playrho::d2 Namespace Reference

Namespaces
	detail
	part

Classes
class	AabbTreeWorld
	An AABB dynamic-tree based world implementation. More...
struct	Acceleration
	2-D acceleration related data structure. More...
struct	BaseShapeConf
	Base configuration for initializing shapes. More...
class	Body
	A "body" physical entity. More...
struct	BodyConf
	Configuration for a body. More...
class	BodyConstraint
	Constraint for a body. More...
struct	ChainShapeConf
	Chain shape configuration. More...
class	ContactImpulsesList
class	ConvexHull
	Convex hull. More...
struct	DiskShapeConf
	Disk shape configuration. More...
struct	DistanceConf
	Distance Configuration. More...
struct	DistanceJointConf
	Distance joint definition. More...
struct	DistanceOutput
	Distance Output. More...
class	DistanceProxy
	Distance Proxy. More...
class	DynamicTree
	A dynamic AABB tree broad-phase. More...
struct	EdgeShapeConf
	Edge shape configuration. More...
struct	FrictionJointConf
	Friction joint definition. More...
struct	GearJointConf
	Gear joint definition. More...
class	Joint
	A joint-like constraint on one or more bodies. More...
struct	JointBuilder
	Joint builder definition structure. More...
struct	JointConf
	Base joint definition class. More...
class	Manifold
	A collision response oriented description of the intersection of two convex shapes. More...
struct	MotorJointConf
	Motor joint definition. More...
struct	MultiShapeConf
	The "multi-shape" shape configuration. More...
class	NgonWithFwdNormals
	N-gon of vertices with counter-clockwise "forward" normals. More...
class	NgonWithFwdNormals< static_cast< std::size_t >(-1)>
	N-gon of runtime-arbitray vertices with counter-clockwise "forward" normals. More...
struct	PointStates
	Point states. More...
struct	PolygonShapeConf
	An n-vertex convex polygon shaped part eligible for use with a Shape. More...
struct	Position
	2-D positional data structure. More...
struct	PositionConstraint
	The per-contact position constraint data structure. More...
struct	PositionSolution
	Solution for position constraint. More...
struct	PrismaticJointConf
	Prismatic joint definition. More...
struct	PulleyJointConf
	Pulley joint definition. More...
struct	RayCastHit
	Ray-cast hit data. More...
struct	RevoluteJointConf
	Revolute joint definition. More...
struct	RopeJointConf
	Rope joint definition. More...
struct	SeparationScenarioFaceA
	Face A separation scenario. More...
struct	SeparationScenarioFaceB
	Face B separation scenario. More...
struct	SeparationScenarioPoints
	Points separation scenario. More...
class	Shape
	Shape. More...
struct	ShapeBuilder
	Builder configuration structure. More...
struct	ShapeConf
	Shape configuration structure. More...
class	Simplex
	An encapsulation of a point, line segment, or triangle. More...
class	SimplexEdge
	Simplex edge. More...
struct	Sweep
	Description of a "sweep" of motion in 2-D space. More...
struct	TargetJointConf
	Target joint definition. More...
struct	Transformation
	Describes a geometric transformation. More...
class	UnitVec
	2-D unit vector. More...
struct	Velocity
	2-D velocity related data structure. More...
class	VelocityConstraint
	The per-contact velocity constraint data structure. More...
class	VertexSet
	Vertex Set. More...
struct	WeldJointConf
	Weld joint definition. More...
struct	WheelJointConf
	Wheel joint definition. More...
class	World
	Definition of an independent and simulatable "world". More...
struct	WorldConf
	World configuration data. More...
class	WorldManifold
	Essentially a Manifold expressed in world coordinate terms. More...

Typedefs
using	AABB = ::playrho::detail::AABB< 2 >
	2-Dimensional Axis Aligned Bounding Box.
using	BodyConstraints = std::vector< BodyConstraint, pmr::polymorphic_allocator< BodyConstraint > >
	Collection of body constraints.
using	BodyContactIDs = std::vector< std::tuple< ContactKey, ContactID > >
	Container type for Body associated contact information.
using	BodyIDs = std::vector< BodyID >
	Body IDs container type.
using	BodyJointIDs = std::vector< std::pair< BodyID, JointID > >
	Body joint IDs container type.
using	BodyShapeIDs = std::vector< std::pair< BodyID, ShapeID > >
	Body shape IDs container type.
using	ContactImpulsesFunction = std::function< void(ContactID, const ContactImpulsesList &, unsigned)>
	Contact-impulses function.
using	ContactManifoldFunction = std::function< void(ContactID, const Manifold &)>
	Contact-manifolds function.
using	DynamicTreeRayCastCB = std::function< Real(BodyID body, ShapeID shape, ChildCounter child, const RayCastInput &input)>
	Ray cast callback function. More...
using	DynamicTreeSizeCB = std::function< DynamicTreeOpcode(DynamicTree::Size)>
	Query callback type.
using	JointIDs = std::vector< JointID >
	Joint IDs container type. More...
using	KeyedContactIDs = std::vector< KeyedContactID >
	Keyed contact IDs container type.
using	LengthIndices = ::playrho::detail::LengthIndices< 2 >
	Length and vertex counter array of indices for 2-D space.
using	MassData = ::playrho::detail::MassData< 2 >
	Mass data alias for 2-D objects.
using	PositionConstraints = std::vector< PositionConstraint, pmr::polymorphic_allocator< PositionConstraint > >
	Collection of position constraints.
using	ProxyIDs = std::vector< DynamicTree::Size >
	Proxy container type alias.
using	QueryShapeCallback = std::function< bool(BodyID body, ShapeID shape, ChildCounter child)>
	Query AABB for fixtures callback function type. More...
using	RayCastInput = playrho::detail::RayCastInput< 2 >
	Ray cast input data for 2-dimensions.
using	RayCastOutput = std::optional< RayCastHit >
	Ray cast output. More...
using	SeparationInfo = ::playrho::detail::SeparationInfo< 2 >
	Separation information alias for 2-D space.
using	SeparationScenario = std::variant< SeparationScenarioPoints, SeparationScenarioFaceA, SeparationScenarioFaceB >
	Separation scenario.
using	ShapeRayCastCB = std::function< RayCastOpcode(BodyID body, ShapeID shape, ChildCounter child, const Length2 &point, UnitVec normal)>
	Ray cast callback function signature.
using	SimplexEdges = ArrayList< SimplexEdge, MaxSimplexEdges, std::remove_const_t< decltype(MaxSimplexEdges)> >
	Simplex edge collection.
using	VelocityConstraints = std::vector< VelocityConstraint, pmr::polymorphic_allocator< VelocityConstraint > >
	Collection of velocity constraints.
using	VelocityPair = std::pair< Velocity, Velocity >
	Velocity pair.

Enumerations
enum class	DynamicTreeOpcode { End , Continue }
	Opcodes for dynamic tree callbacks.

