoint()

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

Parameters

world	World context.
id	Identifier of body that the given point is relative to.
localPoint	a point measured relative the the body's origin.

Returns: the same point expressed in world coordinates.

Exceptions

std::out_of_range If given an invalid body identifier.

◆ GetWorldVector()

UnitVec GetWorldVector	(	const World &	world,
		BodyID	id,
		const UnitVec &	localVector
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ HasValidToi()

bool HasValidToi	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: GetToi.

◆ IsAccelerable()

bool IsAccelerable	(	const World &	world,
		BodyID	id
	)

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

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsAwake() [1/2]

bool IsAwake	(	const World &	world,
		BodyID	id
	)

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

Returns: true if the body is awake.

Exceptions

std::out_of_range If given an invalid body identifier.

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

◆ IsAwake() [2/2]

bool IsAwake	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

See also: SetAwake.

◆ IsEnabled() [1/3]

bool IsEnabled	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetEnabled.

◆ IsEnabled() [2/3]

bool IsEnabled	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ IsEnabled() [3/3]

bool IsEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ IsFixedRotation()

bool IsFixedRotation	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

See also: SetFixedRotation.

◆ IsImpenetrable()

bool IsImpenetrable	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsLimitEnabled()

bool IsLimitEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ IsLocked

bool IsLocked ( const World & world )

friend

Is the specified world locked.

Used to detect whether being called while already within the execution of the Step(World&, const StepConf&) function - which sets this "lock".

Parameters

world The world to return whether it's in a locked state or not.

See also: Step(World&, const StepConf&).

◆ IsMassDataDirty()

bool IsMassDataDirty	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsMotorEnabled()

bool IsMotorEnabled	(	const World &	world,
		JointID	id
	)

Exceptions

std::out_of_range If given an invalid joint identifier.

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

◆ IsSensor()

bool IsSensor	(	const World &	world,
		ShapeID	id
	)

Returns: the true if the shape is a sensor.

Exceptions

std::out_of_range If given an invalid identifier.

See also: SetSensor.

◆ IsSleepingAllowed()

bool IsSleepingAllowed	(	const World &	world,
		BodyID	id
	)

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsSpeedable()

bool IsSpeedable	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range If given an invalid body identifier.

◆ IsStepComplete

bool IsStepComplete ( const World & world )

friend

Whether or not "step" is complete.

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

Parameters

world The world to return whether the step is completed for.

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

See also: GetSubStepping, SetSubStepping, Step.

◆ IsTouching()

bool IsTouching	(	const World &	world,
		ContactID	id
	)

Touching is defined as either:

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

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ NeedsFiltering()

bool NeedsFiltering	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ NeedsUpdating()

bool NeedsUpdating	(	const World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ operator!=

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

friend

Inequality operator for world comparisons.

Parameters

lhs	Left hand side world of the infix binary inequality operator.
rhs	Right hand side world of the infix binary inequality operator.

Returns: true if lhs is not equal to rhs , false otherwise.

◆ operator==

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

friend

Equality operator for world comparisons.

Parameters

lhs	Left hand side world of the infix binary equality operator.
rhs	Right hand side world of the infix binary equality operator.

Returns: true if lhs is equal to rhs , false otherwise.

◆ ResetFriction()

void ResetFriction	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ ResetMassData()

void ResetMassData	(	World &	world,
		BodyID	id
	)

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

Note: This function must be called after associating new shapes to the body to update the body mass data properties unless SetMassData is used.

Exceptions

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

See also: SetMassData, Attach, Detach.

◆ ResetRestitution()

void ResetRestitution	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ Rotate()

void Rotate	(	World &	world,
		ShapeID	id,
		const UnitVec &	value
	)

Note: This may throw std::bad_alloc or any exception that's thrown by the constructor for the model's underlying data type.

Exceptions

std::bad_alloc	if there's a failure allocating storage.
std::out_of_range	If given an invalid identifier.

◆ RotateAboutLocalPoint()

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

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

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

Parameters

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

Exceptions

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

◆ RotateAboutWorldPoint()

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

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

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

Parameters

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

Exceptions

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

◆ Scale()

void Scale	(	World &	world,
		ShapeID	id,
		const Vec2 &	value
	)

Note: This may throw std::bad_alloc or any exception that's thrown by the constructor for the model's underlying data type.

Exceptions

std::bad_alloc	if there's a failure allocating storage.
std::out_of_range	If given an invalid identifier.