Functions
void	Advance (Body &body, ZeroToUnderOneFF< Real > value) noexcept
void	Advance0 (Body &body, ZeroToUnderOneFF< Real > value) noexcept
	Calls the body sweep's Advance0 function to advance to the given value. More...
Sweep	Advance0 (const Sweep &sweep, ZeroToUnderOneFF< Real > alpha) noexcept
	Advances the sweep by a factor of the difference between the given time alpha and the sweep's alpha 0. More...
void	ApplyAngularImpulse (Body &body, AngularMomentum impulse) noexcept
	Applies an angular impulse. More...
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 (Body &body, const Momentum2 &impulse, const Length2 &point) noexcept
	Applies an impulse at a point. 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...
BodyConstraint &	At (const Span< BodyConstraint > &container, BodyID key)
	Provides referenced access to the identified element of the given container.
void	Attach (AabbTreeWorld &world, BodyID id, ShapeID shapeID)
	Associates a validly identified shape with the validly identified body. 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...
bool	Awaken (Body &body) noexcept
	Awakens the body if it's asleep. 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...
Length2	CalcSearchDirection (const SimplexEdges &simplexEdges) noexcept
	Calculates the "search direction" for the given simplex edge list. More...
Position	Cap (Position pos, const ConstraintSolverConf &conf)
	Caps the given position by the amounts specified in the given configuration.
Velocity	Cap (Velocity velocity, Time h, const MovementConf &conf) noexcept
	Caps velocity. More...
void	Clear (World &world) noexcept
	Clears the given world. More...
void	ClearForces (World &world)
	Clears forces. More...
Manifold	CollideShapes (const DistanceProxy &shapeA, const Transformation &xfA, const DistanceProxy &shapeB, const Transformation &xfB, const Manifold::Conf &conf=GetDefaultManifoldConf())
	Calculates the relevant collision manifold. More...
AABB	ComputeAABB (const DistanceProxy &proxy, const Transformation &xf) noexcept
	Computes the AABB. More...
AABB	ComputeAABB (const DistanceProxy &proxy, const Transformation &xfm0, const Transformation &xfm1) noexcept
	Computes the AABB. More...
AABB	ComputeAABB (const Shape &shape, const Transformation &xf)
	Computes the AABB for the given shape with the given transformation.
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...
DynamicTree::Height	ComputeHeight (const DynamicTree &tree) noexcept
	Computes the height of the given dynamic tree.
DynamicTree::Height	ComputeHeight (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Computes the height of the tree from a given node. 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...
Real	ComputePerimeterRatio (const DynamicTree &tree) noexcept
	Gets the ratio of the sum of the perimeters of nodes to the root perimeter. More...
Length	ComputeTotalPerimeter (const DynamicTree &tree) noexcept
	Gets the sum of the perimeters of nodes. More...
BodyID	CreateBody (AabbTreeWorld &world, const BodyConf &def)
	Creates a body within the world that's a copy of the given one.
BodyID	CreateBody (World &world, const Body &body=Body{}, bool resetMassData=true)
	Creates a rigid body within the world that's a copy of the given one. More...
BodyID	CreateBody (World &world, const BodyConf &def, bool resetMassData=true)
	Creates a rigid body with the given configuration. More...
JointID	CreateJoint (World &world, const Joint &def)
	Creates a new joint within the given world. More...
template<typename T >
JointID	CreateJoint (World &world, const T &value)
	Creates a new joint from a configuration. More...
ShapeID	CreateShape (World &world, const Shape &def)
	Creates an identifiable copy of the given shape within the specified world. 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...
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...
bool	Detach (AabbTreeWorld &world, BodyID id, ShapeID shapeID)
	Disassociates a validly identified shape from the validly identified body. 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...
DistanceOutput	Distance (const DistanceProxy &proxyA, const Transformation &transformA, const DistanceProxy &proxyB, const Transformation &transformB, DistanceConf conf=DistanceConf{})
	Determines the closest points between two shapes using an iterative method. More...
void	EnableLimit (Joint &object, bool value)
	Enables the specified joint's limit property if it supports one. More...
template<typename T >
constexpr auto	EnableLimit (T &conf, bool v) noexcept -> decltype(std::declval< T >().UseEnableLimit(bool{}))
	Enables or disables the limit based on the given value.
void	EnableLimit (World &world, JointID id, bool value)
	Sets whether the identified joint's limit is enabled or not. More...
void	EnableMotor (Joint &object, bool value)
	Enables the specified joint's motor property if it supports one. More...
template<typename T >
constexpr auto	EnableMotor (T &conf, bool v) noexcept -> decltype(std::declval< T >().UseEnableMotor(bool{}))
	Enables or disables the motor property of the given object.
void	EnableMotor (World &world, JointID id, bool value)
Length	Evaluate (const SeparationScenario &scenario, const DistanceProxy &proxyA, const Transformation &xfA, const DistanceProxy &proxyB, const Transformation &xfB, IndexPair indexPair)
BodyID	FindClosestBody (const World &world, const Length2 &location)
	Finds body in given world that's closest to the given location. More...
auto	FindIndex (const DynamicTree &tree, const Contactable &c) noexcept -> DynamicTree::Size
	Finds index of node matching given contactble using a linear search. More...
std::size_t	FindLowestRightMostVertex (Span< const Length2 > vertices) noexcept
	Finds the index of the lowest right most vertex in the given collection. More...
LengthIndexPair	FindMinSeparation (const SeparationScenario &scenario, const DistanceProxy &proxyA, const Transformation &xfA, const DistanceProxy &proxyB, const Transformation &xfB)
	Finds the minimum separation. More...
template<std::size_t I>
constexpr UnitVec::value_type	get (const UnitVec &v) noexcept
	Gets the specified element of the given collection.
template<>
constexpr UnitVec::value_type	get< 0 > (const UnitVec &v) noexcept
	Gets element 0 of the given collection.
template<>
constexpr UnitVec::value_type	get< 1 > (const UnitVec &v) noexcept
	Gets element 1 of the given collection.
AABB	GetAABB (const DynamicTree &tree) noexcept
	Gets the AABB for the given dynamic tree. More...
constexpr AABB	GetAABB (const DynamicTree::TreeNode &node) noexcept
	Gets the AABB of the given dynamic tree node. More...
AABB	GetAABB (const playrho::detail::RayCastInput< 2 > &input) noexcept
	Gets the AABB for the given ray cast input data. <2>
Acceleration	GetAcceleration (const Body &body) noexcept
	Gets the given body's acceleration. 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 Body &body) noexcept
	Gets the body's angle. More...
constexpr auto	GetAngle (const BodyConf &conf) noexcept -> Angle
	Gets the angle of the given configuration.
Angle	GetAngle (const Transformation &value)
	Gets the angle of the given transformation.
Angle	GetAngle (const UnitVec &value)
	Gets the angle of the given unit vector.
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 Body &body) noexcept
	Gets this body's angular acceleration. More...
AngularAcceleration	GetAngularAcceleration (const World &world, BodyID id)
	Gets this body's angular acceleration. More...
NonNegative< Frequency >	GetAngularDamping (const Body &body) noexcept
	Gets the angular damping of the body. More...
Frequency	GetAngularDamping (const World &world, BodyID id)
	Gets the angular damping of the body. More...
constexpr auto	GetAngularError (const MotorJointConf &object) noexcept
	Free function for getting the angular error value of the given configuration.
Angle	GetAngularLowerLimit (const Joint &object)
constexpr Angle	GetAngularLowerLimit (const RevoluteJointConf &conf) noexcept
	Free function for getting the angular lower limit value of the given configuration.
Angle	GetAngularLowerLimit (const World &world, JointID id)
RotInertia	GetAngularMass (const Joint &object)
	Gets the given joint's angular mass. More...
template<typename T >
constexpr auto	GetAngularMass (const T &conf) noexcept -> decltype(std::declval< T >().angularMass)
	Gets the angular mass property of the given object.
RotInertia	GetAngularMass (const World &world, JointID id)
	Gets the computed angular rotational inertia used by the joint. More...
AngularMomentum	GetAngularMotorImpulse (const Joint &object)
	Gets the angular motor impulse of the joint if it has this property. More...
template<typename T >
constexpr auto	GetAngularMotorImpulse (const T &conf) noexcept -> decltype(std::declval< T >().angularMotorImpulse)
	Gets the angular motor impulse property of the given object.
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 Joint &object)
	Gets the angular offset property of the specified joint if its type has one. More...
constexpr auto	GetAngularOffset (const MotorJointConf &object) noexcept
	Free function for getting the angular offset value of the given configuration.
template<typename T >
constexpr auto	GetAngularOffset (const T &conf) noexcept -> decltype(std::declval< T >().angularOffset)
	Gets the angular offset property of the given object.
Angle	GetAngularOffset (const World &world, JointID id)
	Gets the target angular offset. More...
constexpr AngularMomentum	GetAngularReaction (const DistanceJointConf &) noexcept
	Gets the current angular reaction for the given configuration.
constexpr AngularMomentum	GetAngularReaction (const FrictionJointConf &object) noexcept
	Gets the current angular reaction for the given configuration.
constexpr AngularMomentum	GetAngularReaction (const GearJointConf &object)
	Gets the current angular reaction for the given configuration.
AngularMomentum	GetAngularReaction (const Joint &object)
AngularMomentum	GetAngularReaction (const PrismaticJointConf &conf)
	Gets the current angular reaction of the given configuration.
constexpr AngularMomentum	GetAngularReaction (const PulleyJointConf &) noexcept
	Gets the current angular reaction of the given configuration.
constexpr AngularMomentum	GetAngularReaction (const RevoluteJointConf &conf) noexcept
	Gets the current angular reaction of the given configuration.
constexpr AngularMomentum	GetAngularReaction (const RopeJointConf &) noexcept
	Gets the current angular reaction of the given configuration.
template<typename T >
constexpr auto	GetAngularReaction (const T &conf) noexcept -> decltype(std::declval< T >().angularImpulse)
	Gets the angular reaction property of the given object.
constexpr AngularMomentum	GetAngularReaction (const TargetJointConf &)
	Gets the current angular reaction of the given configuration.
constexpr AngularMomentum	GetAngularReaction (const WeldJointConf &object) noexcept
	Gets the current angular reaction of the given configuration.
AngularMomentum	GetAngularReaction (const World &world, JointID id)
	Get the angular reaction on body-B for the identified joint. More...
Angle	GetAngularUpperLimit (const Joint &object)
	Gets the upper joint limit. More...
constexpr Angle	GetAngularUpperLimit (const RevoluteJointConf &conf) noexcept
	Free function for getting the angular upper limit value of the given configuration.
Angle	GetAngularUpperLimit (const World &world, JointID id)
AngularVelocity	GetAngularVelocity (const Body &body) noexcept
	Gets the angular velocity. More...
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...
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...
BodyID	GetBodyA (const Joint &object) noexcept
	Gets the first body attached to this joint.
constexpr BodyID	GetBodyA (const JointConf &object) noexcept
	Gets the first body attached to this joint.
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 Joint &object) noexcept
	Gets the second body attached to this joint.
constexpr BodyID	GetBodyB (const JointConf &object) noexcept
	Gets the second body attached to this joint.
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...
BodyConf	GetBodyConf (const Body &body)
	Gets the body definition for the given body. More...
BodyConstraint	GetBodyConstraint (const Body &body, Time time, const MovementConf &conf) noexcept
	Gets the BodyConstraint based on the given parameters.
BodyCounter	GetBodyCount (const World &world) noexcept
	Gets the body count in the given world. More...
BodyCounter	GetBodyRange (const World &world) noexcept
	Gets the extent of the currently valid body range. 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...
ChainShapeConf	GetChainShapeConf (const AABB &arg)
	Gets an enclosing chain shape configuration for the given axis aligned box.
ChainShapeConf	GetChainShapeConf (const Length2 &dimensions)
	Gets an enclosing chain shape configuration for an axis aligned rectangle of the given dimensions (width and height).
ChainShapeConf	GetChainShapeConf (Length dimension)
	Gets an enclosing chain shape configuration for an axis aligned square of the given dimension.
DistanceProxy	GetChild (const ChainShapeConf &arg, ChildCounter index)
	Gets the "child" shape for a given chain shape configuration.
DistanceProxy	GetChild (const DiskShapeConf &arg, ChildCounter index)
	Gets the "child" of the given disk shape configuration.
DistanceProxy	GetChild (const EdgeShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration.
DistanceProxy	GetChild (const MultiShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration.
DistanceProxy	GetChild (const PolygonShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration.
DistanceProxy	GetChild (const Shape &shape, ChildCounter index)
	Gets the "child" for the given index. More...
DistanceProxy	GetChild (Shape &&shape, ChildCounter index)=delete
	Getting the "child" for a temporary is deleted to prevent dangling references.
ChildCounter	GetChildCount (const ChainShapeConf &arg) noexcept
	Gets the child count for a given chain shape configuration.
constexpr ChildCounter	GetChildCount (const DiskShapeConf &) noexcept
	Gets the "child" count of the given disk shape configuration.
constexpr ChildCounter	GetChildCount (const EdgeShapeConf &) noexcept
	Gets the "child" count for the given shape configuration. More...
ChildCounter	GetChildCount (const MultiShapeConf &arg) noexcept
	Gets the "child" count for the given shape configuration.
constexpr ChildCounter	GetChildCount (const PolygonShapeConf &) noexcept
	Gets the "child" count for the given shape configuration. More...
ChildCounter	GetChildCount (const Shape &shape) noexcept
	Gets the number of child primitives of the shape. 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...
constexpr Length2	GetClosestPoint (const Simplex &simplex)
	Gets the "closest point".
bool	GetCollideConnected (const Joint &object) noexcept
	Gets collide connected. More...
constexpr bool	GetCollideConnected (const JointConf &object) noexcept
	Gets whether attached bodies should collide or not.
bool	GetCollideConnected (const World &world, JointID id)
	Gets collide connected for the specified joint. More...
constexpr auto	GetConstant (const GearJointConf &object) noexcept
	Free function for getting the constant value of the given configuration.
Contact	GetContact (const World &world, ContactID id)
	Gets the identified contact. More...
ContactCounter	GetContactCount (const World &world) noexcept
	Gets the count of contacts in the given world. More...
ContactImpulsesList	GetContactImpulses (const VelocityConstraint &vc)
	Gets the contact impulses for the given velocity constraint.
ContactCounter	GetContactRange (const World &world) noexcept
	Gets the extent of the currently valid contact range. More...
LinearVelocity2	GetContactRelVelocity (const Velocity &velA, const Length2 &relA, const Velocity &velB, const Length2 &relB) noexcept
	Gets the contact relative velocity. 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...
std::vector< Length2 >	GetConvexHullAsVector (Span< const Length2 > vertices)
	Gets the convex hull for the given collection of vertices as a vector. More...
constexpr auto	GetCorrectionFactor (const MotorJointConf &object) noexcept
	Free function for getting the correction factor value of the given configuration.
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 Joint &object)
	Gets the given joint's damping ratio property if it has one. More...
template<typename T >
constexpr auto	GetDampingRatio (const T &conf) noexcept -> decltype(std::declval< T >().dampingRatio)
	Gets the damping ratio property of the given object.
Real	GetDampingRatio (const World &world, JointID id)
	Gets the damping ratio associated with the identified joint if it has one. More...
const void *	GetData (const Shape &shape) noexcept
	Gets a pointer to the underlying data. More...
constexpr BodyConf	GetDefaultBodyConf () noexcept
	Gets the default body definition.
NonNegativeFF< Real >	GetDefaultFriction (const Shape &a, const Shape &b)
	Gets the default friction amount for the given shapes.
Real	GetDefaultFriction (const World &world, ContactID id)
	Gets the default friction amount for the identified contact. More...
constexpr Manifold::Conf	GetDefaultManifoldConf () noexcept
	Gets the default manifold configuration.
Real	GetDefaultRestitution (const Shape &a, const Shape &b)
	Gets the default restitution amount for the given shapes.
Real	GetDefaultRestitution (const World &world, ContactID id)
	Gets the default restitution amount for the identified contact. More...
constexpr Length2	GetDelta (PairLength2 arg) noexcept
	Gets the delta to go from the first element to the second.
constexpr NonNegative< AreaDensity >	GetDensity (const BaseShapeConf &arg) noexcept
	Gets the density of the given shape configuration.
NonNegative< AreaDensity >	GetDensity (const Shape &shape) noexcept
	Gets the density of the given shape. More...
NonNegative< AreaDensity >	GetDensity (const World &world, ShapeID id)
	Gets the density of this shape. More...
constexpr UnitVec	GetDirection (const Transformation &value) noexcept
	Gets the directional information from the given transformation.
DistanceConf	GetDistanceConf (const StepConf &conf) noexcept
	Gets the distance configuration for the given step configuration.
DistanceConf	GetDistanceConf (const ToiConf &conf) noexcept
	Gets the distance configuration for the given time of impact configuration.
DistanceJointConf	GetDistanceJointConf (const Joint &joint)
	Gets the definition data for the given joint. 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...
InvMass	GetEffectiveInvMass (const InvRotInertia &invRotI, const Length2 &p, const UnitVec &q)
	Gets the "effective" inverse mass.
Mass22	GetEffectiveMassMatrix (const TargetJointConf &object, const BodyConstraint &body) noexcept
	Gets the effective mass matrix for the given configuration and body information.
constexpr Filter	GetFilter (const BaseShapeConf &arg) noexcept
	Gets the filter of the given shape configuration.
Filter	GetFilter (const Shape &shape) noexcept
	Gets the filter value for the given shape. More...
Filter	GetFilterData (const World &world, ShapeID id)
	Gets the filter data for the identified shape. More...
Force2	GetForce (const Body &body) noexcept
	Gets the net force that the given body is currently experiencing.
Frequency	GetFrequency (const Joint &object)
	Gets the frequency of the joint if it has this property. More...
template<typename T >
constexpr auto	GetFrequency (const T &conf) noexcept -> decltype(std::declval< T >().frequency)
	Gets the frequency property of the given object.
Frequency	GetFrequency (const World &world, JointID id)
	Gets the frequency of the identified joint if it has this property. More...
constexpr NonNegativeFF< Real >	GetFriction (const BaseShapeConf &arg) noexcept
	Gets the friction of the given shape.
NonNegativeFF< Real >	GetFriction (const Shape &shape) noexcept
	Gets the coefficient of friction. 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 Joint &joint)
	Gets the definition data for the given joint. More...
FrictionJointConf	GetFrictionJointConf (const World &world, BodyID bodyA, BodyID bodyB, const Length2 &anchor)
	Gets the confguration for the given parameters. More...
template<std::size_t N>
std::array< UnitVec, N >	GetFwdNormalsArray (const std::array< Length2, N > &vertices)
	Gets forward normals for the given vertices.
template<class T , T... ints>
std::array< UnitVec, sizeof...(ints)>	GetFwdNormalsArray (const std::array< Length2, sizeof...(ints)> &vertices, std::integer_sequence< T, ints... > int_seq)
	Gets forward normals for the given vertices.
std::vector< UnitVec >	GetFwdNormalsVector (const std::vector< Length2 > &vertices)
	Gets the forward normals for the given container of vertices.
constexpr UnitVec	GetFwdPerpendicular (const UnitVec &vector) noexcept
	Gets a vector clockwise (forward-clockwise) perpendicular to the given vector. More...
GearJointConf	GetGearJointConf (const Joint &joint)
	Gets the definition data for the given joint. 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 Joint &object)
template<typename T >
constexpr auto	GetGroundAnchorA (const T &conf) noexcept -> decltype(std::declval< T >().groundAnchorA)
	Gets the ground anchor A property of the given object.
Length2	GetGroundAnchorA (const World &world, JointID id)
Length2	GetGroundAnchorB (const Joint &object)
template<typename T >
constexpr auto	GetGroundAnchorB (const T &conf) noexcept -> decltype(std::declval< T >().groundAnchorB)
	Gets the ground anchor B property of the given object.
Length2	GetGroundAnchorB (const World &world, JointID id)
DynamicTree::Height	GetHeight (const DynamicTree &tree) noexcept
	Gets the height of the binary tree. More...
IndexPair3	GetIndexPairs (const SimplexEdges &collection) noexcept
	Gets index pairs for the given edges collection.
Frequency	GetInvDeltaTime (const World &world) noexcept
	Gets the inverse delta time. More...
NonNegativeFF< InvMass >	GetInvMass (const Body &body) noexcept
	Gets the inverse total mass of the body. More...
InvMass	GetInvMass (const World &world, BodyID id)
	Gets the inverse total mass of the body. More...
NonNegativeFF< InvRotInertia >	GetInvRotInertia (const Body &body) noexcept
	Gets the inverse rotational inertia of the body. More...
InvRotInertia	GetInvRotInertia (const World &world, BodyID id)
	Gets the inverse rotational inertia of the body. More...
Joint	GetJoint (const World &world, JointID id)
	Gets the value of the identified joint. More...
JointCounter	GetJointCount (const World &world)
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...
Length	GetJointTranslation (const World &world, JointID id)
	Gets the current joint translation. More...
constexpr auto	GetLength (const DistanceJointConf &object) noexcept
	Free function for getting the length value of the given configuration.
Length	GetLength (const Joint &object)
	Gets the length property of the specified joint if its type has one. More...
template<typename T >
constexpr auto	GetLength (const T &conf) noexcept -> decltype(std::declval< T >().length)
	Gets the length property of the given object.
Length	GetLength (const World &world, JointID id)
	Gets the length associated with the identified joint if it has one. More...
constexpr auto	GetLengthA (const PulleyJointConf &object) noexcept
	Free function for getting the length A value of the given configuration.
constexpr auto	GetLengthB (const PulleyJointConf &object) noexcept
	Free function for getting the length B value of the given configuration.
LimitState	GetLimitState (const Joint &object)
template<typename T >
constexpr auto	GetLimitState (const T &conf) noexcept -> decltype(std::declval< T >().limitState)
	Gets the limit state property of the given object.
LimitState	GetLimitState (const World &world, JointID id)
	Gets the joint's limit state if it has one. More...
LinearAcceleration2	GetLinearAcceleration (const Body &body) noexcept
	Gets this body's linear acceleration. More...
LinearAcceleration2	GetLinearAcceleration (const World &world, BodyID id)
	Gets this body's linear acceleration. More...
NonNegative< Frequency >	GetLinearDamping (const Body &body) noexcept
	Gets the linear damping of the body. More...
Frequency	GetLinearDamping (const World &world, BodyID id)
	Gets the linear damping of the body. More...
constexpr auto	GetLinearError (const MotorJointConf &object) noexcept
	Free function for getting the linear error value of the given configuration.
Length	GetLinearLowerLimit (const Joint &object)
constexpr auto	GetLinearLowerLimit (const PrismaticJointConf &conf) noexcept
	Free function for getting the linear lower limit value of the given configuration.
Momentum	GetLinearMotorImpulse (const Joint &object)
template<typename T >
constexpr auto	GetLinearMotorImpulse (const T &conf) noexcept -> decltype(std::declval< T >().motorImpulse)
	Gets the linear motor impulse property of the given object.
Momentum	GetLinearMotorImpulse (const World &world, JointID id)
	Gets the linear motor impulse of the identified joint if it supports that. More...
Length2	GetLinearOffset (const Joint &object)
	Gets the linear offset property of the specified joint if its type has one. More...
constexpr auto	GetLinearOffset (const MotorJointConf &object) noexcept
	Free function for getting the linear offset value of the given configuration.
template<typename T >
constexpr auto	GetLinearOffset (const T &conf) noexcept -> decltype(std::declval< T >().linearOffset)
	Gets the linear offset property of the given object.
Length2	GetLinearOffset (const World &world, JointID id)
	Gets the target linear offset, in frame A. More...
constexpr Momentum2	GetLinearReaction (const DistanceJointConf &object) noexcept
	Gets the current linear reaction for the given configuration.
constexpr Momentum2	GetLinearReaction (const FrictionJointConf &object) noexcept
	Gets the current linear reaction for the given configuration.
constexpr Momentum2	GetLinearReaction (const GearJointConf &object)
	Gets the current linear reaction for the given configuration.
Momentum2	GetLinearReaction (const Joint &object)
Momentum2	GetLinearReaction (const PrismaticJointConf &conf)
	Gets the current linear reaction of the given configuration.
constexpr Momentum2	GetLinearReaction (const PulleyJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.
constexpr Momentum2	GetLinearReaction (const RevoluteJointConf &conf) noexcept
	Gets the current linear reaction of the given configuration.
constexpr Momentum2	GetLinearReaction (const RopeJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.
template<typename T >
constexpr auto	GetLinearReaction (const T &conf) noexcept -> decltype(std::declval< T >().linearImpulse)
	Gets the linear reaction property of the given object.
constexpr Momentum2	GetLinearReaction (const TargetJointConf &object)
	Gets the current linear reaction of the given configuration.
constexpr Momentum2	GetLinearReaction (const WeldJointConf &object) noexcept
	Gets the current linear reaction of the given configuration.
constexpr Momentum2	GetLinearReaction (const WheelJointConf &object)
	Gets the current linear reaction for the given configuration.
Momentum2	GetLinearReaction (const World &world, JointID id)
	Gets the linear reaction on body-B at the joint anchor. More...
Length	GetLinearUpperLimit (const Joint &object)
constexpr auto	GetLinearUpperLimit (const PrismaticJointConf &conf) noexcept
	Free function for getting the linear upper limit value of the given configuration.
LinearVelocity2	GetLinearVelocity (const Body &body) noexcept
	Gets the linear velocity of the center of mass. 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...
LinearVelocity2	GetLinearVelocityFromLocalPoint (const Body &body, const Length2 &localPoint) noexcept
	Gets the linear velocity from a local point. More...
LinearVelocity2	GetLinearVelocityFromWorldPoint (const Body &body, const Length2 &worldPoint) noexcept
	Gets the linear velocity from a world point attached to this body. More...
Length2	GetLocalAnchorA (const GearJointConf &conf)
	Gets the local anchor A property of the given joint.
Length2	GetLocalAnchorA (const Joint &object)
constexpr auto	GetLocalAnchorA (const MotorJointConf &) noexcept
	Gets the local anchor A.
template<typename T >
constexpr auto	GetLocalAnchorA (const T &conf) noexcept -> decltype(std::declval< T >().localAnchorA)
	Gets the local anchor A property of the given object.
constexpr auto	GetLocalAnchorA (const TargetJointConf &) noexcept
	Gets the local anchar A for the given configuration.
Length2	GetLocalAnchorA (const World &world, JointID id)
Length2	GetLocalAnchorB (const GearJointConf &conf)
	Gets the local anchor B property of the given joint.
Length2	GetLocalAnchorB (const Joint &object)
constexpr auto	GetLocalAnchorB (const MotorJointConf &) noexcept
	Gets the local anchor B.
template<typename T >
constexpr auto	GetLocalAnchorB (const T &conf) noexcept -> decltype(std::declval< T >().localAnchorB)
	Gets the local anchor B property of the given object.
Length2	GetLocalAnchorB (const World &world, JointID id)
Length2	GetLocalCenter (const Body &body) noexcept
	Gets the local position of the center of mass.
Length2	GetLocalCenter (const World &world, BodyID id)
	Gets the local position of the center of mass of the specified body. More...
Length2	GetLocalPoint (const Body &body, const Length2 &worldPoint) noexcept
	Gets a local point relative to the body's origin given a world point. More...
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 Body &body) noexcept
	Gets the rotational inertia of the body about the local origin. More...
RotInertia	GetLocalRotInertia (const World &world, BodyID id)
	Gets the rotational inertia of the body about the local origin. More...
UnitVec	GetLocalVector (const Body &body, const UnitVec &uv) noexcept
	Gets a locally oriented unit vector given a world oriented unit vector. More...
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 Joint &object)
	Gets the given joint's local X axis A if its type supports that. More...
template<typename T >
constexpr auto	GetLocalXAxisA (const T &conf) noexcept -> decltype(std::declval< T >().localXAxisA)
	Gets the local X axis A property of the given object.
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 Joint &object)
	Gets the given joint's local Y axis A if its type supports that. More...
template<typename T >
constexpr auto	GetLocalYAxisA (const T &conf) noexcept -> decltype(std::declval< T >().localYAxisA)
	Gets the local Y axis A property of the given object.
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 Body &body) noexcept
	Gets the body's origin location. More...
constexpr auto	GetLocation (const BodyConf &conf) noexcept -> Length2
	Gets the location of the given configuration.
constexpr Length2	GetLocation (const Transformation &value) noexcept
	Gets the location information from the given transformation.
Length2	GetLocation (const World &world, BodyID id)
	Convenience function for getting just the location of the identified body. More...
Manifold	GetManifold (bool flipped, const DistanceProxy &shape0, const Transformation &xf0, VertexCounter idx0, const DistanceProxy &shape1, const Transformation &xf1, VertexCounter2 indices1, const Manifold::Conf &conf)
	Gets a face-to-face based manifold. More...
Manifold	GetManifold (bool flipped, Length totalRadius, const DistanceProxy &shape, const Transformation &sxf, const Length2 &point, const Transformation &xfm)
	Computes manifolds for face-to-point collision. More...
Manifold	GetManifold (const Length2 &locationA, const Transformation &xfA, const Length2 &locationB, const Transformation &xfB, Length totalRadius) noexcept
	Gets a point-to-point based manifold.
Manifold	GetManifold (const World &world, ContactID id)
	Gets the manifold for the identified contact. More...
Manifold::Conf	GetManifoldConf (const StepConf &conf) noexcept
	Gets the manifold configuration for the given step configuration.
Mass	GetMass (const Body &body) noexcept
	Gets the mass of the body. More...
Mass	GetMass (const World &world, BodyID id)
	Gets the mass of the body. More...
MassData	GetMassData (const ChainShapeConf &arg)
	Gets the mass data for a given chain shape configuration.
MassData	GetMassData (const DiskShapeConf &arg)
	Gets the mass data of the given disk shape configuration.
MassData	GetMassData (const EdgeShapeConf &arg)
	Gets the mass data for the given shape configuration.
MassData	GetMassData (const MultiShapeConf &arg)
	Gets the mass data for the given shape configuration. More...
MassData	GetMassData (const PolygonShapeConf &arg)
	Gets the mass data for the given shape configuration.
MassData	GetMassData (const Shape &shape)
	Gets the mass properties of this shape using its dimensions and density. 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...
MassData	GetMassData (Length r, NonNegative< AreaDensity > density, const Length2 &location)
	Computes the mass data for a circular shape. More...
MassData	GetMassData (Length r, NonNegative< AreaDensity > density, const Length2 &v0, const Length2 &v1)
	Computes the mass data for a linear shape. More...
MassData	GetMassData (Length vertexRadius, NonNegative< AreaDensity > density, Span< const Length2 > vertices)
	Gets the mass data for the given collection of vertices with the given properties.
constexpr auto	GetMaxForce (const FrictionJointConf &object) noexcept
	Free function for getting the max force value of the given configuration.
Force	GetMaxForce (const Joint &object)
	Gets the given joint's max force if its type supports that. More...
constexpr auto	GetMaxForce (const MotorJointConf &object) noexcept
	Free function for getting the maximum force value of the given configuration.
template<typename T >
constexpr auto	GetMaxForce (const T &conf) noexcept -> decltype(std::declval< T >().maxForce)
	Gets the max force property of the given object.
constexpr auto	GetMaxForce (const TargetJointConf &object) noexcept
	Free function for getting the maximum force value of the given configuration.
DynamicTree::Height	GetMaxImbalance (const DynamicTree &tree) noexcept
	Gets the maximum imbalance. More...
constexpr auto	GetMaxLength (const RopeJointConf &object) noexcept
	Free function for getting the maximum length value of the given configuration.
Force	GetMaxMotorForce (const Joint &object)
	Gets the given joint's max motor force if its type supports that. More...
template<typename T >
constexpr auto	GetMaxMotorForce (const T &conf) noexcept -> decltype(std::declval< T >().maxMotorForce)
	Gets the max motor force property of the given object.
Torque	GetMaxMotorTorque (const Joint &object)
	Gets the given joint's max motor torque if its type supports that. More...
template<typename T >
constexpr auto	GetMaxMotorTorque (const T &conf) noexcept -> decltype(std::declval< T >().maxMotorTorque)
	Gets the max motor torque property of the given object.
Torque	GetMaxMotorTorque (const World &world, JointID id)
	Gets the max motor torque. More...
Momentum	GetMaxNormalImpulse (const ContactImpulsesList &impulses) noexcept
	Gets the maximum normal impulse from the given contact impulses list.
SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, const DistanceProxy &proxy2, Length stop=MaxFloat *Meter)
	Gets the max separation information. More...
SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, const Transformation &xf1, const DistanceProxy &proxy2, const Transformation &xf2)
	Gets the max separation information. More...
SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, const Transformation &xf1, const DistanceProxy &proxy2, const Transformation &xf2, Length stop)
	Gets the max separation information. More...
SeparationInfo	GetMaxSeparation4x4 (const DistanceProxy &proxy1, const Transformation &xf1, const DistanceProxy &proxy2, const Transformation &xf2)
	Gets the max separation information for the first four vertices of the two given shapes. More...
constexpr auto	GetMaxTorque (const FrictionJointConf &object) noexcept
	Free function for getting the max torque value of the given configuration.
Torque	GetMaxTorque (const Joint &object)
	Gets the given joint's max torque if its type supports that. More...
constexpr auto	GetMaxTorque (const MotorJointConf &object) noexcept
	Free function for getting the maximum torque value of the given configuration.
template<typename T >
constexpr auto	GetMaxTorque (const T &conf) noexcept -> decltype(std::declval< T >().maxTorque)
	Gets the max torque property of the given object.
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 Joint &joint)
	Gets the definition data for the given joint. More...
MotorJointConf	GetMotorJointConf (const World &world, BodyID bA, BodyID bB)
	Gets the confguration for the given parameters. More...
AngularVelocity	GetMotorSpeed (const Joint &object)
	Gets the given joint's motor speed if its type supports that. More...
template<typename T >
constexpr auto	GetMotorSpeed (const T &conf) noexcept -> decltype(std::declval< T >().motorSpeed)
	Gets the motor speed property of the given object.
AngularVelocity	GetMotorSpeed (const World &world, JointID id)
	Gets the motor-speed property of the identied joint if it supports it. More...
Torque	GetMotorTorque (const Joint &joint, Frequency inv_dt)
	Gets the current motor torque for the given joint given the inverse time step. 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...
const char *	GetName (Manifold::Type type) noexcept
	Gets a unique name for the given manifold type. More...
constexpr DynamicTree::Size	GetNext (const DynamicTree::TreeNode &node) noexcept
	Gets the next index of the given node. More...
ChildCounter	GetNextIndex (const ChainShapeConf &shape, ChildCounter index) noexcept
	Gets the next index after the given index for the given shape.
UnitVec	GetNormal (const VelocityConstraint &vc) noexcept
Momentum	GetNormalImpulseAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the normal impulse at the given point from the given velocity constraint.
Momentum2	GetNormalImpulses (const VelocityConstraint &vc)
	Gets the normal impulses of the given velocity constraint.
Position	GetNormalized (const Position &val) noexcept
	Gets the "normalized" position. More...
Sweep	GetNormalized (Sweep sweep) noexcept
	Gets a sweep with the given sweep's angles normalized. More...
Mass	GetNormalMassAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the normal mass at the given point from the given velocity constraint.
constexpr Length	GetPerimeter (const AABB &aabb) noexcept
	Gets the perimeter length of the 2-dimensional AABB. More...
constexpr Length2	GetPointDelta (const SimplexEdge &sv) noexcept
	Gets "w". More...
Length2	GetPointRelPosA (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the point relative position A data.
Length2	GetPointRelPosB (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the point relative position B data.
PointStates	GetPointStates (const Manifold &manifold1, const Manifold &manifold2) noexcept
	Computes the before and after like point states given two manifolds. More...
Position	GetPosition (const Body &body) noexcept
	Gets the body's position.
Position	GetPosition (const Position &pos0, const Position &pos1, Real beta) noexcept
Position	GetPosition (const World &world, BodyID id)
	Convenience function for getting the position of the identified body.
Position	GetPosition0 (const Body &body) noexcept
	Gets the "position 0" Position information for the given body.
Position	GetPosition1 (const Body &body) noexcept
	Gets the "position 1" Position information for the given body.
PrismaticJointConf	GetPrismaticJointConf (const Joint &joint)
	Gets the definition data for the given joint. More...
PrismaticJointConf	GetPrismaticJointConf (const World &world, BodyID bA, BodyID bB, const Length2 &anchor, const UnitVec &axis)
	Gets the configuration for the given parameters. More...
PositionSolverManifold	GetPSM (const Manifold &manifold, Manifold::size_type index, const Transformation &xfA, const Transformation &xfB)
	Gets the normal-point-separation data in world coordinates for the given inputs. More...
PulleyJointConf	GetPulleyJointConf (const Joint &joint)
	Gets the definition data for the given joint. 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...
constexpr auto	GetRatio (const GearJointConf &object) noexcept
	Free function for getting the ratio value of the given configuration.
Real	GetRatio (const Joint &object)
	Gets the given joint's ratio property if it has one. More...
template<typename T >
constexpr auto	GetRatio (const T &conf) noexcept -> decltype(std::declval< T >().ratio)
	Gets the ratio property of the given object.
Real	GetRatio (const World &world, JointID id)
	Gets the ratio property of the identified joint if it has it. More...
Angle	GetReferenceAngle (const Joint &object)
	Gets the reference angle of the joint if it has one. More...
template<typename T >
constexpr auto	GetReferenceAngle (const T &conf) noexcept -> decltype(std::declval< T >().referenceAngle)
	Gets the reference angle property of the given object.
Angle	GetReferenceAngle (const World &world, JointID id)
	Gets the reference-angle property of the identified joint if it has it. More...
constexpr auto	GetReflectionMatrix (const UnitVec &axis)
	Gets the reflection matrix for the given unit vector that defines the normal of the line through the origin that points should be reflected against. More...
VelocityConstraint::Conf	GetRegVelocityConstraintConf (const StepConf &conf) noexcept
	Gets the regular phase velocity constraint configuration from the given step configuration.
std::optional< pmr::StatsResource::Stats >	GetResourceStats (const World &world) noexcept
	Gets the polymorphic memory resource allocator statistics of the specified world. More...
constexpr Finite< Real >	GetRestitution (const BaseShapeConf &arg) noexcept
	Gets the restitution of the given shape.
Real	GetRestitution (const Shape &shape) noexcept
	Gets the coefficient of restitution value of the given shape. 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 Joint &joint)
	Gets the definition data for the given joint. More...
RevoluteJointConf	GetRevoluteJointConf (const World &world, BodyID bodyA, BodyID bodyB, const Length2 &anchor)
	Gets the configuration for the given parameters. More...
constexpr UnitVec	GetRevPerpendicular (const UnitVec &vector) noexcept
	Gets a vector counter-clockwise (reverse-clockwise) perpendicular to the given vector. More...
RopeJointConf	GetRopeJointConf (const Joint &joint)
	Gets the definition data for the given joint. More...
RotInertia	GetRotInertia (const Body &body) noexcept
	Gets the rotational inertia of the body. More...
RotInertia	GetRotInertia (const World &world, BodyID id)
	Gets the rotational inertia of the body. More...
Length2	GetScaledDelta (const Simplex &simplex, Simplex::size_type index)
	Gets the scaled delta for the given indexed element of the given simplex.
SeparationScenario	GetSeparationScenario (IndexPair3 indices, const DistanceProxy &proxyA, const Transformation &xfA, const DistanceProxy &proxyB, const Transformation &xfB)
	Gets a separation finder for the given inputs. More...
Shape	GetShape (const World &world, ShapeID id)
	Gets the shape associated with the identifier. 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...
ShapeCounter	GetShapeRange (const World &world) noexcept
	Gets the extent of the currently valid shape range. More...
const std::vector< ShapeID > &	GetShapes (const AabbTreeWorld &world, BodyID id)
	Disassociates all of the associated shape from the validly identified body. More...
const std::vector< ShapeID > &	GetShapes (const Body &body) noexcept
	Gets the identifiers of the shapes attached to the body.
std::vector< ShapeID >	GetShapes (const World &world, BodyID id)
	Gets the identities of the shapes associated with the identified body. More...
ContactID	GetSoonestContact (const Span< const KeyedContactID > &ids, const Span< const Contact > &contacts) noexcept
	Gets the identifier of the contact with the lowest time of impact. More...
bool	GetSubStepping (const World &world) noexcept
	Gets whether or not sub-stepping is enabled. More...
template<class T >
VertexCounter	GetSupportIndex (const DistanceProxy &proxy, T dir) noexcept
	Gets the supporting vertex index in given direction for given distance proxy. More...
const Sweep &	GetSweep (const Body &body) noexcept
	Gets the body's sweep. More...
UnitVec	GetTangent (const VelocityConstraint &vc) noexcept
	Gets the tangent from the given velocity constraint data.
Momentum	GetTangentImpulseAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the tangent impulse at the given point from the given velocity constraint.
Momentum2	GetTangentImpulses (const VelocityConstraint &vc)
	Gets the tangent impulses of the given velocity constraint.
Mass	GetTangentMassAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the tangent mass at the given point from the given velocity constraint.
LinearVelocity	GetTangentSpeed (const World &world, ContactID id)
	Gets the tangent speed of the identified contact. More...
Length2	GetTarget (const Joint &object)
	Gets the given joint's target property if it has one. More...
constexpr auto	GetTarget (const TargetJointConf &object) noexcept
	Free function for getting the target value of the given configuration.
Length2	GetTarget (const World &world, JointID id)
	Gets the target point. More...
TargetJointConf	GetTargetJointConf (const Joint &joint)
	Gets the definition data for the given joint. 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...
VelocityConstraint::Conf	GetToiVelocityConstraintConf (const StepConf &conf) noexcept
	Gets the TOI phase velocity constraint configuration from the given step configuration.
ToiOutput	GetToiViaSat (const DistanceProxy &proxyA, const Sweep &sweepA, const DistanceProxy &proxyB, const Sweep &sweepB, const ToiConf &conf=GetDefaultToiConf())
	Gets the time of impact for two disjoint convex sets using the Separating Axis Theorem. More...
Torque	GetTorque (const Body &body) noexcept
	Gets the net torque that the given body is currently experiencing.
ContactCounter	GetTouchingCount (const World &world)
	Gets the touching count for the given world. More...
Transformation	GetTransform0 (const Sweep &sweep) noexcept
	Gets the transform at "time" zero. More...
Transformation	GetTransform1 (const Sweep &sweep) noexcept
	Gets the transform at "time" one. More...
const Transformation &	GetTransformation (const Body &body) noexcept
	Gets the body's transformation. More...
constexpr Transformation	GetTransformation (const Length2 &ctr, const UnitVec &rot, const Length2 &localCtr) noexcept
	Gets the transformation for the given values.
Transformation	GetTransformation (const Position &pos, const Length2 &local_ctr) noexcept
	Gets the transformation for the given values.
Transformation	GetTransformation (const Sweep &sweep, const UnitIntervalFF< Real > beta) noexcept
	Gets the interpolated transform at a specific time. More...
Transformation	GetTransformation (const World &world, BodyID id)
	Gets the body's transformation. More...
const DynamicTree &	GetTree (const World &world)
	Gets access to the broad-phase dynamic tree information. More...
BodyType	GetType (const Body &body) noexcept
	Gets the type of this body. More...
TypeID	GetType (const Joint &object) noexcept
	Gets the identifier of the type of data this can be casted to.
TypeID	GetType (const Shape &shape) noexcept
	Gets the type info of the use of the given shape. More...
TypeID	GetType (const World &world) noexcept
	Gets the identifier of the type of data the given world can be casted to. 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...
TypeID	GetTypeAC (const GearJointConf &object) noexcept
	Free function for getting joint 1 type value of the given configuration.
TypeID	GetTypeBD (const GearJointConf &object) noexcept
	Free function for getting joint 2 type value of the given configuration.
Time	GetUnderActiveTime (const Body &body) noexcept
	Gets the given body's under-active time. More...
template<class T >
UnitVec	GetUnitVector (const Vector2< T > &value, const UnitVec &fallback=UnitVec::GetDefaultFallback()) noexcept
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...
constexpr Vec2	GetVec2 (const UnitVec &value)
	Gets a Vec2 representation of the given value.
Velocity	GetVelocity (const Body &body) noexcept
	Gets the velocity. More...
Velocity	GetVelocity (const Body &body, Time h) noexcept
	Gets the velocity of the body after the given time accounting for the body's acceleration and capped by the given configuration. More...
Velocity	GetVelocity (const World &world, BodyID id)
	Gets the velocity of the identified body. More...
LinearVelocity	GetVelocityBiasAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the velocity bias at the given point from the given velocity constraint.
VertexCounter	GetVertexCount (const Shape &shape, ChildCounter index)
	Gets the vertex count for the specified child of the given shape.
NonNegative< Length >	GetVertexRadius (const ChainShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const ChainShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration.
constexpr NonNegative< Length >	GetVertexRadius (const DiskShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration.
constexpr NonNegative< Length >	GetVertexRadius (const DiskShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration.
auto	GetVertexRadius (const DistanceProxy &arg) noexcept
	Gets the vertex radius property of a given distance proxy.
NonNegative< Length >	GetVertexRadius (const EdgeShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const EdgeShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const MultiShapeConf &arg, ChildCounter index)
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const PolygonShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const PolygonShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration.
NonNegative< Length >	GetVertexRadius (const Shape &shape, ChildCounter idx)
	Gets the vertex radius of the indexed child of the given shape. More...
Interval< Positive< Length > >	GetVertexRadiusInterval (const World &world) noexcept
	Gets the vertex radius interval allowable for the given world. More...
WeldJointConf	GetWeldJointConf (const Joint &joint)
	Gets the definition data for the given joint. 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 Joint &joint)
	Gets the definition data for the given joint. 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...
PairLength2	GetWitnessPoints (const Simplex &simplex) noexcept
	Gets the witness points of the given simplex.
Length2	GetWorldCenter (const Body &body) noexcept
	Get the world position of the center of mass.
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 Manifold &manifold, const Transformation &xfA, Length radiusA, const Transformation &xfB, Length radiusB)
	Gets the world manifold for the given data. More...
WorldManifold	GetWorldManifold (const World &world, const Contact &contact, const Manifold &manifold)
WorldManifold	GetWorldManifold (const World &world, ContactID id)
	Gets the world manifold for the identified contact. More...
Length2	GetWorldPoint (const Body &body, const Length2 &localPoint) noexcept
	Gets the world coordinates of a point given in coordinates relative to the body's origin. More...
Length2	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...
Length2	GetWorldVector (const Body &body, const Length2 &localVector) noexcept
	Gets the world coordinates of a vector given the local coordinates. More...
UnitVec	GetWorldVector (const Body &body, const UnitVec &localVector) noexcept
	Gets the world vector for the given local vector from the given body's transformation.
UnitVec	GetWorldVector (const World &world, BodyID id, const UnitVec &localVector)
	Convenience function for getting a world vector of the identified body. More...
constexpr auto	GetX (const UnitVec &value)
	Gets the "X" element of the given value - i.e. the first element.
constexpr UnitVec	GetXAxis (const UnitVec &rot) noexcept
	Gets the "X-axis".
constexpr auto	GetY (const UnitVec &value) -> decltype(get< 1 >(value))
	Gets the "Y" element of the given value - i.e. the second element.
constexpr UnitVec	GetYAxis (const UnitVec &rot) noexcept
	Gets the "Y-axis". More...
bool	HasValidToi (const World &world, ContactID id)
	Whether or not the contact has a valid TOI. More...
void	InitVelocity (DistanceJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (FrictionJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (GearJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (Joint &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (MotorJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (PrismaticJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (PulleyJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (RevoluteJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (RopeJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (TargetJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (WeldJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
void	InitVelocity (WheelJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step, const ConstraintSolverConf &conf)
	Initializes velocity constraint data based on the given solver data. More...
constexpr UnitVec	InverseRotate (const UnitVec &vector, const UnitVec &angle) noexcept
	Inverse rotates a vector.
template<class T >
constexpr auto	InverseRotate (const Vector2< T > &vector, const UnitVec &angle) noexcept
	Inverse rotates a vector. More...
constexpr Length2	InverseTransform (const Length2 &v, const Transformation &xfm) noexcept
	Inverse transforms the given 2-D vector with the given transformation. More...
bool	IsAccelerable (const Body &body) noexcept
	Is "accelerable". More...
bool	IsAccelerable (const World &world, BodyID id)
	Is identified body "accelerable"? More...
bool	IsAwake (const Body &body) noexcept
	Gets the awake/asleep state of this body. 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...
constexpr bool	IsBranch (const DynamicTree::TreeNode &node) noexcept
	Is branch. More...
constexpr auto	IsDestroyed (const Body &body) noexcept -> bool
	Whether or not the given body was destroyed. More...
auto	IsDestroyed (const Joint &object) noexcept -> bool
	Gets whether the given entity is in the is-destroyed state.
auto	IsDestroyed (const Shape &value) noexcept -> bool
	Gets whether the given entity is in the is-destroyed state.
auto	IsDestroyed (const World &world, BodyID id) -> bool
	Gets whether the given identifier is to a body that's been destroyed. More...
auto	IsDestroyed (const World &world, ContactID id) -> bool
	Gets whether the given identifier is to a contact that's been destroyed. More...
auto	IsDestroyed (const World &world, JointID id) -> bool
	Gets whether the given identifier is to a joint that's been destroyed. More...
auto	IsDestroyed (const World &world, ShapeID id) -> bool
	Gets whether the given identifier is to a shape that's been destroyed. More...
bool	IsEnabled (const Body &body) noexcept
	Gets the enabled/disabled state of the body. 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 Body &body) noexcept
	Does this body have fixed rotation? More...
bool	IsFixedRotation (const World &world, BodyID id)
	Gets whether the body has fixed rotation. More...
bool	IsImpenetrable (const Body &body) noexcept
	Is this body treated like a bullet for continuous collision detection? More...
bool	IsImpenetrable (const World &world, BodyID id)
	Is the body treated like a bullet for continuous collision detection? More...
constexpr bool	IsLeaf (const DynamicTree::TreeNode &node) noexcept
	Is leaf. More...
bool	IsLimitEnabled (const Joint &object)
	Gets the specified joint's limit property if it supports one. More...
template<typename T >
constexpr auto	IsLimitEnabled (const T &conf) noexcept -> decltype(std::declval< T >().enableLimit)
	Gets whether or not the limit property of the given object is enabled.
bool	IsLimitEnabled (const World &world, JointID id)
	Gets whether the identified joint's limit is enabled. More...
bool	IsLocked (const World &world) noexcept
	Is the specified world locked. More...
bool	IsLooped (const ChainShapeConf &shape) noexcept
	Determines whether the given shape is looped.
bool	IsMassDataDirty (const Body &body) noexcept
	Gets whether the mass data for this body is "dirty".
bool	IsMassDataDirty (const World &world, BodyID id)
	Gets whether the body's mass-data is dirty. More...
bool	IsMotorEnabled (const Joint &object)
	Gets the specified joint's motor property value if it supports one. More...
template<typename T >
constexpr auto	IsMotorEnabled (const T &conf) noexcept -> decltype(std::declval< T >().enableMotor)
	Gets the motor enabled property of the given object.
bool	IsMotorEnabled (const World &world, JointID id)
constexpr bool	IsSensor (const BaseShapeConf &arg) noexcept
	Gets the is-sensor state of the given shape configuration.
bool	IsSensor (const Shape &shape) noexcept
	Gets whether or not the given shape is a sensor. More...
bool	IsSensor (const World &world, ShapeID id)
	Is the specified shape a sensor (non-solid)? More...
bool	IsSleepingAllowed (const Body &body) noexcept
	Gets whether or not this body allowed to sleep. More...
bool	IsSleepingAllowed (const World &world, BodyID id)
	Gets whether the identified body is allowed to sleep. More...
bool	IsSpeedable (const Body &body) noexcept
	Is "speedable". More...
bool	IsSpeedable (const World &world, BodyID id)
	Is identified body "speedable". More...
bool	IsStepComplete (const World &world) noexcept
	Whether or not "step" is complete. More...
bool	IsTouching (const World &world, ContactID id)
	Is this contact touching? More...
bool	IsUnderActive (const Velocity &velocity, const LinearVelocity &linSleepTol, const AngularVelocity &angSleepTol) noexcept
	Gets whether the given velocity is "under active" based on the given tolerances.
constexpr bool	IsUnused (const DynamicTree::TreeNode &node) noexcept
	Is unused. 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.
constexpr Transformation	Mul (const Transformation &A, const Transformation &B) noexcept
	Multiplies a given transformation by another given transformation. More...
constexpr Transformation	MulT (const Transformation &A, const Transformation &B) noexcept
	Inverse multiplies a given transformation by another given transformation. More...
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...
constexpr bool	operator!= (const Acceleration &lhs, const Acceleration &rhs)
	Inequality operator.
bool	operator!= (const Body &lhs, const Body &rhs)
	Not-equals operator. More...
constexpr bool	operator!= (const BodyConf &lhs, const BodyConf &rhs) noexcept
	Operator not-equals.
bool	operator!= (const DiskShapeConf &lhs, const DiskShapeConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const DistanceJointConf &lhs, const DistanceJointConf &rhs) noexcept
	Inequality operator.
bool	operator!= (const DistanceProxy &lhs, const DistanceProxy &rhs) noexcept
	Determines with the two given distance proxies are not equal.
bool	operator!= (const EdgeShapeConf &lhs, const EdgeShapeConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const FrictionJointConf &lhs, const FrictionJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const GearJointConf &lhs, const GearJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const GearJointConf::PrismaticData &lhs, const GearJointConf::PrismaticData &rhs) noexcept
	Not equals operator.
constexpr bool	operator!= (const GearJointConf::RevoluteData &lhs, const GearJointConf::RevoluteData &rhs) noexcept
	Not equals operator.
bool	operator!= (const Joint &lhs, const Joint &rhs) noexcept
	Inequality operator for joint comparisons.
bool	operator!= (const Manifold &lhs, const Manifold &rhs) noexcept
	Manifold inequality operator. More...
bool	operator!= (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are not equal.
constexpr bool	operator!= (const MotorJointConf &lhs, const MotorJointConf &rhs) noexcept
	Inequality operator.
bool	operator!= (const MultiShapeConf &lhs, const MultiShapeConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const Position &lhs, const Position &rhs)
	Inequality operator.
constexpr bool	operator!= (const PrismaticJointConf &lhs, const PrismaticJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const PulleyJointConf &lhs, const PulleyJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const RevoluteJointConf &lhs, const RevoluteJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const RopeJointConf &lhs, const RopeJointConf &rhs) noexcept
	Inequality operator.
bool	operator!= (const Shape &lhs, const Shape &rhs) noexcept
	Inequality operator for shape to shape comparisons.
constexpr bool	operator!= (const SimplexEdge &lhs, const SimplexEdge &rhs) noexcept
	Inequality operator for SimplexEdge.
constexpr bool	operator!= (const Sweep &lhs, const Sweep &rhs)
	Not-equals operator.
constexpr bool	operator!= (const TargetJointConf &lhs, const TargetJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const Transformation &lhs, const Transformation &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const UnitVec &a, const UnitVec &b) noexcept
	Inequality operator.
constexpr bool	operator!= (const Velocity &lhs, const Velocity &rhs)
	Inequality operator.
constexpr bool	operator!= (const WeldJointConf &lhs, const WeldJointConf &rhs) noexcept
	Inequality operator.
constexpr bool	operator!= (const WheelJointConf &lhs, const WheelJointConf &rhs) noexcept
	Inequality operator.
bool	operator!= (const World &lhs, const World &rhs) noexcept
	Inequality operator for world comparisons. More...
constexpr Acceleration	operator* (const Acceleration &lhs, const Real rhs)
	Multiplication operator.
template<class T , typename U , bool NoExcept>
constexpr Vector2< T >	operator* (const playrho::detail::Checked< T, U, NoExcept > &s, const UnitVec &u) noexcept
	Multiplication operator.
constexpr Position	operator* (const Position &pos, const Real scalar)
	Multiplication operator.
constexpr Acceleration	operator* (const Real lhs, const Acceleration &rhs)
	Multiplication operator.
constexpr Velocity	operator* (const Real lhs, const Velocity &rhs)
	Multiplication operator.
constexpr Position	operator* (const Real scalar, const Position &pos)
	Multiplication operator.
template<class T >
constexpr Vector2< T >	operator* (const T &s, const UnitVec &u) noexcept
	Multiplication operator.
template<class T , class U , bool NoExcept>
constexpr Vector2< T >	operator* (const UnitVec &u, const playrho::detail::Checked< T, U, NoExcept > &s) noexcept
	Multiplication operator.
template<class T >
constexpr Vector2< T >	operator* (const UnitVec &u, const T &s) noexcept
	Multiplication operator.
constexpr Velocity	operator* (const Velocity &lhs, const Real rhs)
	Multiplication operator.
constexpr Acceleration &	operator*= (Acceleration &lhs, const Real rhs)
	Multiplication assignment operator.
constexpr Velocity &	operator*= (Velocity &lhs, const Real rhs)
	Multiplication assignment operator.
constexpr Acceleration	operator+ (const Acceleration &lhs, const Acceleration &rhs)
	Addition operator.
constexpr Acceleration	operator+ (const Acceleration &value)
	Positive operator.
constexpr Position	operator+ (const Position &lhs, const Position &rhs)
	Addition operator.
constexpr Position	operator+ (const Position &value)
	Positive operator.
PositionSolution	operator+ (const PositionSolution &lhs, const PositionSolution &rhs)
	Addition operator.
constexpr Velocity	operator+ (const Velocity &lhs, const Velocity &rhs)
	Addition operator.
constexpr Velocity	operator+ (const Velocity &value)
	Positive operator.
constexpr Acceleration &	operator+= (Acceleration &lhs, const Acceleration &rhs)
	Addition assignment operator.
constexpr Position &	operator+= (Position &lhs, const Position &rhs)
	Addition assignment operator.
constexpr Velocity &	operator+= (Velocity &lhs, const Velocity &rhs)
	Addition assignment operator.
constexpr Acceleration	operator- (const Acceleration &lhs, const Acceleration &rhs)
	Subtraction operator.
constexpr Acceleration	operator- (const Acceleration &value)
	Negation operator.
constexpr Position	operator- (const Position &lhs, const Position &rhs)
	Subtraction operator.
constexpr Position	operator- (const Position &value)
	Negation operator.
PositionSolution	operator- (const PositionSolution &lhs, const PositionSolution &rhs)
	Subtraction operator.
constexpr Velocity	operator- (const Velocity &lhs, const Velocity &rhs)
	Subtraction operator.
constexpr Velocity	operator- (const Velocity &value)
	Negation operator.
constexpr Acceleration &	operator-= (Acceleration &lhs, const Acceleration &rhs)
	Subtraction assignment operator.
constexpr Position &	operator-= (Position &lhs, const Position &rhs)
	Subtraction assignment operator.
constexpr Velocity &	operator-= (Velocity &lhs, const Velocity &rhs)
	Subtraction assignment operator.
constexpr Acceleration	operator/ (const Acceleration &lhs, const Real rhs)
	Division operator.
constexpr Vec2	operator/ (const UnitVec &u, const UnitVec::value_type s) noexcept
	Division operator.
constexpr Velocity	operator/ (const Velocity &lhs, const Real rhs)
	Division operator.
constexpr Acceleration &	operator/= (Acceleration &lhs, const Real rhs)
	Division assignment operator.
constexpr Velocity &	operator/= (Velocity &lhs, const Real rhs)
	Division assignment operator.
inline ::std::ostream &	operator<< (::std::ostream &os, const UnitVec &value)
	Output stream operator.
constexpr bool	operator== (const Acceleration &lhs, const Acceleration &rhs)
	Equality operator.
bool	operator== (const Body &lhs, const Body &rhs)
	Equals operator. More...
constexpr bool	operator== (const BodyConf &lhs, const BodyConf &rhs) noexcept
	Operator equals.
bool	operator== (const DiskShapeConf &lhs, const DiskShapeConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const DistanceJointConf &lhs, const DistanceJointConf &rhs) noexcept
	Equality operator.
bool	operator== (const DistanceProxy &lhs, const DistanceProxy &rhs) noexcept
	Determines with the two given distance proxies are equal.
bool	operator== (const EdgeShapeConf &lhs, const EdgeShapeConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const FrictionJointConf &lhs, const FrictionJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const GearJointConf &lhs, const GearJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const GearJointConf::PrismaticData &lhs, const GearJointConf::PrismaticData &rhs) noexcept
	Equals operator.
constexpr bool	operator== (const GearJointConf::RevoluteData &lhs, const GearJointConf::RevoluteData &rhs) noexcept
	Equals operator.
bool	operator== (const Joint &lhs, const Joint &rhs) noexcept
	Equality operator for joint comparisons.
bool	operator== (const Manifold &lhs, const Manifold &rhs) noexcept
	Manifold equality operator. More...
bool	operator== (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are equal.
constexpr bool	operator== (const MotorJointConf &lhs, const MotorJointConf &rhs) noexcept
	Equality operator.
bool	operator== (const MultiShapeConf &lhs, const MultiShapeConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const Position &lhs, const Position &rhs)
	Equality operator.
constexpr bool	operator== (const PrismaticJointConf &lhs, const PrismaticJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const PulleyJointConf &lhs, const PulleyJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const RevoluteJointConf &lhs, const RevoluteJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const RopeJointConf &lhs, const RopeJointConf &rhs) noexcept
	Equality operator.
bool	operator== (const Shape &lhs, const Shape &rhs) noexcept