◆ SetAcceleration() [1/4]

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

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

Exceptions

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

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

◆ SetAcceleration() [2/4]

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

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

Parameters

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

Exceptions

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

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

◆ SetAcceleration() [3/4]

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

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

Parameters

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

Exceptions

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

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

◆ SetAcceleration() [4/4]

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

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

Exceptions

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

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

◆ SetAccelerations() [1/3]

void SetAccelerations	(	World &	world,
		const Acceleration &	acceleration
	)

Exceptions

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

◆ SetAccelerations() [2/3]

void SetAccelerations	(	World &	world,
		const LinearAcceleration2 &	acceleration
	)

Note: This will leave the angular acceleration alone.

Exceptions

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

◆ SetAccelerations() [3/3]

template<class F >

void SetAccelerations	(	World &	world,
		F	fn
	)

Parameters

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

Exceptions

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

Postcondition: On success: GetAcceleration(const World&, BodyID) will return the acceleration assigned to it by the given function.

See also: SetAcceleration(World&,BodyID,const Acceleration&), GetAcceleration(const World&,BodyID).

◆ SetAngle()

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

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

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

Parameters

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

Exceptions

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

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

◆ SetAngularDamping()

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

Exceptions

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

◆ SetAngularLimits()

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

Exceptions

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

◆ SetAngularOffset()

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

Exceptions

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

◆ SetAwake() [1/3]

void SetAwake	(	World &	world,
		BodyID	id
	)

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

Exceptions

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

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

◆ SetAwake() [2/3]

void SetAwake	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetAwake() [3/3]

void SetAwake	(	World &	world,
		JointID	id
	)

Exceptions

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

◆ SetBeginContactListener

void SetBeginContactListener	(	World &	world,
		ContactFunction	listener
	)

friend

Sets the begin-contact lister.

Note: This listener is called during calls to the Step(World&,const StepConf&) function for every contact that transitions from not previously touching, to touching in the step.

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: SetEndContactListener(World&, ContactFunction).

◆ SetBody

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

friend

Sets the state of the identified body.

Parameters

world	The world containing the identified body whose state is to be set.
id	Identifier of the body whose state is to be set.
body	New state of the identified body.

Exceptions

std::out_of_range	if `id` is out of range, or if the given body references any shape identifiers that are out of range.
InvalidArgument	if the specified ID was destroyed.

Postcondition: On success: GetBody(const World&, BodyID) for world and id returns the value of body .

See also: GetBody(const World&, BodyID), GetBodyRange, GetShapeRange.

◆ SetContact

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

friend

Sets the identified contact's state.

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. The new state: 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. Otherwise, this function will throw an `InvalidArgument` exception and not change anything.

Exceptions

std::out_of_range	If given an out of range contact identifier or the new contact value references an out of range identifier.
InvalidArgument	if the identifier is to a freed contact or if the new state is not allowable.

See also: GetContact, GetContactRange.

◆ SetDensity()

void SetDensity	(	World &	world,
		ShapeID	id,
		NonNegative< AreaDensity >	value
	)

Exceptions

std::out_of_range If given an invalid identifier.

◆ SetDetachListener

void SetDetachListener	(	World &	world,
		BodyShapeFunction	listener
	)

friend

Sets the detach listener for shapes detaching from bodies.

Note: This listener is called on Destroy(World&,BodyID) for every shape associated with that identified body.

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: Destroy(World&,BodyID).

◆ SetEnabled() [1/3]

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

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

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

Exceptions

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

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

See also: IsEnabled.

◆ SetEnabled() [2/3]

void SetEnabled	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetEnabled() [3/3]

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

Exceptions

std::out_of_range If given an invalid contact identifier.

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

◆ SetEndContactListener

void SetEndContactListener	(	World &	world,
		ContactFunction	listener
	)

friend

Sets the end-contact lister.

Note: This listener is called during calls to the Step(World&,const StepConf&) function for every contact that transitions from previously touching, to no longer touching in the step.

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: SetBeginContactListener(World&, ContactFunction).

◆ SetFilterData()

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

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

Exceptions

std::out_of_range If given an invalid identifier.

See also: GetFilterData.

◆ SetFixedRotation()

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

Exceptions

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

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

See also: IsFixedRotation.