	Equality operator for shape to shape comparisons.
constexpr bool	operator== (const SimplexEdge &lhs, const SimplexEdge &rhs) noexcept
	Equality operator for SimplexEdge.
constexpr bool	operator== (const Sweep &lhs, const Sweep &rhs)
	Equals operator.
constexpr bool	operator== (const TargetJointConf &lhs, const TargetJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const Transformation &lhs, const Transformation &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const UnitVec &a, const UnitVec &b) noexcept
	Equality operator.
constexpr bool	operator== (const Velocity &lhs, const Velocity &rhs)
	Equality operator.
constexpr bool	operator== (const WeldJointConf &lhs, const WeldJointConf &rhs) noexcept
	Equality operator.
constexpr bool	operator== (const WheelJointConf &lhs, const WheelJointConf &rhs) noexcept
	Equality operator.
bool	operator== (const World &lhs, const World &rhs) noexcept
	Equality operator for world comparisons. More...
void	Query (const DynamicTree &tree, const AABB &aabb, const DynamicTreeSizeCB &callback)
	Query the given dynamic tree and find nodes overlapping the given AABB. More...
void	Query (const DynamicTree &tree, const AABB &aabb, QueryShapeCallback callback)
	Queries the world for all fixtures that potentially overlap the provided AABB. More...
RayCastOutput	RayCast (const ::playrho::detail::AABB< 2 > &aabb, const RayCastInput &input) noexcept
	Cast a ray against the given AABB. More...
RayCastOutput	RayCast (const DistanceProxy &proxy, const RayCastInput &input, const Transformation &transform) noexcept
	Cast a ray against the distance proxy. More...
bool	RayCast (const DynamicTree &tree, RayCastInput input, const DynamicTreeRayCastCB &callback)
	Cast rays against the leafs in the given tree. More...
RayCastOutput	RayCast (const Shape &shape, ChildCounter childIndex, const RayCastInput &input, const Transformation &transform) noexcept
	Cast a ray against the child of the given shape. 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...
RayCastOutput	RayCast (Length radius, const Length2 &location, const RayCastInput &input) noexcept
	Cast a ray against a circle of a given radius at the given location. More...
constexpr DynamicTreeBranchData	ReplaceChild (DynamicTreeBranchData bd, DynamicTree::Size oldChild, DynamicTree::Size newChild)
	Replaces the old child with the new child. 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 (ChainShapeConf &arg, const UnitVec &value)
	Rotates the given shape's vertices by the given amount.
constexpr UnitVec	Rotate (const UnitVec &vector, const UnitVec &angle) noexcept
	Rotates a unit vector by the angle expressed by the second unit vector. More...
template<class T >
constexpr auto	Rotate (const Vector2< T > &vector, const UnitVec &angle) noexcept
	Rotates a vector by a given angle. More...
void	Rotate (DiskShapeConf &arg, const UnitVec &value) noexcept
	Rotates the given shape configuration's vertices by the given amount.
void	Rotate (EdgeShapeConf &arg, const UnitVec &value) noexcept
	Rotates the given shape's vertices by the given amount.
void	Rotate (MultiShapeConf &arg, const UnitVec &value)
	Rotates the given shape configuration's vertices by the given amount.
void	Rotate (PolygonShapeConf &arg, const UnitVec &value)
	Rotates the given shape configuration's vertices by the given amount.
void	Rotate (Shape &shape, const UnitVec &value)
	Rotates all of the given shape's vertices by the given amount. More...
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 (ChainShapeConf &arg, const Vec2 &value)
	Scales the given shape's vertices by the given amount.
void	Scale (DiskShapeConf &arg, const Vec2 &value) noexcept
	Scales the given shape configuration's vertices by the given amount.
void	Scale (EdgeShapeConf &arg, const Vec2 &value) noexcept
	Scales the given shape's vertices by the given amount.
void	Scale (MultiShapeConf &arg, const Vec2 &value)
	Scales the given shape configuration's vertices by the given amount.
void	Scale (PolygonShapeConf &arg, const Vec2 &value)
	Scales the given shape configuration's vertices by the given amount.
void	Scale (Shape &shape, const Vec2 &value)
	Scales all of the given shape's vertices by the given amount. More...
void	Scale (World &world, ShapeID id, const Vec2 &value)
	Scales all of the given shape's vertices by the given amount. More...
void	Set (JointConf &def, const Joint &joint) noexcept
	Sets the joint definition data for the given joint.
void	SetAcceleration (Body &body, AngularAcceleration value) noexcept
	Sets the given angular acceleration of the given body. More...
void	SetAcceleration (Body &body, const Acceleration &value) noexcept
	Sets the accelerations on the given body. More...
void	SetAcceleration (Body &body, const LinearAcceleration2 &linear, AngularAcceleration angular) noexcept
	Sets the linear and rotational accelerations on this body. More...
void	SetAcceleration (Body &body, const LinearAcceleration2 &value) noexcept
	Sets the given linear acceleration of the given body. More...
void	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 (Body &body, Angle value)
	Sets the body's angular orientation. More...
void	SetAngle (World &world, BodyID id, Angle value)
	Sets the body's angular orientation. More...
void	SetAngularDamping (Body &body, NonNegative< Frequency > value) noexcept
	Sets the angular damping of the body. More...
void	SetAngularDamping (World &world, BodyID id, NonNegative< Frequency > angularDamping)
	Sets the angular damping of the body. More...
void	SetAngularLimits (Joint &object, Angle lower, Angle upper)
	Sets the joint limits. More...
constexpr void	SetAngularLimits (RevoluteJointConf &object, Angle lower, Angle upper) noexcept
	Free function for setting the angular limits of the given configuration.
void	SetAngularLimits (World &world, JointID id, Angle lower, Angle upper)
void	SetAngularOffset (Joint &object, Angle value)
	Sets the angular offset property of the specified joint if its type has one. More...
constexpr auto	SetAngularOffset (MotorJointConf &object, Angle value) noexcept
	Free function for setting the angular offset value of the given configuration.
void	SetAngularOffset (World &world, JointID id, Angle value)
	Sets the target angular offset. More...
void	SetAwake (Body &body) noexcept
	Awakens this body. 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	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...
constexpr auto	SetCorrectionFactor (MotorJointConf &object, Real value) noexcept
	Free function for setting the correction factor value of the given configuration.
constexpr void	SetDampingRatio (DistanceJointConf &object, Real value) noexcept
	Free function for setting the damping ratio value of the given configuration.
constexpr void	SetDampingRatio (TargetJointConf &object, Real value) noexcept
	Free function for setting the damping ratio value of the given configuration.
constexpr void	SetDampingRatio (WeldJointConf &object, Real value) noexcept
	Free function for setting the damping ratio of the given configuration.
constexpr void	SetDampingRatio (WheelJointConf &object, Real value) noexcept
	Free function for setting the damping ratio of the given configuration.
void	SetDensity (BaseShapeConf &arg, NonNegative< AreaDensity > value)
	Sets the density of the given shape configuration.
void	SetDensity (Shape &shape, NonNegative< AreaDensity > value)
	Sets the density of the given shape. More...
void	SetDensity (World &world, ShapeID id, NonNegative< AreaDensity > value)
	Sets the density of this shape. More...
constexpr void	SetDestroyed (Body &body) noexcept
	Sets the destroyed property of the given body. More...
void	SetDetachListener (World &world, BodyShapeFunction listener) noexcept
	Sets the detach listener for shapes detaching from bodies. More...
void	SetEnabled (Body &body) noexcept
	Sets the enabled state. More...
void	SetEnabled (Body &body, bool value) noexcept
	Sets the enabled state to the given value. More...
void	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	SetEndContactListener (World &world, ContactFunction listener) noexcept
	Sets the end-contact lister. More...
void	SetFilter (BaseShapeConf &arg, Filter value)
	Sets the filter of the given shape configuration.
void	SetFilter (Shape &shape, Filter value)
	Sets the filter value for the given shape. More...
void	SetFilterData (World &world, ShapeID id, const Filter &filter)
	Convenience function for setting the contact filtering data. More...
void	SetFixedRotation (Body &body, bool value)
	Sets this body to have fixed rotation. 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...
constexpr void	SetFrequency (DistanceJointConf &object, NonNegative< Frequency > value) noexcept
	Free function for setting the frequency value of the given configuration.
void	SetFrequency (Joint &object, Frequency value)
	Sets the frequency of the joint if it has this property. More...
constexpr void	SetFrequency (TargetJointConf &object, NonNegative< Frequency > value) noexcept
	Free function for setting the frequency value of the given configuration.
constexpr void	SetFrequency (WeldJointConf &object, NonNegative< Frequency > value) noexcept
	Free function for setting the frequency of the given configuration.
constexpr void	SetFrequency (WheelJointConf &object, NonNegative< Frequency > value) noexcept
	Free function for setting the frequency of the given configuration.
void	SetFrequency (World &world, JointID id, Frequency value)
	Sets the frequency of the identified joint if it has this property. More...
void	SetFriction (BaseShapeConf &arg, NonNegative< Real > value)
	Sets the friction of the given shape.
void	SetFriction (Shape &shape, NonNegative< Real > value)
	Sets the coefficient of friction. 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 (Body &body) noexcept
	Sets the impenetrable status of this body. 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...
void	SetJoint (World &world, JointID id, const Joint &def)
	Sets the value of the identified joint. More...
template<typename T >
void	SetJoint (World &world, JointID id, const T &value)
	Sets a joint's value from a configuration. More...
void	SetJointDestructionListener (World &world, JointFunction listener) noexcept
	Sets the destruction listener for joints. More...
constexpr auto	SetLength (DistanceJointConf &object, Length value) noexcept
	Free function for setting the length value of the given configuration.
void	SetLinearDamping (Body &body, NonNegative< Frequency > value) noexcept
	Sets the linear damping of the body. More...
void	SetLinearDamping (World &world, BodyID id, NonNegative< Frequency > linearDamping)
	Sets the linear damping of the body. More...
void	SetLinearLimits (Joint &object, Length lower, Length upper)
constexpr void	SetLinearLimits (PrismaticJointConf &conf, Length lower, Length upper) noexcept
	Free function for setting the linear limits of the given configuration.
void	SetLinearOffset (Joint &object, const Length2 &value)
	Sets the linear offset property of the specified joint if its type has one. More...
constexpr auto	SetLinearOffset (MotorJointConf &object, const Length2 &value) noexcept
	Free function for setting the linear offset value of the given configuration.
void	SetLinearOffset (World &world, JointID id, const Length2 &value)
	Sets the target linear offset, in frame A. More...
void	SetLocalCenter (Sweep &sweep, const Length2 &value) noexcept
	Convenience function for setting the sweep's local center.
void	SetLocation (Body &body, const Length2 &value)
	Sets the body's location. More...
void	SetLocation (World &world, BodyID id, const Length2 &value)
	Sets the body's location. More...
void	SetManifold (World &world, ContactID id, const Manifold &value)
	Sets the identified manifold's state. More...
void	SetMass (Body &body, Mass mass)
	Sets the mass of the given body.
void	SetMassData (World &world, BodyID id, const MassData &massData)
	Sets the mass properties to override the mass properties of the fixtures. More...
constexpr void	SetMaxForce (FrictionJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the max force value of the given configuration.
constexpr auto	SetMaxForce (MotorJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the maximum force value of the given configuration.
constexpr auto	SetMaxForce (TargetJointConf &object, NonNegative< Force > value) noexcept
	Free function for setting the maximum force value of the given configuration.
constexpr auto	SetMaxLength (RopeJointConf &object, Length value) noexcept
	Free function for setting the maximum length value of the given configuration.
void	SetMaxMotorForce (Joint &object, Force value)
	Sets the given joint's max motor force if its type supports that. More...
constexpr void	SetMaxMotorForce (PrismaticJointConf &object, Force value)
	Free function for setting the maximum motor torque value of the given configuration.
void	SetMaxMotorTorque (Joint &object, Torque value)
	Sets the given joint's max motor torque if its type supports that. More...
constexpr void	SetMaxMotorTorque (RevoluteJointConf &object, Torque value)
	Free function for setting the max motor torque of the given configuration.
constexpr void	SetMaxMotorTorque (WheelJointConf &object, Torque value) noexcept
	Sets the maximum motor torque for the given configuration.
void	SetMaxMotorTorque (World &world, JointID id, Torque value)
constexpr auto	SetMaxTorque (FrictionJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the max force value of the given configuration.
constexpr auto	SetMaxTorque (MotorJointConf &object, NonNegative< Torque > value) noexcept
	Free function for setting the maximum torque value of the given configuration.
void	SetMotorSpeed (Joint &object, AngularVelocity value)
	Sets the given joint's motor speed if its type supports that. More...
template<typename T >
constexpr auto	SetMotorSpeed (T &conf, AngularVelocity v) noexcept -> decltype(std::declval< T >().UseMotorSpeed(AngularVelocity{}))
	Sets the motor speed property of the given object.
void	SetMotorSpeed (World &world, JointID id, AngularVelocity value)
	Sets the motor-speed property of the identied joint if it supports it. More...
void	SetNormalImpulseAtPoint (VelocityConstraint &vc, VelocityConstraint::size_type index, Momentum value)
	Sets the normal impulse at the given point of the given velocity constraint.
void	SetNormalImpulses (VelocityConstraint &vc, const Momentum2 &impulses)
	Sets the normal impulses of the given velocity constraint.
void	SetPosition0 (Body &body, const Position &value) noexcept
	Sets the "position 0" Position information for the given body.
void	SetPosition1 (Body &body, const Position &value) noexcept
	Sets the "position 1" Position information for the given body.
void	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...
constexpr auto	SetRatio (GearJointConf &object, Real value) noexcept
	Free function for setting the ratio value of the given configuration.
constexpr auto	SetRatio (PulleyJointConf &object, Real value) noexcept
	Free function for setting the ratio value of the given configuration.
void	SetRestitution (BaseShapeConf &arg, Real value) noexcept
	Sets the restitution of the given shape.
void	SetRestitution (Shape &shape, Real value)
	Sets the coefficient of restitution value of the given shape. 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	SetRotInertia (Body &body, RotInertia value) noexcept
	Sets the rotational inertia of the body.
void	SetSensor (BaseShapeConf &arg, bool value)
	Sets the is-sensor state of the given shape configuration.
void	SetSensor (Shape &shape, bool value)
	Sets whether or not the given shape is a sensor. More...
void	SetSensor (World &world, ShapeID id, bool value)
	Convenience function for setting whether the shape is a sensor or not. 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	SetSleepingAllowed (Body &body, bool value) noexcept
void	SetSleepingAllowed (World &world, BodyID, bool value)
	Sets whether the identified body is allowed to sleep. More...
void	SetSubStepping (World &world, bool flag) noexcept
	Enables/disables single stepped continuous physics. More...
void	SetSweep (Body &body, const Sweep &value) noexcept
	Sets the sweep value of the given body. More...
void	SetTangentImpulseAtPoint (VelocityConstraint &vc, VelocityConstraint::size_type index, Momentum value)
	Sets the tangent impulse at the given point of the given velocity constraint.
void	SetTangentImpulses (VelocityConstraint &vc, const Momentum2 &impulses)
	Sets the tangent impulses of the given velocity constraint.
void	SetTangentSpeed (World &world, ContactID id, LinearVelocity value)
	Sets the desired tangent speed for a conveyor belt behavior. More...
void	SetTarget (Joint &object, const Length2 &value)
	Sets the given joint's target property if it has one. More...
constexpr void	SetTarget (TargetJointConf &object, const Length2 &value) noexcept
	Free function for setting the target value of the given configuration.
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 (Body &body, const Transformation &value) noexcept
	Sets the body's transformation. More...
void	SetTransformation (World &world, BodyID id, const Transformation &value)
	Sets the transformation of the body. More...
void	SetType (Body &body, BodyType value) noexcept
	Sets the type of this body. More...
void	SetType (World &world, BodyID id, BodyType value, bool resetMassData=true)
	Sets the type of the given body. More...
void	SetVelocity (Body &body, AngularVelocity value) noexcept
	Sets the angular velocity. More...
void	SetVelocity (Body &body, const LinearVelocity2 &value) noexcept
	Sets the linear velocity of the center of mass. More...
void	SetVelocity (Body &body, const Velocity &value) noexcept
	Sets the body's velocity (linear and angular velocity). More...
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...
void	SetVertexRadius (ChainShapeConf &arg, ChildCounter, NonNegative< Length > value) noexcept
	Sets the vertex radius of the shape for the given index.
void	SetVertexRadius (ChainShapeConf &arg, NonNegative< Length > value) noexcept
	Sets the vertex radius of the shape.
void	SetVertexRadius (DiskShapeConf &arg, ChildCounter, NonNegative< Length > value)
	Sets the vertex radius of shape for the given index.
void	SetVertexRadius (EdgeShapeConf &arg, ChildCounter, NonNegative< Length > value)
	Sets the vertex radius of the shape for the given index.
void	SetVertexRadius (EdgeShapeConf &arg, NonNegative< Length > value)
	Sets the vertex radius of the shape.
void	SetVertexRadius (MultiShapeConf &arg, ChildCounter index, NonNegative< Length > value)
	Sets the vertex radius of shape for the given index.
void	SetVertexRadius (PolygonShapeConf &arg, ChildCounter, NonNegative< Length > value)
	Sets the vertex radius of the shape for the given index.
void	SetVertexRadius (PolygonShapeConf &arg, NonNegative< Length > value)
	Sets the vertex radius of the shape.
void	SetVertexRadius (Shape &shape, ChildCounter idx, NonNegative< Length > value)
	Sets the vertex radius of the indexed child of the given shape. More...
constexpr bool	ShiftOrigin (DistanceJointConf &, Length2) noexcept
	Shifts the origin notion of the given configuration.
constexpr bool	ShiftOrigin (FrictionJointConf &, Length2) noexcept
	Shifts the origin notion of the given configuration.
constexpr bool	ShiftOrigin (GearJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
bool	ShiftOrigin (Joint &object, const Length2 &value) noexcept
	Shifts the origin for any points stored in world coordinates. More...
constexpr auto	ShiftOrigin (MotorJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
constexpr auto	ShiftOrigin (PrismaticJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
bool	ShiftOrigin (PulleyJointConf &object, const Length2 &newOrigin) noexcept
	Shifts the origin notion of the given configuration.
constexpr auto	ShiftOrigin (RevoluteJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
constexpr auto	ShiftOrigin (RopeJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
constexpr bool	ShiftOrigin (TargetJointConf &object, const Length2 &newOrigin)
	Shifts the origin notion of the given configuration.
constexpr auto	ShiftOrigin (WeldJointConf &, const Length2 &) noexcept
	Shifts the origin notion of the given configuration.
constexpr auto	ShiftOrigin (WheelJointConf &, const Length2 &)
	Shifts the origin notion of the given configuration.
void	ShiftOrigin (World &world, const Length2 &newOrigin)
	Shifts the origin of the specified world. More...
bool	ShiftOrigin (World &world, JointID id, const Length2 &value)
	Shifts the origin of the identified joint. More...
bool	ShouldCollide (const Shape &a, const Shape &b) noexcept
	Whether contact calculations should be performed between the two instances. More...
std::size_t	size (const DynamicTree &tree) noexcept
	Gets the "size" of the given tree. More...
bool	SolvePosition (const DistanceJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const FrictionJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const GearJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const Joint &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const MotorJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const PrismaticJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const PulleyJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const RevoluteJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const RopeJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const TargetJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const WeldJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolvePosition (const WheelJointConf &object, const Span< BodyConstraint > &bodies, const ConstraintSolverConf &conf)
	Solves the position constraint. More...
bool	SolveVelocity (DistanceJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (FrictionJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (GearJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (Joint &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (MotorJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (PrismaticJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (PulleyJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (RevoluteJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (RopeJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (TargetJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (WeldJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
bool	SolveVelocity (WheelJointConf &object, const Span< BodyConstraint > &bodies, const StepConf &step)
	Solves velocity constraint. More...
StepStats	Step (World &world, const StepConf &conf=StepConf{})
	Steps the given world simulation according to the given configuration. 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...
void	swap (DynamicTree &lhs, DynamicTree &rhs) noexcept
Area	TestOverlap (const DistanceProxy &proxyA, const Transformation &xfA, const DistanceProxy &proxyB, const Transformation &xfB, DistanceConf conf=DistanceConf{})
	Determine if two generic shapes overlap. More...
bool	TestOverlap (const DynamicTree &tree, DynamicTree::Size leafIdA, DynamicTree::Size leafIdB) noexcept
	Tests for overlap of the elements identified in the given dynamic tree.
bool	TestPoint (const DistanceProxy &proxy, const Length2 &point) noexcept
	Tests a point for containment in the given distance proxy. More...
bool	TestPoint (const Shape &shape, const Length2 &point) noexcept
	Test a point for containment in the given shape. 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...
constexpr Length2	Transform (const Length2 &v, const Transformation &xfm) noexcept
	Transforms the given 2-D vector with the given transformation. More...
void	Transform (PolygonShapeConf &arg, const Mat22 &m)
	Transforms the given polygon configuration's vertices by the given transformation matrix. More...
void	Translate (ChainShapeConf &arg, const Length2 &value)
	Translates the given shape's vertices by the given amount.
void	Translate (DiskShapeConf &arg, const Length2 &value) noexcept
	Translates the given shape configuration's vertices by the given amount.
void	Translate (EdgeShapeConf &arg, const Length2 &value) noexcept
	Translates the given shape's vertices by the given amount.
void	Translate (MultiShapeConf &arg, const Length2 &value)
	Translates the given shape configuration's vertices by the given amount.
void	Translate (PolygonShapeConf &arg, const Length2 &value)
	Translates the given shape configuration's vertices by the given amount.
void	Translate (Shape &shape, const Length2 &value)
	Translates all of the given shape's vertices by the given amount. 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 Joint &value)
	Converts the given joint into its current configuration value. More...
template<typename T >
std::add_pointer_t< std::add_const_t< T > >	TypeCast (const Joint *value) noexcept
	Converts the given joint into its current configuration value. More...
template<typename T >
T	TypeCast (const Shape &value)
	Casts the specified instance into the template specified type. More...
template<typename T >
std::add_pointer_t< std::add_const_t< T > >	TypeCast (const Shape *value) noexcept
	Converts the given shape into its current configuration value. More...
template<typename T >
T	TypeCast (const World &value)
	Converts the given joint into its current configuration value. 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 >
T	TypeCast (Joint &&value)
	Converts the given joint into its current configuration value. More...
template<typename T >
T	TypeCast (Joint &value)
	Converts the given joint into its current configuration value. More...
template<typename T >
std::add_pointer_t< T >	TypeCast (Joint *value) noexcept
	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...
template<typename T >
std::add_pointer_t< T >	TypeCast (World *value) noexcept
	Casts the given world into its current configuration value. More...
bool	Unawaken (Body &body) noexcept
	Puts the body to sleep if it's awake. More...
void	UnsetAwake (Body &body) noexcept
	Sets this body to asleep if sleeping is allowed. More...
void	UnsetAwake (World &world, BodyID id)
	Sleeps the identified body. More...
constexpr void	UnsetDestroyed (Body &body) noexcept
	Unsets the destroyed property of the given body. More...
void	UnsetEnabled (Body &body) noexcept
	Unsets the enabled state. More...
void	UnsetEnabled (World &world, ContactID id)
	Unsets the enabled status of the identified contact. More...
void	UnsetImpenetrable (Body &body) noexcept
	Unsets the impenetrable status of this body. More...
void	UnsetImpenetrable (World &world, BodyID id)
	Unsets the impenetrable status of the identified body. More...
bool	Validate (const Span< const Length2 > &verts)
	Validates the convexity of the given collection of vertices. More...
bool	ValidateMetrics (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Validates the metrics of the given tree from the given index. More...
bool	ValidateStructure (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Validates the structure of the given tree from the given index. More...
AabbTreeWorld Listener Non-Member Functions
void	SetShapeDestructionListener (AabbTreeWorld &world, ShapeFunction listener) noexcept
	Registers a destruction listener for shapes. More...
void	SetDetachListener (AabbTreeWorld &world, BodyShapeFunction listener) noexcept
	Registers a detach listener for shapes detaching from bodies.
void	SetJointDestructionListener (AabbTreeWorld &world, JointFunction listener) noexcept
	Register a destruction listener for joints. More...
void	SetBeginContactListener (AabbTreeWorld &world, ContactFunction listener) noexcept
	Register a begin contact event listener.
void	SetEndContactListener (AabbTreeWorld &world, ContactFunction listener) noexcept
	Register an end contact event listener.
void	SetPreSolveContactListener (AabbTreeWorld &world, ContactManifoldFunction listener) noexcept
	Register a pre-solve contact event listener.
void	SetPostSolveContactListener (AabbTreeWorld &world, ContactImpulsesFunction listener) noexcept
	Register a post-solve contact event listener.
AabbTreeWorld Miscellaneous Non-Member Functions
bool	operator== (const AabbTreeWorld &lhs, const AabbTreeWorld &rhs)
	Equality operator for world comparisons.
bool	operator!= (const AabbTreeWorld &lhs, const AabbTreeWorld &rhs)
	Inequality operator for world comparisons.
std::optional< pmr::StatsResource::Stats >	GetResourceStats (const AabbTreeWorld &world) noexcept
	Gets the resource statistics of the specified world.
void	Clear (AabbTreeWorld &world) noexcept
	Clears this world. More...
StepStats	Step (AabbTreeWorld &world, const StepConf &conf)
	Steps the world simulation according to the given configuration. More...
bool	IsStepComplete (const AabbTreeWorld &world) noexcept
	Whether or not "step" is complete. More...
bool	GetSubStepping (const AabbTreeWorld &world) noexcept
	Gets whether or not sub-stepping is enabled. More...
void	SetSubStepping (AabbTreeWorld &world, bool flag) noexcept
	Enables/disables single stepped continuous physics. More...
const DynamicTree &	GetTree (const AabbTreeWorld &world) noexcept
	Gets access to the broad-phase dynamic tree information.
bool	IsLocked (const AabbTreeWorld &world) noexcept
	Is the world locked (in the middle of a time step).
void	ShiftOrigin (AabbTreeWorld &world, const Length2 &newOrigin)
	Shifts the world origin. More...
Interval< Positive< Length > >	GetVertexRadiusInterval (const AabbTreeWorld &world) noexcept
	Gets the vertex radius interval allowable for the given world. More...
Frequency	GetInvDeltaTime (const AabbTreeWorld &world) noexcept
	Gets the inverse delta time. More...
const ProxyIDs &	GetProxies (const AabbTreeWorld &world) noexcept
	Gets the dynamic tree leaves queued for finding new contacts.
const BodyShapeIDs &	GetFixturesForProxies (const AabbTreeWorld &world) noexcept
	Gets the fixtures-for-proxies for this world. More...
AabbTreeWorld Body Member Functions
Member functions relating to bodies.
BodyCounter	GetBodyRange (const AabbTreeWorld &world) noexcept
	Gets the extent of the currently valid body range. More...
const BodyIDs &	GetBodies (const AabbTreeWorld &world) noexcept
	Gets a container of valid world body identifiers for this constant world. More...
const BodyIDs &	GetBodiesForProxies (const AabbTreeWorld &world) noexcept
	Gets the bodies-for-proxies container for this world. More...
BodyID	CreateBody (AabbTreeWorld &world, Body body=Body{})
	Creates a rigid body that's a copy of the given one. More...
const Body &	GetBody (const AabbTreeWorld &world, BodyID id)
	Gets the identified body. More...
void	SetBody (AabbTreeWorld &world, BodyID id, Body value)
	Sets the identified body. More...
void	Destroy (AabbTreeWorld &world, BodyID id)
	Destroys the identified body. More...
auto	IsDestroyed (const AabbTreeWorld &world, BodyID id) -> bool
	Gets whether the given identifier is to a body that's been destroyed. More...
const ProxyIDs &	GetProxies (const AabbTreeWorld &world, BodyID id)
	Gets the proxies for the identified body. More...
const BodyContactIDs &	GetContacts (const AabbTreeWorld &world, BodyID id)
	Gets the contacts associated with the identified body. More...
const BodyJointIDs &	GetJoints (const AabbTreeWorld &world, BodyID id)
AabbTreeWorld Joint Member Functions
Member functions relating to joints.
JointCounter	GetJointRange (const AabbTreeWorld &world) noexcept
	Gets the extent of the currently valid joint range. More...
const JointIDs &	GetJoints (const AabbTreeWorld &world) noexcept
	Gets the container of joint IDs of the given world. More...
JointID	CreateJoint (AabbTreeWorld &world, Joint def)
	Creates a joint to constrain one or more bodies. More...
const Joint &	GetJoint (const AabbTreeWorld &world, JointID id)
	Gets the identified joint. More...
void	SetJoint (AabbTreeWorld &world, JointID id, Joint def)
	Sets the identified joint. More...
void	Destroy (AabbTreeWorld &world, JointID id)
	Destroys a joint. More...
auto	IsDestroyed (const AabbTreeWorld &world, JointID id) -> bool
	Gets whether the given identifier is to a joint that's been destroyed. More...
AabbTreeWorld Shape Member Functions
Member functions relating to shapes.
ShapeCounter	GetShapeRange (const AabbTreeWorld &world) noexcept
	Gets the extent of the currently valid shape range. More...
ShapeID	CreateShape (AabbTreeWorld &world, Shape def)
	Creates an identifiable copy of the given shape within this world. More...
const Shape &	GetShape (const AabbTreeWorld &world, ShapeID id)
	Gets the identified shape. More...
void	SetShape (AabbTreeWorld &world, ShapeID id, Shape def)
	Sets the value of the identified shape. More...
void	Destroy (AabbTreeWorld &world, ShapeID id)
	Destroys the identified shape removing any body associations with it first. More...
auto	IsDestroyed (const AabbTreeWorld &world, ShapeID id) -> bool
	Gets whether the given identifier is to a shape that's been destroyed. More...
AabbTreeWorld Contact Member Functions
Member functions relating to contacts.
ContactCounter	GetContactRange (const AabbTreeWorld &world) noexcept
	Gets the extent of the currently valid contact range. More...
KeyedContactIDs	GetContacts (const AabbTreeWorld &world)
	Gets a container of valid world contact identifiers. More...
const Contact &	GetContact (const AabbTreeWorld &world, ContactID id)
	Gets the identified contact. More...
void	SetContact (AabbTreeWorld &world, ContactID id, Contact value)
	Sets the identified contact's state. More...
const Manifold &	GetManifold (const AabbTreeWorld &world, ContactID id)
	Gets the identified manifold. More...
void	SetManifold (AabbTreeWorld &world, ContactID id, const Manifold &value)
	Sets the identified manifold. More...
auto	IsDestroyed (const AabbTreeWorld &world, ContactID id) -> bool
	Gets whether the given identifier is to a contact that's been destroyed. More...

Variables
constexpr auto	EarthlyGravity = LinearAcceleration2{0_mps2, EarthlyLinearAcceleration}
	Earthly gravity in 2-dimensions. More...
constexpr auto	InvalidAABB
	Invalid AABB value. More...
template<class T >
constexpr bool	IsValidJointTypeV = detail::IsValidJointType<T>::value
	Boolean value for whether the specified type is a valid joint type. More...
constexpr auto	Transform_identity
	Identity transformation value. More...

Detailed Description

Name space for 2-dimensionally related PlayRho names.

Typedef Documentation

DynamicTreeRayCastCB

using playrho::d2::DynamicTreeRayCastCB = typedef std::function<Real(BodyID body, ShapeID shape, ChildCounter child, const RayCastInput& input)>

Ray cast callback function.

Note

Return 0 to terminate ray casting, or > 0 to update the segment bounding box.

JointIDs

using playrho::d2::JointIDs = typedef std::vector<JointID>

Joint IDs container type.

Note

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

QueryShapeCallback

using playrho::d2::QueryShapeCallback = typedef std::function<bool(BodyID body, ShapeID shape, ChildCounter child)>

Query AABB for fixtures callback function type.

Note

Returning true will continue the query. Returning false will terminate the query.

RayCastOutput

using playrho::d2::RayCastOutput = typedef std::optional<RayCastHit>

Ray cast output.

This is a type alias for an optional RayCastHit instance.

See also

RayCast, RayCastHit

Function Documentation

Advance()

void playrho::d2::Advance ( Body &  body, ZeroToUnderOneFF< Real >  value  )

inlinenoexcept

Advances the body by a given time ratio.

This function:

1. advances the body's sweep to the given time ratio;
2. updates the body's sweep positions (linear and angular) to the advanced ones; and
3. updates the body's transform to the new sweep one settings.

   Parameters

   body	The body to update.
   value	Valid new time factor in [0,1) to advance the sweep to.

   See also

   GetSweep, SetSweep, GetTransofmration, SetTransformation.

Advance0() [1/2]

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

inlinenoexcept

Calls the body sweep's Advance0 function to advance to the given value.

See also

GetSweep.

Referenced by Advance(), and playrho::d2::Body::Advance0().

Advance0() [2/2]

Sweep playrho::d2::Advance0 ( const Sweep &  sweep, ZeroToUnderOneFF< Real >  alpha  )

noexcept

Advances the sweep by a factor of the difference between the given time alpha and the sweep's alpha 0.

This advances position 0 (pos0) of the sweep towards position 1 (pos1) by a factor of the difference between the given alpha and the alpha 0. This does not change the sweep's position 1.

Parameters

sweep	The sweep to return an advancement of.
alpha	Valid new time factor in [0,1) to update the sweep to.