◆ SetForce()

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

Exceptions

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

◆ SetFrequency()

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

Exceptions

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

◆ SetFriction() [1/2]

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

Note: Overrides the default friction mixture. You can call this in "pre-solve" listeners. This value persists until set or reset.

Parameters

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

Postcondition: GetFriction(world, id) returns the value set.

Exceptions

std::out_of_range If given an invalid contact identifier.

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

◆ SetFriction() [2/2]

void SetFriction	(	World &	world,
		ShapeID	id,
		NonNegative< Real >	value
	)

Exceptions

std::out_of_range If given an invalid identifier.

See also: GetFriction.

◆ SetImpenetrable() [1/2]

void SetImpenetrable	(	World &	world,
		BodyID	id
	)

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

Exceptions

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

◆ SetImpenetrable() [2/2]

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

Exceptions

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

◆ SetJoint [1/2]

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

friend

Sets the value of the identified joint.

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an out of range joint identifier.

See also: GetJointRange.

◆ SetJoint() [2/2]

template<typename T >

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

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

Exceptions

WrongState	if this function is called while the world is locked.
std::out_of_range	If given an out of range joint identifier.

See also: GetJointRange.

◆ SetJointDestructionListener

void SetJointDestructionListener	(	World &	world,
		JointFunction	listener
	)

friend

Sets the destruction listener for joints.

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

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: Clear(World&), Destroy(BodyID).

◆ SetLinearDamping()

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

Exceptions

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

◆ SetLinearOffset()

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

Exceptions

std::out_of_range If given an invalid joint identifier.

◆ SetLocation()

void SetLocation	(	World &	world,
		BodyID	id,
		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

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

Exceptions

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

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

◆ SetManifold

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

friend

Sets the identified manifold's state.

Note: There is a manifold for every contact and vice-versa.

Parameters

world	The world of the manifold whose state is to be set.
id	Identifier of the manifold whose state is to be set.
value	Value the manifold is to be set to. The new state: TODO: is not allowed to change whether the contact is awake, TODO: is not allowed to change whether the contact is impenetrable. Otherwise, throws `InvalidArgument` exception and doesn't change anything.

Exceptions

std::out_of_range	If given an out of range contact identifier or the new manifold value references an out of range identifier.
InvalidArgument	if the identifier is to a freed contact or if the new state is not allowable.

See also: GetManifold, GetContactRange.

◆ SetMassData()

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

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

Parameters

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

Exceptions

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

◆ SetMaxMotorTorque()

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

Exceptions

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

◆ SetMotorSpeed()

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

Exceptions

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

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

◆ SetPostSolveContactListener

void SetPostSolveContactListener	(	World &	world,
		ContactImpulsesFunction	listener
	)

friend

Sets the post-solve-contact lister.

Note: This listener is called during calls to the Step(World&,const StepConf&) function for every contact that was "solved" during regular processing or TOI processing (or both).

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: SetPreSolveContactListener(World&, ContactManifoldFunction).

◆ SetPreSolveContactListener

void SetPreSolveContactListener	(	World &	world,
		ContactManifoldFunction	listener
	)

friend

Sets the pre-solve-contact lister.

Note: This listener is called during calls to the Step(World&,const StepConf&) function for every non-sensor contact that is touching.

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: SetPostSolveContactListener(World&, ContactImpulsesFunction).

◆ SetRestitution() [1/2]

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

This override the default restitution mixture.

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

◆ SetRestitution() [2/2]

void SetRestitution	(	World &	world,
		ShapeID	id,
		Real	value
	)

Exceptions

std::out_of_range If given an invalid identifier.

◆ SetSensor()

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

Exceptions

std::out_of_range If given an invalid identifier.

See also: IsSensor.

◆ SetShape

void SetShape	(	World &	world,
		ShapeID	id,
		const Shape &	def
	)

friend

Sets the identified shape to the new value.

Exceptions

std::out_of_range If given an out of range shape identifier.

See also: CreateShape, GetShapeRange.

◆ SetShapeDestructionListener

void SetShapeDestructionListener	(	World &	world,
		ShapeFunction	listener
	)

friend

Sets the destruction listener for shapes.

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

Parameters

world	The world to set the listener for.
listener	Function that the world is to call on these events.

See also: Clear(World&).

◆ SetSleepingAllowed()

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

Exceptions

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

◆ SetSubStepping

void SetSubStepping	(	World &	world,
		bool	flag
	)

friend

Enables/disables single stepped continuous physics.