ApplyAngularImpulse() [1/2]

void playrho::d2::ApplyAngularImpulse ( Body &  body, AngularMomentum  impulse  )

noexcept

Applies an angular impulse.

Parameters

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

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::ApplyAngularImpulse().

ApplyAngularImpulse() [2/2]

void playrho::d2::ApplyAngularImpulse	(	World &	world,
		BodyID	id,
		AngularMomentum	impulse
	)

Applies an angular 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 playrho::d2::ApplyForce	(	World &	world,
		BodyID	id,
		const Force2 &	force,
		const Length2 &	point
	)

Apply a force at a world 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.

Examples

WorldBody.cpp.

ApplyForceToCenter()

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

inline

Applies a force to the center of mass of the given body.

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.

Examples

World.cpp.

ApplyLinearImpulse() [1/2]

void playrho::d2::ApplyLinearImpulse ( Body &  body, const Momentum2 &  impulse, const Length2 &  point  )

noexcept

Applies an impulse at a point.

Note

This immediately modifies the velocity.

This also modifies the angular velocity if the point of application is not at the center of mass.

Non-zero impulses wakes up the body.

Parameters

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

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::ApplyLinearImpulse().

ApplyLinearImpulse() [2/2]

void playrho::d2::ApplyLinearImpulse	(	World &	world,
		BodyID	id,
		const Momentum2 &	impulse,
		const Length2 &	point
	)

Applies an impulse at a 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 playrho::d2::ApplyTorque	(	World &	world,
		BodyID	id,
		Torque	torque
	)

Applies a 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.

Examples

WorldBody.cpp.

Attach() [1/3]

void playrho::d2::Attach	(	AabbTreeWorld &	world,
		BodyID	id,
		ShapeID	shapeID
	)

Associates a validly identified shape with the validly identified body.

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.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, WorldBody.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::Attach().

Attach() [2/3]

void playrho::d2::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.

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() [3/3]

void playrho::d2::Attach	(	World &	world,
		BodyID	id,
		ShapeID	shapeID,
		bool	resetMassData = true
	)

Associates a validly identified shape with the validly identified body.

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() [1/3]

bool Awaken ( Body &  body )

inlinenoexcept

Awakens the body if it's asleep.

See also

Unawaken(Body& body).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::Awaken().

Awaken() [2/3]

BodyCounter playrho::d2::Awaken

(

World &

world

)

Awakens all of the "speedable" bodies in the given 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() [3/3]

bool Awaken ( World &  world, BodyID  id  )

inline

Awakens the body if it's asleep and "speedable".

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 playrho::d2::CalcGravitationalAcceleration	(	const World &	world,
		BodyID	id
	)

Calculates the gravitationally associated acceleration for the given body within its world.

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.

Examples

WorldBody.cpp.

CalcSearchDirection()

Length2 playrho::d2::CalcSearchDirection ( const SimplexEdges &  simplexEdges )

noexcept

Calculates the "search direction" for the given simplex edge list.

Parameters

simplexEdges

A one or two edge list.

Warning

Behavior is not specified if the given edge list has zero edges.

Returns

"search direction" vector.

Referenced by playrho::d2::DistanceProxy::Distance().

Cap()

Velocity playrho::d2::Cap ( Velocity  velocity, Time  h, const MovementConf &  conf  )

noexcept

Caps velocity.

Enforces maximums on the given velocity.

Parameters

velocity	Velocity to cap.
h	Time elapsed to get velocity for.
conf	Movement configuration. This defines caps on linear and angular speeds.

Clear() [1/2]

void playrho::d2::Clear ( AabbTreeWorld &  world )

noexcept

Clears this world.

Note

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

Postcondition

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

See also

SetJointDestructionListener, SetShapeDestructionListener.

Examples

World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::Clear_().

Clear() [2/2]

void playrho::d2::Clear ( World &  world )

inlinenoexcept

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 )

inline

Clears forces.

Manually clear the force buffer on all bodies.

Exceptions

WrongState

if this function is called while the world is locked.

Examples

World.cpp.

CollideShapes()

Manifold playrho::d2::CollideShapes	(	const DistanceProxy &	shapeA,
		const Transformation &	xfA,
		const DistanceProxy &	shapeB,
		const Transformation &	xfB,
		const Manifold::Conf &	conf = GetDefaultManifoldConf()
	)

Calculates the relevant collision manifold.

Note

The returned touching state information typically agrees with that returned from the distance-proxy-based TestOverlap function. This is not always the case however especially when the separation or overlap distance is closer to zero.

Examples

Shape.cpp.

ComputeAABB() [1/4]

AABB playrho::d2::ComputeAABB ( const DistanceProxy &  proxy, const Transformation &  xf  )

noexcept

Computes the AABB.

Computes the Axis Aligned Bounding Box (AABB) for the given child shape at a given a transform.

Parameters

proxy	Distance proxy for the child shape.
xf	World transform of the shape.

Precondition

xf is valid.

Returns

AABB for the proxy shape or the default AABB if the proxy has a zero vertex count.

Examples

World.cpp.

Referenced by playrho::d2::Shape::ComputeAABB(), playrho::d2::World::ComputeAABB(), and playrho::d2::World::ComputeIntersectingAABB().

ComputeAABB() [2/4]

AABB playrho::d2::ComputeAABB ( const DistanceProxy &  proxy, const Transformation &  xfm0, const Transformation &  xfm1  )

noexcept

Computes the AABB.

Computes the Axis Aligned Bounding Box (AABB) for the given child shape at the given transforms.

Parameters

proxy	Distance proxy for the child shape.
xfm0	World transform 0 of the shape.
xfm1	World transform 1 of the shape.

Precondition

xfm0 and xfm1 are both valid.

Returns

AABB for the proxy shape or the default AABB if the proxy has a zero vertex count.

ComputeAABB() [3/4]

AABB playrho::d2::ComputeAABB	(	const World &	world,
		BodyID	bodyID,
		ShapeID	shapeID
	)

Computes the AABB for the identified shape relative to the identified body within the given world.

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() [4/4]

AABB playrho::d2::ComputeAABB	(	const World &	world,
		BodyID	id
	)

Computes the AABB for the identified body within the given world.

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).

ComputeHeight()

DynamicTree::Height playrho::d2::ComputeHeight ( const DynamicTree &  tree, DynamicTree::Size  index  )

noexcept

Computes the height of the tree from a given node.

Parameters

tree	Tree to compute the height at the given node for.
index	ID of node to compute height from.

Precondition

index is less than tree.GetNodeCapacity().

Returns

0 unless the given index is to a branch node.

Referenced by ComputeHeight().

ComputeIntersectingAABB() [1/2]

AABB playrho::d2::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.

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.

Referenced by playrho::d2::World::ComputeIntersectingAABB().

ComputeIntersectingAABB() [2/2]

AABB playrho::d2::ComputeIntersectingAABB	(	const World &	world,
		const Contact &	contact
	)

Computes the intersecting AABB for the given 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 playrho::d2::ComputeMassData	(	const World &	world,
		BodyID	id
	)

Computes the identified body's mass data.

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.

Examples

World.cpp.

Referenced by playrho::d2::World::ComputeMassData(), and playrho::d2::World::ResetMassData().

ComputeMassData() [2/2]

MassData playrho::d2::ComputeMassData	(	const World &	world,
		const Span< const ShapeID > &	ids
	)

Computes the mass data total of the identified shapes.

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.

ComputePerimeterRatio()

Real playrho::d2::ComputePerimeterRatio ( const DynamicTree &  tree )

noexcept

Gets the ratio of the sum of the perimeters of nodes to the root perimeter.

Note

Zero is returned if no proxies exist at the time of the call.

Returns

Value of zero or more.

Examples

World.cpp.

ComputeTotalPerimeter()

Length playrho::d2::ComputeTotalPerimeter ( const DynamicTree &  tree )

noexcept

Gets the sum of the perimeters of nodes.

Note

Zero is returned if no proxies exist at the time of the call.

Returns

Value of zero or more.

Referenced by ComputePerimeterRatio().

CreateBody() [1/3]

BodyID playrho::d2::CreateBody	(	AabbTreeWorld &	world,
		Body	body = Body{}
	)

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

Warning

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

Note

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

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

Postcondition

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

Parameters

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

Returns

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

Exceptions

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

See also

Destroy(BodyID), GetBodies.

Physical Entities.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, WorldBody.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::AabbTreeWorld::CreateBody(), playrho::d2::World::CreateBody(), and playrho::d2::detail::WorldModel< T >::CreateBody_().

CreateBody() [2/3]

BodyID playrho::d2::CreateBody	(	World &	world,
		const Body &	body = Body{},
		bool	resetMassData = true
	)

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() [3/3]

BodyID playrho::d2::CreateBody	(	World &	world,
		const BodyConf &	def,
		bool	resetMassData = true
	)

Creates a rigid body with the given configuration.

Warning

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

Note

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

Postcondition

The created body will be present in the range returned from the GetBodies(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() [1/3]

JointID playrho::d2::CreateJoint	(	AabbTreeWorld &	world,
		Joint	def
	)

Creates a joint to constrain one or more bodies.

Warning

This function is locked during callbacks.

Note

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

Postcondition

The created joint will be present in the container returned from the GetJoints(const AabbTreeWorld&) function.

Returns

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

Exceptions

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

See also

Physical Entities.

Destroy(JointID), GetJoints.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::CreateJoint(), and playrho::d2::detail::WorldModel< T >::CreateJoint_().

CreateJoint() [2/3]

JointID playrho::d2::CreateJoint ( World &  world, const Joint &  def  )

inline

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() [3/3]

template<typename T >

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

Creates a new joint from a configuration.

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() [1/3]

ShapeID playrho::d2::CreateShape	(	AabbTreeWorld &	world,
		Shape	def
	)

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

Exceptions

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

See also

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

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, WorldBody.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::Attach(), and playrho::d2::detail::WorldModel< T >::CreateShape_().

CreateShape() [2/3]

ShapeID playrho::d2::CreateShape ( World &  world, const Shape &  def  )

inline

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() [3/3]

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.

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() [1/6]

void playrho::d2::Destroy	(	AabbTreeWorld &	world,
		BodyID	id
	)

Destroys the identified body.

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

Warning

This automatically deletes all associated shapes and joints.

Note

This function is locked during callbacks.

Parameters

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

Exceptions

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

Postcondition

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

See also

CreateBody, GetBodies(const AabbTreeWorld&), GetFixturesForProxies, IsDestroyed(const AabbTreeWorld& world, BodyID).

Physical Entities.

Examples

RevoluteJoint.cpp, World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::Destroy_().

Destroy() [2/6]

void playrho::d2::Destroy	(	AabbTreeWorld &	world,
		JointID	id
	)

Destroys a joint.

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

Note

This function is locked during callbacks.

This may cause the connected bodies to begin colliding.

Parameters

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

Postcondition

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

Exceptions

WrongState

if this function is called while the world is locked.

See also

CreateJoint, GetJoints, IsDestroyed(const AabbTreeWorld& world, JointID).

Physical Entities.

Destroy() [3/6]

void playrho::d2::Destroy	(	AabbTreeWorld &	world,
		ShapeID	id
	)

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

Note

This function is locked during callbacks.

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

Parameters

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

Exceptions

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

Postcondition

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

See also

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

Destroy() [4/6]

void playrho::d2::Destroy ( World &  world, BodyID  id  )

inline

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() [5/6]

void playrho::d2::Destroy ( World &  world, JointID  id  )

inline

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() [6/6]

void playrho::d2::Destroy ( World &  world, ShapeID  id  )

inline

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() [1/3]

bool playrho::d2::Detach	(	AabbTreeWorld &	world,
		BodyID	id,
		ShapeID	shapeID
	)

Disassociates a validly identified shape from the validly identified body.

Exceptions

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

Examples

World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::Detach().

Detach() [2/3]

bool playrho::d2::Detach	(	World &	world,
		BodyID	id,
		bool	resetMassData = true
	)

Disassociates all of the associated shape from the validly identified body.

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() [3/3]

bool playrho::d2::Detach	(	World &	world,
		BodyID	id,
		ShapeID	shapeID,
		bool	resetMassData = true
	)

Disassociates a validly identified shape from the validly identified body.

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.

Distance()

DistanceOutput playrho::d2::Distance	(	const DistanceProxy &	proxyA,
		const Transformation &	transformA,
		const DistanceProxy &	proxyB,
		const Transformation &	transformB,
		DistanceConf	conf = DistanceConf{}
	)

Determines the closest points between two shapes using an iterative method.

Note

Supports any combination of convex shapes.

Uses the G.J.K. (GJK) algorithm: "a method for determining the minimum distance between two convex sets".

On the first call, size(conf.cache.indices) should be zero.

Parameters

proxyA	Proxy A.
transformA	Transform of A.
proxyB	Proxy B.
transformB	Transform of B.
conf	Configuration to use including the simplex cache for assisting the determination.

Returns

Closest points between the two shapes, the count of iterations it took to determine them, and the reason iterations stopped. The iteration count will always be greater than zero unless DefaultMaxDistanceIters is zero.

See also

https://en.wikipedia.org/wiki/Gilbert%2DJohnson%2DKeerthi_distance_algorithm

GetMaxSeparation.

Referenced by playrho::ToiOutput::GetToiViaSat(), and playrho::d2::DistanceProxy::TestOverlap().

EnableLimit() [1/2]

void playrho::d2::EnableLimit	(	Joint &	object,
		bool	value
	)

Enables the specified joint's limit property if it supports one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::World::EnableLimit().

EnableLimit() [2/2]

void playrho::d2::EnableLimit	(	World &	world,
		JointID	id,
		bool	value
	)

Sets whether the identified joint's limit is enabled or not.

Exceptions

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

EnableMotor() [1/2]

void playrho::d2::EnableMotor	(	Joint &	object,
		bool	value
	)

Enables the specified joint's motor property if it supports one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::EnableMotor().

EnableMotor() [2/2]

void playrho::d2::EnableMotor	(	World &	world,
		JointID	id,
		bool	value
	)

Enable/disable the joint motor.

Exceptions

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

Evaluate()

Length playrho::d2::Evaluate	(	const SeparationScenario &	scenario,
		const DistanceProxy &	proxyA,
		const Transformation &	xfA,
		const DistanceProxy &	proxyB,
		const Transformation &	xfB,
		IndexPair	indexPair
	)

Evaluates the separation of the identified proxy vertices at the given time factor.

Parameters

scenario	Separation scenario to evaluate.
proxyA	Interface to data for convex polygon A.
xfA	Transformation A.
proxyB	Interface to data for convex polygon B.
xfB	Transformation B.
indexPair	Indexes of the proxy A and proxy B vertexes.

Returns

Separation distance which will be negative when the given transforms put the vertices on the opposite sides of the separating axis.

Referenced by playrho::ToiOutput::GetToiViaSat().

FindClosestBody()

BodyID playrho::d2::FindClosestBody	(	const World &	world,
		const Length2 &	location
	)

Finds body in given world that's closest to the given 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.

Examples

World.cpp.

FindIndex()

auto playrho::d2::FindIndex ( const DynamicTree &  tree, const Contactable &  c  ) -> DynamicTree::Size

noexcept

Finds index of node matching given contactble using a linear search.

Returns

Node index or DynamicTree::InvalidSize.

See also

DynamicTree::InvalidSize.

Examples

World.cpp.

FindLowestRightMostVertex()

std::size_t playrho::d2::FindLowestRightMostVertex ( Span< const Length2 >  vertices )

noexcept

Finds the index of the lowest right most vertex in the given collection.

Returns

Index of the lowest right most vertex in the given collection, or std::size_t(-1) for empty container.

Referenced by GetConvexHullAsVector().

FindMinSeparation()

LengthIndexPair playrho::d2::FindMinSeparation	(	const SeparationScenario &	scenario,
		const DistanceProxy &	proxyA,
		const Transformation &	xfA,
		const DistanceProxy &	proxyB,
		const Transformation &	xfB
	)

Finds the minimum separation.

Returns

indexes of proxy A's and proxy B's vertices that have the minimum distance between them and what that distance is.

Referenced by playrho::ToiOutput::GetToiViaSat().

GetAABB() [1/2]

AABB GetAABB ( const DynamicTree &  tree )

inlinenoexcept

Gets the AABB for the given dynamic tree.

Gets the AABB that encloses all other AABB instances that are within the given dynamic tree.

Returns

Enclosing AABB or the "unset" AABB.

GetAABB() [2/2]

constexpr AABB GetAABB ( const DynamicTree::TreeNode &  node )

constexprnoexcept

Gets the AABB of the given dynamic tree node.

Precondition

node must be a used node. I.e. IsUnused(node) must be false.

GetAcceleration() [1/2]

Acceleration GetAcceleration ( const Body &  body )

inlinenoexcept

Gets the given body's acceleration.

Parameters

body	Body whose acceleration should be returned.

See also

SetAcceleration(Body& body, Acceleration value).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::operator==().

GetAcceleration() [2/2]

Acceleration playrho::d2::GetAcceleration	(	const World &	world,
		BodyID	id
	)

Gets the acceleration of the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

SetAcceleration(World&, BodyID, LinearAcceleration2, AngularAcceleration).

GetAnchorA()

Length2 playrho::d2::GetAnchorA	(	const World &	world,
		JointID	id
	)

Get the anchor point on body-A in world coordinates.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::GetCurrentLengthA(), and playrho::d2::World::GetJointTranslation().

GetAnchorB()

Length2 playrho::d2::GetAnchorB	(	const World &	world,
		JointID	id
	)

Get the anchor point on body-B in world coordinates.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::GetCurrentLengthB(), and playrho::d2::World::GetJointTranslation().

GetAngle() [1/4]

Angle playrho::d2::GetAngle ( const Body &  body )

noexcept

Gets the body's angle.

Returns

Body's angle relative to its World.

Examples

FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, and WorldBody.cpp.

Referenced by GetAngle(), playrho::d2::World::GetAngle(), playrho::d2::World::GetGearJointConf(), playrho::d2::World::GetMotorJointConf(), playrho::d2::Body::GetPosition(), GetPosition(), playrho::d2::World::GetPrismaticJointConf(), playrho::d2::World::GetRevoluteJointConf(), playrho::d2::World::GetWeldJointConf(), playrho::d2::World::RotateAboutWorldPoint(), and playrho::d2::World::SetMassData().

GetAngle() [2/4]

Angle playrho::d2::GetAngle	(	const World &	world,
		BodyID	id
	)

Gets the angle of the identified body.

Returns

the current world rotation angle.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetAngle() [3/4]

Angle playrho::d2::GetAngle	(	const World &	world,
		const RevoluteJointConf &	conf
	)

Gets the current angle of the given configuration in the given world.

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() [4/4]

Angle playrho::d2::GetAngle	(	const World &	world,
		JointID	id
	)

Gets the angle property of the identified joint if it has it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularAcceleration() [1/2]

AngularAcceleration GetAngularAcceleration ( const Body &  body )

inlinenoexcept

Gets this body's angular acceleration.

See also

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

Examples

Body.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyForceToCenter(), playrho::d2::World::ApplyTorque(), playrho::d2::World::GetAcceleration(), playrho::d2::World::GetAngularAcceleration(), and playrho::d2::Body::GetBodyConf().

GetAngularAcceleration() [2/2]

AngularAcceleration playrho::d2::GetAngularAcceleration	(	const World &	world,
		BodyID	id
	)

Gets this body's angular acceleration.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

GetAcceleration(const World& world, BodyID id).

GetAngularDamping() [1/2]

NonNegative< Frequency > GetAngularDamping ( const Body &  body )

inlinenoexcept

Gets the angular damping of the body.

See also

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

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::World::GetAngularDamping(), playrho::d2::Body::GetBodyConf(), and playrho::d2::Body::operator==().

GetAngularDamping() [2/2]

Frequency playrho::d2::GetAngularDamping	(	const World &	world,
		BodyID	id
	)

Gets the angular damping of the body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetAngularLowerLimit() [1/2]

Angle playrho::d2::GetAngularLowerLimit

(

const Joint &

object

)

Gets the lower joint limit.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetAngularLowerLimit(), and playrho::d2::World::GetAngularLowerLimit().

GetAngularLowerLimit() [2/2]

Angle playrho::d2::GetAngularLowerLimit	(	const World &	world,
		JointID	id
	)

Get the lower joint limit.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularMass() [1/2]

RotInertia playrho::d2::GetAngularMass

(

const Joint &

object

)

Gets the given joint's angular mass.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

FrictionJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetAngularMass(), and playrho::d2::World::GetAngularMass().

GetAngularMass() [2/2]

RotInertia playrho::d2::GetAngularMass	(	const World &	world,
		JointID	id
	)

Gets the computed angular rotational inertia used by the joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularMotorImpulse() [1/2]

AngularMomentum playrho::d2::GetAngularMotorImpulse

(

const Joint &

object

)

Gets the angular motor impulse of the joint if it has this property.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetAngularMotorImpulse(), playrho::d2::World::GetAngularMotorImpulse(), playrho::d2::Joint::GetMotorTorque(), and playrho::d2::World::GetMotorTorque().

GetAngularMotorImpulse() [2/2]

AngularMomentum playrho::d2::GetAngularMotorImpulse	(	const World &	world,
		JointID	id
	)

Gets the angular motor impulse of the identified joint if it has this property.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularOffset() [1/2]

Angle playrho::d2::GetAngularOffset

(

const Joint &

object

)

Gets the angular offset property of the specified joint if its type has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

MotorJoint.cpp, and PrismaticJoint.cpp.

Referenced by playrho::d2::Joint::GetAngularOffset(), and playrho::d2::World::GetAngularOffset().

GetAngularOffset() [2/2]

Angle playrho::d2::GetAngularOffset	(	const World &	world,
		JointID	id
	)

Gets the target angular offset.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularReaction() [1/2]

AngularMomentum playrho::d2::GetAngularReaction

(

const Joint &

object

)

Get the angular reaction on body-B.

GetAngularReaction() [2/2]

AngularMomentum playrho::d2::GetAngularReaction	(	const World &	world,
		JointID	id
	)

Get the angular reaction on body-B for the identified joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularUpperLimit() [1/2]

Angle playrho::d2::GetAngularUpperLimit

(

const Joint &

object

)

Gets the upper joint limit.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetAngularUpperLimit(), and playrho::d2::World::GetAngularUpperLimit().

GetAngularUpperLimit() [2/2]

Angle playrho::d2::GetAngularUpperLimit	(	const World &	world,
		JointID	id
	)

Get the upper joint limit.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAngularVelocity() [1/5]

AngularVelocity GetAngularVelocity ( const Body &  body )

inlinenoexcept

Gets the angular velocity.

Parameters

body	Body to get the angular velocity for.

Returns

the angular velocity.

See also

GetVelocity(const Body& body).

Examples

RevoluteJoint.cpp, WheelJoint.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::GetAngularVelocity(), playrho::d2::Body::GetBodyConf(), playrho::d2::Body::SetVelocity(), and playrho::d2::World::SetVelocity().

GetAngularVelocity() [2/5]

AngularVelocity GetAngularVelocity ( const World &  world, BodyID  id  )

inline

Gets the angular velocity.

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() [3/5]

AngularVelocity playrho::d2::GetAngularVelocity	(	const World &	world,
		const RevoluteJointConf &	conf
	)

Gets the current angular velocity of the given configuration.

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() [4/5]

AngularVelocity playrho::d2::GetAngularVelocity	(	const World &	world,
		const WheelJointConf &	conf
	)

Gets the angular velocity for the given configuration within the specified world.

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() [5/5]

AngularVelocity playrho::d2::GetAngularVelocity	(	const World &	world,
		JointID	id
	)

Gets the angular velocity of the identified joint if it has this property.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetAssociationCount()

ShapeCounter playrho::d2::GetAssociationCount

(

const World &

world

)

Gets the count of body-shape associations in the given world.

Parameters

world

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

See also

GetUsedShapesCount.

Examples

World.cpp.

GetAwakeCount()

BodyCounter playrho::d2::GetAwakeCount

(

const World &

world

)

Gets the count of awake bodies in the given world.

Parameters

world

The world for which to get the awake count for.

See also

Awaken.

Examples

World.cpp.

GetBodies() [1/2]

const BodyIDs & playrho::d2::GetBodies ( const AabbTreeWorld &  world )

inlinenoexcept

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

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

Returns

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

See also

CreateBody(const Body&).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::Awaken(), playrho::d2::World::CalcGravitationalAcceleration(), playrho::d2::World::FindClosestBody(), playrho::d2::World::GetAssociationCount(), playrho::d2::World::GetAwakeCount(), playrho::d2::detail::WorldModel< T >::GetBodies_(), playrho::d2::World::GetBodyCount(), playrho::d2::World::GetUsedShapesCount(), and playrho::d2::World::SetAccelerations().

GetBodies() [2/2]

std::vector< BodyID > playrho::d2::GetBodies ( const World &  world )

inline

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() [1/2]

const BodyIDs & playrho::d2::GetBodiesForProxies ( const AabbTreeWorld &  world )

inlinenoexcept

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.

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetBodiesForProxies_().

GetBodiesForProxies() [2/2]

std::vector< BodyID > playrho::d2::GetBodiesForProxies ( const World &  world )

inline

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() [1/2]

const Body & playrho::d2::GetBody	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Gets the identified body.

Exceptions

std::out_of_range

if given an invalid id.

See also

SetBody, GetBodyRange.

Examples

World.cpp.

Referenced by playrho::d2::World::ApplyAngularImpulse(), playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyLinearImpulse(), playrho::d2::AabbTreeWorld::Attach(), playrho::d2::World::Attach(), playrho::d2::AabbTreeWorld::Detach(), playrho::d2::World::Detach(), playrho::d2::World::GetAcceleration(), playrho::d2::World::GetAnchorA(), playrho::d2::World::GetAnchorB(), playrho::d2::World::GetAngle(), playrho::d2::World::GetAngularAcceleration(), playrho::d2::World::GetAngularDamping(), playrho::d2::World::GetAngularVelocity(), playrho::d2::detail::WorldModel< T >::GetBody_(), playrho::d2::World::GetInvMass(), playrho::d2::World::GetInvRotInertia(), playrho::d2::World::GetJointTranslation(), playrho::d2::World::GetLinearAcceleration(), playrho::d2::World::GetLinearDamping(), playrho::d2::World::GetLocalCenter(), playrho::d2::AabbTreeWorld::GetShapes(), playrho::d2::World::GetTransformation(), playrho::d2::World::GetType(), playrho::d2::World::GetVelocity(), playrho::d2::World::GetWorldCenter(), playrho::d2::World::IsAccelerable(), playrho::d2::World::IsAwake(), IsDestroyed(), playrho::d2::World::IsEnabled(), playrho::d2::World::IsFixedRotation(), playrho::d2::World::IsImpenetrable(), playrho::d2::World::IsMassDataDirty(), playrho::d2::World::IsSleepingAllowed(), playrho::d2::World::IsSpeedable(), playrho::d2::World::SetAcceleration(), playrho::d2::World::SetAngle(), playrho::d2::World::SetAngularDamping(), playrho::d2::World::SetAwake(), playrho::d2::World::SetEnabled(), playrho::d2::World::SetFixedRotation(), playrho::d2::World::SetImpenetrable(), playrho::d2::World::SetLinearDamping(), playrho::d2::World::SetLocation(), playrho::d2::World::SetMassData(), playrho::d2::World::SetSleepingAllowed(), playrho::d2::World::SetTransformation(), playrho::d2::World::SetType(), playrho::d2::World::SetVelocity(), playrho::d2::World::UnsetAwake(), and playrho::d2::World::UnsetImpenetrable().

GetBody() [2/2]

Body playrho::d2::GetBody ( const World &  world, BodyID  id  )

inline

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 playrho::d2::GetBodyA	(	const World &	world,
		ContactID	id
	)

Gets the body-A of the identified contact if it has one.

Returns

Identification of the body-A or InvalidBodyID.

Exceptions

std::out_of_range

If given an invalid contact identifier.

GetBodyA() [2/2]

BodyID playrho::d2::GetBodyA	(	const World &	world,
		JointID	id
	)

Gets the identifier of body-A of the identified joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetBodyB() [1/2]

BodyID playrho::d2::GetBodyB	(	const World &	world,
		ContactID	id
	)

Gets the body-B of the identified contact if it has one.

Returns

Identification of the body-B or InvalidBodyID.

Exceptions

std::out_of_range

If given an invalid contact identifier.

GetBodyB() [2/2]

BodyID playrho::d2::GetBodyB	(	const World &	world,
		JointID	id
	)

Gets the identifier of body-B of the identified joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetBodyConf()

BodyConf playrho::d2::GetBodyConf

(

const Body &

body

)

Gets the body definition for the given body.

Parameters

body	Body to get the BodyConf for.

GetBodyCount()

BodyCounter playrho::d2::GetBodyCount ( const World &  world )

noexcept

Gets the body count in the given world.

Returns

0 or higher.

Examples

World.cpp, and WorldBody.cpp.

GetBodyRange() [1/2]

BodyCounter playrho::d2::GetBodyRange ( const AabbTreeWorld &  world )

noexcept

Gets the extent of the currently valid body range.

Note

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

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetBodyRange_().

GetBodyRange() [2/2]

BodyCounter playrho::d2::GetBodyRange ( const World &  world )

inlinenoexcept

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 playrho::d2::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.

Exceptions

std::out_of_range

If given an invalid body identifier.

Examples

WorldBody.cpp.

GetChild()

DistanceProxy playrho::d2::GetChild	(	const Shape &	shape,
		ChildCounter	index
	)

Gets the "child" for the given index.

Parameters

shape	Shape to get "child" shape of.
index	Index to a child element of the shape. Value must be less than the number of child primitives of the shape.

Warning

The shape must remain in scope while the proxy is in use!

Exceptions

InvalidArgument

if the given index is out of range.

See also

GetChildCount

GetChildCount() [1/3]

constexpr ChildCounter playrho::d2::GetChildCount ( const EdgeShapeConf &  )

constexprnoexcept

Gets the "child" count for the given shape configuration.

Returns

1.

GetChildCount() [2/3]

constexpr ChildCounter GetChildCount ( const PolygonShapeConf &  )

constexprnoexcept

Gets the "child" count for the given shape configuration.

Returns

1.

GetChildCount() [3/3]

ChildCounter playrho::d2::GetChildCount ( const Shape &  shape )

noexcept

Gets the number of child primitives of the shape.

Returns

Non-negative count.

GetChildIndexA()

ChildCounter playrho::d2::GetChildIndexA	(	const World &	world,
		ContactID	id
	)

Gets the child primitive index A for the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::GetChildIndexA(), and playrho::Contact::GetWorldManifold().

GetChildIndexB()

ChildCounter playrho::d2::GetChildIndexB	(	const World &	world,
		ContactID	id
	)

Gets the child primitive index B for the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::GetChildIndexB(), and playrho::Contact::GetWorldManifold().

GetCollideConnected() [1/2]

bool playrho::d2::GetCollideConnected ( const Joint &  object )

noexcept

Gets collide connected.

Note

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

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, Joint.cpp, MotorJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::GetCollideConnected(), playrho::d2::detail::JointModel< T >::GetCollideConnected_(), and playrho::d2::JointConf::Set().

GetCollideConnected() [2/2]

bool playrho::d2::GetCollideConnected	(	const World &	world,
		JointID	id
	)

Gets collide connected for the specified joint.

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() [1/2]

const Contact & playrho::d2::GetContact	(	const AabbTreeWorld &	world,
		ContactID	id
	)

Gets the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetContact.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::GetBodyA(), playrho::d2::World::GetBodyB(), playrho::d2::World::GetChildIndexA(), playrho::d2::World::GetChildIndexB(), playrho::d2::detail::WorldModel< T >::GetContact_(), playrho::d2::World::GetDefaultFriction(), playrho::d2::World::GetDefaultRestitution(), playrho::d2::World::GetFriction(), playrho::d2::World::GetRestitution(), playrho::d2::World::GetShapeA(), playrho::d2::World::GetShapeB(), playrho::d2::World::GetTangentSpeed(), playrho::d2::World::GetToi(), playrho::d2::World::GetToiCount(), playrho::d2::World::GetWorldManifold(), playrho::d2::World::HasValidToi(), playrho::d2::World::IsAwake(), IsDestroyed(), playrho::d2::World::IsEnabled(), playrho::d2::World::IsTouching(), playrho::d2::World::MakeTouchingMap(), playrho::d2::World::NeedsFiltering(), playrho::d2::World::NeedsUpdating(), playrho::d2::World::SameTouching(), playrho::d2::World::SetEnabled(), playrho::d2::World::SetFriction(), playrho::d2::World::SetRestitution(), playrho::d2::World::SetTangentSpeed(), and playrho::d2::World::UnsetEnabled().

GetContact() [2/2]

Contact playrho::d2::GetContact ( const World &  world, ContactID  id  )

inline

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 )

inlinenoexcept

Gets the count of contacts in the given 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.

Examples

World.cpp.

GetContactRange() [1/2]

ContactCounter playrho::d2::GetContactRange ( const AabbTreeWorld &  world )

noexcept

Gets the extent of the currently valid contact range.

Note

This is one higher than the maxium ContactID that is in range for contact related functions.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetContactRange_(), and playrho::d2::World::MakeTouchingMap().

GetContactRange() [2/2]

ContactCounter playrho::d2::GetContactRange ( const World &  world )

inlinenoexcept

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.

GetContactRelVelocity()

LinearVelocity2 playrho::d2::GetContactRelVelocity ( const Velocity &  velA, const Length2 &  relA, const Velocity &  velB, const Length2 &  relB  )

noexcept

Gets the contact relative velocity.

Note

If relA and relB are the zero vectors, the resulting value is simply velB.linear - velA.linear.

GetContacts() [1/4]

KeyedContactIDs playrho::d2::GetContacts ( const AabbTreeWorld &  world )

inline

Gets a container of valid world contact identifiers.

Warning

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

Returns

Container of keyed contact IDs of existing contacts.

GetContacts() [2/4]

const BodyContactIDs & playrho::d2::GetContacts	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Gets the contacts associated with the identified body.

Exceptions

std::out_of_range

if given an invalid id.

Examples

World.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::GetContactCount(), playrho::d2::detail::WorldModel< T >::GetContacts_(), and playrho::d2::World::GetTouchingCount().

GetContacts() [3/4]

std::vector< KeyedContactID > playrho::d2::GetContacts ( const World &  world )

inline

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() [4/4]

std::vector< std::tuple< ContactKey, ContactID > > playrho::d2::GetContacts ( const World &  world, BodyID  id  )

inline

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.

GetConvexHullAsVector()

std::vector< Length2 > playrho::d2::GetConvexHullAsVector

(

Span< const Length2 >

vertices

)

Gets the convex hull for the given collection of vertices as a vector.

Returns

Counter-clockwise vertices that "gift-wrap" the given vertices starting with lowest right-most vertex.

See also

FindLowestRightMostVertex.

Referenced by playrho::d2::ConvexHull::Get(), and playrho::d2::PolygonShapeConf::Set().

GetCurrentLengthA()

Length playrho::d2::GetCurrentLengthA	(	const World &	world,
		JointID	id
	)

Get the current length of the segment attached to body-A.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

PulleyJoint.cpp.

GetCurrentLengthB()

Length playrho::d2::GetCurrentLengthB	(	const World &	world,
		JointID	id
	)

Get the current length of the segment attached to body-B.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

PulleyJoint.cpp.

GetDampingRatio() [1/2]

Real playrho::d2::GetDampingRatio

(

const Joint &

object

)

Gets the given joint's damping ratio property if it has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

DistanceJoint.cpp, PrismaticJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetDampingRatio(), and playrho::d2::World::GetDampingRatio().

GetDampingRatio() [2/2]

Real playrho::d2::GetDampingRatio	(	const World &	world,
		JointID	id
	)

Gets the damping ratio associated with the identified joint if it has one.

Exceptions

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

GetData()

const void* playrho::d2::GetData ( const Shape &  shape )

noexcept

Gets a pointer to the underlying data.

Note

Provided for introspective purposes like visitation.

GetDefaultFriction()

Real playrho::d2::GetDefaultFriction	(	const World &	world,
		ContactID	id
	)

Gets the default friction amount for the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetFriction.

Referenced by playrho::d2::World::GetDefaultFriction(), and playrho::d2::World::ResetFriction().

GetDefaultRestitution()

Real playrho::d2::GetDefaultRestitution	(	const World &	world,
		ContactID	id
	)

Gets the default restitution amount for the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetRestitution.

Referenced by playrho::d2::World::GetDefaultRestitution(), and playrho::d2::World::ResetRestitution().

GetDensity() [1/2]

NonNegative<AreaDensity> playrho::d2::GetDensity ( const Shape &  shape )

noexcept

Gets the density of the given shape.

Returns

Non-negative density (in mass per area).

See also

SetDensity(Shape& shape, NonNegative<AreaDensity> value).

Examples

Shape.cpp, World.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::ComputeMassData(), playrho::d2::World::GetDensity(), playrho::d2::detail::ShapeModel< T >::GetDensity_(), and playrho::d2::detail::SetDensity().

GetDensity() [2/2]

NonNegative< AreaDensity > playrho::d2::GetDensity	(	const World &	world,
		ShapeID	id
	)

Gets the density of this shape.

Returns

Non-negative density (in mass per area).

Exceptions

std::out_of_range

If given an invalid identifier.

GetDistanceJointConf() [1/2]

DistanceJointConf playrho::d2::GetDistanceJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Parameters

joint

The joint to get the configuration for.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

DistanceJoint.cpp, and World.cpp.

GetDistanceJointConf() [2/2]

DistanceJointConf playrho::d2::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.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetFilter()

Filter playrho::d2::GetFilter ( const Shape &  shape )

noexcept

Gets the filter value for the given shape.

Returns

Filter for the given shape or the default filter is the shape has no value.

See also

SetFilter(Shape& shape, Filter value);.

Examples

Shape.cpp.

Referenced by playrho::d2::detail::ShapeModel< T >::GetFilter_(), playrho::d2::World::GetFilterData(), playrho::d2::detail::SetFilter(), and playrho::d2::Shape::ShouldCollide().

GetFilterData()

Filter playrho::d2::GetFilterData	(	const World &	world,
		ShapeID	id
	)

Gets the filter data for the identified shape.

Exceptions

std::out_of_range

If given an invalid identifier.

See also

SetFilterData.

Examples

World.cpp, and WorldShape.cpp.

GetFixturesForProxies()

const BodyShapeIDs & playrho::d2::GetFixturesForProxies ( const AabbTreeWorld &  world )

inlinenoexcept

Gets the fixtures-for-proxies for this world.

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

See also

Step.

GetFrequency() [1/2]

Frequency playrho::d2::GetFrequency

(

const Joint &

object

)

Gets the frequency of the joint if it has this property.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

DistanceJoint.cpp, PrismaticJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetFrequency(), and playrho::d2::World::GetFrequency().

GetFrequency() [2/2]

Frequency playrho::d2::GetFrequency	(	const World &	world,
		JointID	id
	)

Gets the frequency of the identified joint if it has this property.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetFriction() [1/3]

NonNegativeFF<Real> playrho::d2::GetFriction ( const Shape &  shape )

noexcept

Gets the coefficient of friction.

Returns

Value of 0 or higher.

See also

SetFriction(Shape& shape, NonNegative<Real> value).

Examples

Shape.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::Shape::GetDefaultFriction(), playrho::d2::World::GetFriction(), playrho::d2::detail::ShapeModel< T >::GetFriction_(), and playrho::d2::detail::SetFriction().

GetFriction() [2/3]

NonNegativeFF< Real > playrho::d2::GetFriction	(	const World &	world,
		ContactID	id
	)

Gets the friction used with the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetFriction.

GetFriction() [3/3]

NonNegativeFF< Real > playrho::d2::GetFriction	(	const World &	world,
		ShapeID	id
	)

Gets the coefficient of friction of the specified shape.

Returns

Value of 0 or higher.

Exceptions

std::out_of_range

If given an invalid identifier.

GetFrictionJointConf() [1/2]

FrictionJointConf playrho::d2::GetFrictionJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

FrictionJoint.cpp.

GetFrictionJointConf() [2/2]

FrictionJointConf playrho::d2::GetFrictionJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor
	)

Gets the confguration for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetFwdPerpendicular()

constexpr UnitVec playrho::d2::GetFwdPerpendicular ( const UnitVec &  vector )

constexprnoexcept

Gets a vector clockwise (forward-clockwise) perpendicular to the given vector.

This takes a vector of form (x, y) and returns the vector (y, -x).

Parameters

vector

Vector to return a clockwise perpendicular equivalent for.

Returns

A clockwise 90-degree rotation of the given vector.

See also

GetRevPerpendicular.