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

Parameters

world	The world to set whether or not to do sub-stepping for.
flag	`true` to enable sub-stepping, `false` to disable it.

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

See also: IsStepComplete, GetSubStepping.

◆ SetTangentSpeed()

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

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ SetTarget()

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

Exceptions

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

◆ SetTorque()

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

Exceptions

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

◆ SetTransform()

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

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

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

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

Parameters

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

Exceptions

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

◆ SetTransformation()

void SetTransformation	(	World &	world,
		BodyID	id,
		const Transformation &	value
	)

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

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

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

Exceptions

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

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

◆ SetType()

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

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

Exceptions

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

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

◆ SetVelocity() [1/3]

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

Exceptions

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

◆ SetVelocity() [2/3]

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

Exceptions

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

◆ SetVelocity() [3/3]

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

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

Exceptions

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

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

◆ ShiftOrigin [1/2]

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

friend

Shifts the origin of the specified world.

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 is to be shifted.
newOrigin	the new origin with respect to the old origin

Exceptions

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

◆ ShiftOrigin() [2/2]

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

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

Exceptions

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

◆ Step [1/2]

StepStats Step	(	World &	world,
		const StepConf &	conf = `StepConf{}`
	)

friend

Steps the given world simulation according to the given configuration.

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

Warning: Behavior is not specified if given a negative step time delta.; Varying the step time delta may lead to non-physical behaviors.

Note: Calling this with a zero step time delta results only in fixtures and bodies registered for special handling being processed. No physics is performed.; If the given velocity and position iterations are zero, this 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.; While this function is running, some listener functions could get called. Meanwhile some functions on World can only operate while the world is not in the middle of being updated by this function. Listeners can use the IsLocked(const World& world) function to detect whether they've been called in this case or not and then act accordingly.

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

Parameters

world	The world to simulate a step for.
conf	Configuration for the simulation step.

Returns: Statistics for the step.

Exceptions

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

See also: IsLocked(const World&).

◆ Step() [2/2]

StepStats Step	(	World &	world,
		Time	delta,
		TimestepIters	velocityIterations = `StepConf::DefaultRegVelocityIters`,
		TimestepIters	positionIterations = `StepConf::DefaultRegPositionIters`
	)

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

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

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

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

Parameters

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

◆ Translate()

void Translate	(	World &	world,
		ShapeID	id,
		const Length2 &	value
	)

Note: This may throw std::bad_alloc or any exception that's thrown by the constructor for the model's underlying data type.

Exceptions

std::bad_alloc	if there's a failure allocating storage.
std::out_of_range	If given an invalid identifier.

◆ TypeCast() [1/5]

template<typename T >

T TypeCast ( const World & value )

Note: The design for this was based off the design of the C++17 std::any class and its associated std::any_cast function. The code for this is based off of the std::any implementation from the LLVM Project.

Exceptions

std::bad_cast If the given template parameter type isn't the type of this joint's configuration value.

See also: https://llvm.org/

◆ TypeCast [2/5]

template<typename T >

std::add_pointer_t<std::add_const_t<T> > TypeCast ( const World * value )

friend

Casts the given world into its current underlying configuration value.

Note: The design for this was based off the design of the C++17 std::any class and its associated std::any_cast function. The code for this is based off of the std::any code from the LLVM Project.

Template Parameters

T	type to cast the underlying value of the given world to, if matching the actual type of the underlying value.

Parameters

value Pointer to the world whose underlying value, if it's type is the type of the template parameter, is to be returned.

See also: GetType(const World&).; https://llvm.org/

◆ TypeCast() [3/5]

template<typename T >

T TypeCast ( World && value )

Note: The design for this was based off the design of the C++17 std::any class and its associated std::any_cast function. The code for this is based off of the std::any implementation from the LLVM Project.

See also: https://llvm.org/

◆ TypeCast() [4/5]

template<typename T >

T TypeCast ( World & value )

Note: The design for this was based off the design of the C++17 std::any class and its associated std::any_cast function. The code for this is based off of the std::any implementation from the LLVM Project.

See also: https://llvm.org/

◆ TypeCast [5/5]

template<typename T >

std::add_pointer_t<T> TypeCast ( World * value )

friend

Casts the given world into its current configuration value.

Note: The design for this was based off the design of the C++17 std::any class and its associated std::any_cast function. The code for this is based off of the std::any implementation from the LLVM Project.

Template Parameters

T	type to cast the underlying value of the given world to, if matching the actual type of the underlying value.

Parameters

value Pointer to the world whose underlying value, if it's type is the type of the template parameter, is to be returned.

See also: GetType(const World&).; https://llvm.org/

◆ UnsetAwake()

void UnsetAwake	(	World &	world,
		BodyID	id
	)

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

Exceptions

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

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

◆ UnsetEnabled()

void UnsetEnabled	(	World &	world,
		ContactID	id
	)

Exceptions

std::out_of_range If given an invalid contact identifier.

◆ UnsetImpenetrable()

void UnsetImpenetrable	(	World &	world,
		BodyID	id
	)

Exceptions

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

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

Library/include/playrho/d2/World.hpp
Library/include/playrho/d2/AABB.hpp
Library/include/playrho/d2/DistanceJointConf.hpp
Library/include/playrho/d2/FrictionJointConf.hpp
Library/include/playrho/d2/GearJointConf.hpp
Library/include/playrho/d2/MotorJointConf.hpp
Library/include/playrho/d2/PrismaticJointConf.hpp
Library/include/playrho/d2/PulleyJointConf.hpp
Library/include/playrho/d2/RayCastOutput.hpp
Library/include/playrho/d2/RevoluteJointConf.hpp
Library/include/playrho/d2/WeldJointConf.hpp
Library/include/playrho/d2/WheelJointConf.hpp
Library/include/playrho/d2/WorldBody.hpp
Library/include/playrho/d2/WorldContact.hpp
Library/include/playrho/d2/WorldJoint.hpp
Library/include/playrho/d2/WorldMisc.hpp
Library/include/playrho/d2/WorldShape.hpp
Library/source/playrho/d2/World.cpp

Public Member Functions

Friends

Related Functions

Detailed Description

Constructor & Destructor Documentation

◆ World() [1/4]

◆ World() [2/4]

◆ World() [3/4]

◆ World() [4/4]

◆ ~World()

Member Function Documentation

◆ operator=() [1/2]

◆ operator=() [2/2]

Friends And Related Function Documentation

◆ ApplyAngularImpulse()

◆ ApplyForce()

◆ ApplyForceToCenter()

◆ ApplyLinearImpulse()

◆ ApplyTorque()

◆ Attach() [1/2]

◆ Attach() [2/2]

◆ Awaken() [1/2]

◆ Awaken() [2/2]

◆ CalcGravitationalAcceleration()

◆ Clear

◆ ClearForces()

◆ ComputeAABB() [1/2]

◆ ComputeAABB() [2/2]

◆ ComputeIntersectingAABB() [1/2]

◆ ComputeIntersectingAABB() [2/2]

◆ ComputeMassData() [1/2]

◆ ComputeMassData() [2/2]

◆ CreateBody [1/2]

◆ CreateBody() [2/2]

◆ CreateJoint [1/2]

◆ CreateJoint() [2/2]

◆ CreateShape [1/2]

◆ CreateShape() [2/2]

◆ Destroy [1/3]

◆ Destroy [2/3]

◆ Destroy [3/3]

◆ Detach() [1/2]

◆ Detach() [2/2]

◆ EnableLimit()

◆ EnableMotor()

◆ FindClosestBody()

◆ GetAcceleration()

◆ GetAnchorA()

◆ GetAnchorB()

◆ GetAngle() [1/3]

◆ GetAngle() [2/3]

◆ GetAngle() [3/3]

◆ GetAngularAcceleration()

◆ GetAngularDamping()

◆ GetAngularLowerLimit()

◆ GetAngularMass()

◆ GetAngularMotorImpulse()

◆ GetAngularOffset()

◆ GetAngularReaction()

◆ GetAngularUpperLimit()

◆ GetAngularVelocity() [1/4]

◆ GetAngularVelocity() [2/4]

◆ GetAngularVelocity() [3/4]

◆ GetAngularVelocity() [4/4]

◆ GetAssociationCount()

◆ GetAwakeCount()

◆ GetBodies

◆ GetBodiesForProxies

◆ GetBody

◆ GetBodyA() [1/2]

◆ GetBodyA() [2/2]

◆ GetBodyB() [1/2]

◆ GetBodyB() [2/2]

◆ GetBodyCount()

◆ GetBodyRange

◆ GetCentripetalForce()

◆ GetChildIndexA()

◆ GetChildIndexB()

◆ GetCollideConnected()

◆ GetContact