Referenced by CalcSearchDirection(), GetFwdNormalsArray(), GetFwdNormalsVector(), GetManifold(), GetSeparationScenario(), and playrho::d2::VelocityConstraint::GetTangent().

GetGearJointConf() [1/2]

GearJointConf playrho::d2::GetGearJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

GearJoint.cpp, and World.cpp.

GetGearJointConf() [2/2]

GearJointConf playrho::d2::GetGearJointConf	(	const World &	world,
		JointID	id1,
		JointID	id2,
		Real	ratio = Real{1}
	)

Gets the configuration for the given parameters.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetGroundAnchorA() [1/2]

Length2 playrho::d2::GetGroundAnchorA

(

const Joint &

object

)

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and PulleyJoint.cpp.

Referenced by playrho::d2::World::GetCurrentLengthA(), playrho::d2::Joint::GetGroundAnchorA(), and playrho::d2::World::GetGroundAnchorA().

GetGroundAnchorA() [2/2]

Length2 playrho::d2::GetGroundAnchorA	(	const World &	world,
		JointID	id
	)

Get the first ground anchor.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetGroundAnchorB() [1/2]

Length2 playrho::d2::GetGroundAnchorB

(

const Joint &

object

)

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and PulleyJoint.cpp.

Referenced by playrho::d2::World::GetCurrentLengthB(), playrho::d2::Joint::GetGroundAnchorB(), and playrho::d2::World::GetGroundAnchorB().

GetGroundAnchorB() [2/2]

Length2 playrho::d2::GetGroundAnchorB	(	const World &	world,
		JointID	id
	)

Get the second ground anchor.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetHeight()

DynamicTree::Height GetHeight ( const DynamicTree &  tree )

inlinenoexcept

Gets the height of the binary tree.

Returns

Height of the tree (as stored in the root node) or 0 if the root node is not valid.

Examples

World.cpp.

Referenced by playrho::d2::DynamicTree::DestroyLeaf(), and playrho::d2::DynamicTree::ShiftOrigin().

GetInvDeltaTime() [1/2]

Frequency playrho::d2::GetInvDeltaTime ( const AabbTreeWorld &  world )

inlinenoexcept

Gets the inverse delta time.

Gets the inverse delta time that was set on construction or assignment, and updated on every call to the Step() function having a non-zero delta-time.

See also

Step.

Referenced by playrho::d2::detail::WorldModel< T >::GetInvDeltaTime_(), and playrho::d2::World::Step().

GetInvDeltaTime() [2/2]

Frequency playrho::d2::GetInvDeltaTime ( const World &  world )

inlinenoexcept

Gets the inverse delta time.

Gets the inverse delta time that was set on construction or assignment, and updated on every call to the Step function having a non-zero delta-time.

Parameters

world

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

See also

Step.

GetInvMass() [1/2]

NonNegativeFF< InvMass > GetInvMass ( const Body &  body )

inlinenoexcept

Gets the inverse total mass of the body.

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

Returns

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

See also

SetInvMassData.

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyForceToCenter(), playrho::d2::Body::GetBodyConf(), GetBodyConstraint(), playrho::d2::World::GetInvMass(), playrho::d2::World::GetMass(), playrho::d2::Body::operator==(), and playrho::d2::World::SetForce().

GetInvMass() [2/2]

InvMass playrho::d2::GetInvMass	(	const World &	world,
		BodyID	id
	)

Gets the inverse total mass of the body.

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() [1/2]

NonNegativeFF< InvRotInertia > GetInvRotInertia ( const Body &  body )

inlinenoexcept

Gets the inverse rotational inertia of the body.

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

Returns

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

Examples

RevoluteJoint.cpp.

Referenced by playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyTorque(), playrho::d2::Body::GetBodyConf(), GetBodyConstraint(), playrho::d2::World::GetInvRotInertia(), playrho::d2::World::GetRotInertia(), playrho::d2::Body::operator==(), playrho::d2::World::SetForce(), and playrho::d2::World::SetTorque().

GetInvRotInertia() [2/2]

InvRotInertia playrho::d2::GetInvRotInertia	(	const World &	world,
		BodyID	id
	)

Gets the inverse rotational inertia of the body.

Returns

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

Exceptions

std::out_of_range

If given an invalid body identifier.

GetJoint() [1/2]

const Joint & playrho::d2::GetJoint	(	const AabbTreeWorld &	world,
		JointID	id
	)

Gets the identified joint.

Exceptions

std::out_of_range

if given an invalid ID.

Examples

DistanceJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, and RopeJoint.cpp.

Referenced by playrho::d2::World::EnableLimit(), playrho::d2::World::EnableMotor(), playrho::d2::World::GetAnchorA(), playrho::d2::World::GetAnchorB(), playrho::d2::World::GetAngle(), playrho::d2::World::GetAngularLowerLimit(), playrho::d2::World::GetAngularMass(), playrho::d2::World::GetAngularMotorImpulse(), playrho::d2::World::GetAngularOffset(), playrho::d2::World::GetAngularReaction(), playrho::d2::World::GetAngularUpperLimit(), playrho::d2::World::GetAngularVelocity(), playrho::d2::World::GetBodyA(), playrho::d2::World::GetBodyB(), playrho::d2::World::GetCollideConnected(), playrho::d2::World::GetDampingRatio(), playrho::d2::World::GetFrequency(), playrho::d2::World::GetGroundAnchorA(), playrho::d2::World::GetGroundAnchorB(), playrho::d2::detail::WorldModel< T >::GetJoint_(), playrho::d2::World::GetJointTranslation(), playrho::d2::World::GetLength(), playrho::d2::World::GetLimitState(), playrho::d2::World::GetLinearMotorImpulse(), playrho::d2::World::GetLinearOffset(), playrho::d2::World::GetLinearReaction(), playrho::d2::World::GetLocalAnchorA(), playrho::d2::World::GetLocalAnchorB(), playrho::d2::World::GetLocalXAxisA(), playrho::d2::World::GetLocalYAxisA(), playrho::d2::World::GetMaxMotorTorque(), playrho::d2::World::GetMotorSpeed(), playrho::d2::World::GetRatio(), playrho::d2::World::GetReferenceAngle(), playrho::d2::World::GetTarget(), playrho::d2::World::GetType(), IsDestroyed(), playrho::d2::World::IsLimitEnabled(), playrho::d2::World::IsMotorEnabled(), playrho::d2::World::SetAngularLimits(), playrho::d2::World::SetAngularOffset(), playrho::d2::World::SetAwake(), playrho::d2::World::SetFrequency(), playrho::d2::World::SetLinearOffset(), playrho::d2::World::SetMaxMotorTorque(), playrho::d2::World::SetMotorSpeed(), playrho::d2::World::SetTarget(), and playrho::d2::World::ShiftOrigin().

GetJoint() [2/2]

Joint playrho::d2::GetJoint ( const World &  world, JointID  id  )

inline

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 )

inline

Gets the count of joints in the given world.

Returns

0 or higher.

Examples

World.cpp.

GetJointRange() [1/2]

JointCounter playrho::d2::GetJointRange ( const AabbTreeWorld &  world )

noexcept

Gets the extent of the currently valid joint range.

Note

This is one higher than the maxium JointID that is in range for joint related functions.

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetJointRange_().

GetJointRange() [2/2]

JointCounter playrho::d2::GetJointRange ( const World &  world )

inlinenoexcept

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() [1/4]

const JointIDs & playrho::d2::GetJoints ( const AabbTreeWorld &  world )

inlinenoexcept

Gets the container of joint IDs of the given world.

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

Returns

Container of joint IDs of existing joints.

See also

CreateJoint(const Joint&).

GetJoints() [2/4]

const BodyJointIDs & playrho::d2::GetJoints	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Exceptions

std::out_of_range

if given an invalid id.

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::GetJointCount(), and playrho::d2::detail::WorldModel< T >::GetJoints_().

GetJoints() [3/4]

std::vector< JointID > playrho::d2::GetJoints ( const World &  world )

inline

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() [4/4]

std::vector< std::pair< BodyID, JointID > > playrho::d2::GetJoints ( const World &  world, BodyID  id  )

inline

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 playrho::d2::GetJointTranslation	(	const World &	world,
		JointID	id
	)

Gets the current joint translation.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

PrismaticJoint.cpp, and WheelJoint.cpp.

GetLength() [1/2]

Length playrho::d2::GetLength

(

const Joint &

object

)

Gets the length property of the specified joint if its type has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

GetLength() [2/2]

Length playrho::d2::GetLength	(	const World &	world,
		JointID	id
	)

Gets the length associated with the identified joint if it has one.

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() [1/2]

LimitState playrho::d2::GetLimitState

(

const Joint &

object

)

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and RopeJoint.cpp.

Referenced by playrho::d2::Joint::GetLimitState(), and playrho::d2::World::GetLimitState().

GetLimitState() [2/2]

LimitState playrho::d2::GetLimitState	(	const World &	world,
		JointID	id
	)

Gets the joint's limit state if it has one.

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() [1/2]

LinearAcceleration2 GetLinearAcceleration ( const Body &  body )

inlinenoexcept

Gets this body's linear acceleration.

See also

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

Examples

Body.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyForceToCenter(), playrho::d2::World::ApplyTorque(), playrho::d2::World::GetAcceleration(), playrho::d2::Body::GetBodyConf(), playrho::d2::World::GetLinearAcceleration(), and playrho::d2::World::SetTorque().

GetLinearAcceleration() [2/2]

LinearAcceleration2 playrho::d2::GetLinearAcceleration	(	const World &	world,
		BodyID	id
	)

Gets this body's linear acceleration.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

GetAcceleration(const World& world, BodyID id).

GetLinearDamping() [1/2]

NonNegative< Frequency > GetLinearDamping ( const Body &  body )

inlinenoexcept

Gets the linear damping of the body.

See also

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

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), playrho::d2::World::GetLinearDamping(), and playrho::d2::Body::operator==().

GetLinearDamping() [2/2]

Frequency playrho::d2::GetLinearDamping	(	const World &	world,
		BodyID	id
	)

Gets the linear damping of the body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetLinearLowerLimit()

Length playrho::d2::GetLinearLowerLimit

(

const Joint &

object

)

Gets the lower linear joint limit.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetLinearLowerLimit().

GetLinearMotorImpulse() [1/2]

Momentum playrho::d2::GetLinearMotorImpulse

(

const Joint &

object

)

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetLinearMotorImpulse(), playrho::d2::World::GetLinearMotorImpulse(), and playrho::d2::World::GetMotorForce().

GetLinearMotorImpulse() [2/2]

Momentum playrho::d2::GetLinearMotorImpulse	(	const World &	world,
		JointID	id
	)

Gets the linear motor impulse of the identified joint if it supports that.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLinearOffset() [1/2]

Length2 playrho::d2::GetLinearOffset

(

const Joint &

object

)

Gets the linear offset property of the specified joint if its type has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

MotorJoint.cpp, and PrismaticJoint.cpp.

Referenced by playrho::d2::Joint::GetLinearOffset(), and playrho::d2::World::GetLinearOffset().

GetLinearOffset() [2/2]

Length2 playrho::d2::GetLinearOffset	(	const World &	world,
		JointID	id
	)

Gets the target linear offset, in frame A.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLinearReaction() [1/2]

Momentum2 playrho::d2::GetLinearReaction

(

const Joint &

object

)

Get the linear reaction on body-B at the joint anchor.

GetLinearReaction() [2/2]

Momentum2 playrho::d2::GetLinearReaction	(	const World &	world,
		JointID	id
	)

Gets the linear reaction on body-B at the joint anchor.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLinearUpperLimit()

Length playrho::d2::GetLinearUpperLimit

(

const Joint &

object

)

Gets the upper linear joint limit.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetLinearUpperLimit().

GetLinearVelocity() [1/3]

LinearVelocity2 GetLinearVelocity ( const Body &  body )

inlinenoexcept

Gets the linear velocity of the center of mass.

Parameters

body	Body to get the linear velocity for.

Returns

the linear velocity of the center of mass.

See also

GetVelocity(const Body& body).

Examples

PrismaticJoint.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), playrho::d2::World::GetCentripetalForce(), playrho::d2::Body::SetVelocity(), and playrho::d2::World::SetVelocity().

GetLinearVelocity() [2/3]

LinearVelocity2 GetLinearVelocity ( const World &  world, BodyID  id  )

inline

Gets the linear velocity of the center of mass of the identified body.

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() [3/3]

LinearVelocity playrho::d2::GetLinearVelocity ( const World &  world, const PrismaticJointConf &  joint  )

noexcept

Gets the current linear velocity of the given configuration.

Exceptions

std::out_of_range

If given an invalid body identifier in the given joint conifguration.

GetLinearVelocityFromLocalPoint()

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

inlinenoexcept

Gets the linear velocity from a local point.

Parameters

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

Returns

the world velocity of a point.

GetLinearVelocityFromWorldPoint()

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

inlinenoexcept

Gets the linear velocity from a world point attached to this body.

Parameters

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

Returns

the world velocity of a point.

Referenced by playrho::d2::Body::GetLinearVelocityFromLocalPoint().

GetLocalAnchorA() [1/2]

Length2 playrho::d2::GetLocalAnchorA

(

const Joint &

object

)

Get the anchor point on body-A in local coordinates.

GetLocalAnchorA() [2/2]

Length2 playrho::d2::GetLocalAnchorA	(	const World &	world,
		JointID	id
	)

Get the anchor point on body-A in local coordinates.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLocalAnchorB() [1/2]

Length2 playrho::d2::GetLocalAnchorB

(

const Joint &

object

)

Get the anchor point on body-B in local coordinates.

GetLocalAnchorB() [2/2]

Length2 playrho::d2::GetLocalAnchorB	(	const World &	world,
		JointID	id
	)

Get the anchor point on body-B in local coordinates.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLocalCenter()

Length2 playrho::d2::GetLocalCenter	(	const World &	world,
		BodyID	id
	)

Gets the local position of the center of mass of the specified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetLocalPoint() [1/2]

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

inlinenoexcept

Gets a local point relative to the body's origin given a world point.

Parameters

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

Returns

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

Examples

FrictionJoint.cpp.

Referenced by playrho::d2::World::GetDistanceJointConf(), playrho::d2::World::GetFrictionJointConf(), playrho::d2::World::GetMotorJointConf(), playrho::d2::World::GetPrismaticJointConf(), playrho::d2::World::GetPulleyJointConf(), playrho::d2::World::GetRevoluteJointConf(), playrho::d2::World::GetWeldJointConf(), and playrho::d2::World::GetWheelJointConf().

GetLocalPoint() [2/2]

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

inline

Gets a local point relative to the body's origin given a world point.

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() [1/2]

RotInertia GetLocalRotInertia ( const Body &  body )

inlinenoexcept

Gets the rotational inertia of the body about the local origin.

Returns

the rotational inertia.

See also

Body::GetInvRotInertia, Body::SetInvMassData.

Referenced by playrho::d2::World::GetMassData().

GetLocalRotInertia() [2/2]

RotInertia GetLocalRotInertia ( const World &  world, BodyID  id  )

inline

Gets the rotational inertia of the body about the local origin.

Returns

the rotational inertia.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetLocalVector() [1/2]

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

inlinenoexcept

Gets a locally oriented unit vector given a world oriented unit vector.

Parameters

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

Returns

the corresponding local vector.

Referenced by playrho::d2::World::GetPrismaticJointConf(), and playrho::d2::World::GetWheelJointConf().

GetLocalVector() [2/2]

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

inline

Convenience function for getting the local vector of the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetLocalXAxisA() [1/2]

UnitVec playrho::d2::GetLocalXAxisA

(

const Joint &

object

)

Gets the given joint's local X axis A if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::GetGearJointConf(), playrho::d2::World::GetJointTranslation(), playrho::d2::World::GetLinearVelocity(), playrho::d2::Joint::GetLocalXAxisA(), and playrho::d2::World::GetLocalXAxisA().

GetLocalXAxisA() [2/2]

UnitVec playrho::d2::GetLocalXAxisA	(	const World &	world,
		JointID	id
	)

Gets the local-X-axis-A property of the identified joint if it has it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLocalYAxisA() [1/2]

UnitVec playrho::d2::GetLocalYAxisA

(

const Joint &

object

)

Gets the given joint's local Y axis A if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetLocalYAxisA(), and playrho::d2::World::GetLocalYAxisA().

GetLocalYAxisA() [2/2]

UnitVec playrho::d2::GetLocalYAxisA	(	const World &	world,
		JointID	id
	)

Gets the local-Y-axis-A property of the identified joint if it has it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetLocation() [1/2]

Length2 GetLocation ( const Body &  body )

inlinenoexcept

Gets the body's origin location.

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

1. Location at the last time step.
2. Forces acting on the body (gravity, applied force, applied impulse).
3. The mass data of the body.
4. Damping of the body.
5. Restitution and friction values of the body's shape parts when they experience collisions.

   Returns

   World location of the body's origin.

   See also

   GetAngle.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::CalcGravitationalAcceleration(), playrho::d2::World::FindClosestBody(), playrho::d2::World::GetCentripetalForce(), playrho::d2::Body::GetLocation(), playrho::d2::World::GetMotorJointConf(), playrho::d2::Body::GetPosition(), GetPosition(), and playrho::d2::World::SetMassData().

GetLocation() [2/2]

Length2 GetLocation ( const World &  world, BodyID  id  )

inline

Convenience function for getting just the location of the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

GetTransformation(const World& world, BodyID id).

GetManifold() [1/4]

Manifold playrho::d2::GetManifold	(	bool	flipped,
		const DistanceProxy &	shape0,
		const Transformation &	xf0,
		VertexCounter	idx0,
		const DistanceProxy &	shape1,
		const Transformation &	xf1,
		VertexCounter2	indices1,
		const Manifold::Conf &	conf
	)

Gets a face-to-face based manifold.

Parameters

flipped	Whether to flip the resulting manifold (between face-A and face-B).
shape0	Shape 0. This should be shape A for face-A type manifold or shape B for face-B type manifold. Must have a vertex count of more than one.
xf0	Transform 0. This should be transform A for face-A type manifold or transform B for face-B type manifold.
idx0	Index 0. This should be the index of the vertex and normal of shape0 that had the maximal separation distance from any vertex in shape1.
shape1	Shape 1. This should be shape B for face-A type manifold or shape A for face-B type manifold. Must have a vertex count of more than one.
xf1	Transform 1. This should be transform B for face-A type manifold or transform A for face-B type manifold.
indices1	Index 1. This is the first and possibly second index of the vertex of shape1 that had the maximal separation distance from the edge of shape0 identified by idx0.
conf	Manifold configuration data.

< Face offset.

< Face offset.

GetManifold() [2/4]

Manifold playrho::d2::GetManifold	(	bool	flipped,
		Length	totalRadius,
		const DistanceProxy &	shape,
		const Transformation &	sxf,
		const Length2 &	point,
		const Transformation &	xfm
	)

Computes manifolds for face-to-point collision.

Precondition

The given distance proxy GetVertexCount() must be one or greater.

< Center of circle in frame of polygon.

< Center of circle in frame of polygon.

GetManifold() [3/4]

const Manifold & playrho::d2::GetManifold	(	const AabbTreeWorld &	world,
		ContactID	id
	)

Gets the identified manifold.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetManifold, GetContactRange.

Examples

World.cpp.

Referenced by playrho::d2::Manifold::CollideShapes(), playrho::d2::detail::WorldModel< T >::GetManifold_(), playrho::d2::World::GetWorldManifold(), and playrho::d2::World::SameTouching().

GetManifold() [4/4]

Manifold playrho::d2::GetManifold ( const World &  world, ContactID  id  )

inline

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() [1/2]

Mass GetMass ( const Body &  body )

inlinenoexcept

Gets the mass of the body.

Note

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

Returns

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

See also

GetInvMass, SetInvMassData

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::CalcGravitationalAcceleration(), playrho::d2::World::GetCentripetalForce(), playrho::d2::Body::GetForce(), playrho::d2::Body::GetLocalRotInertia(), playrho::d2::World::GetLocalRotInertia(), and playrho::d2::World::GetMassData().

GetMass() [2/2]

Mass GetMass ( const World &  world, BodyID  id  )

inline

Gets the mass of the body.

Note

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

Returns

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

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

GetInvMass, SetMassData

GetMassData() [1/6]

MassData playrho::d2::GetMassData

(

const MultiShapeConf &

arg

)

Gets the mass data for the given shape configuration.

Computes the mass properties of this shape using its dimensions and density. The inertia tensor is computed about the local origin.

Returns

Mass data for this shape.

GetMassData() [2/6]

MassData playrho::d2::GetMassData

(

const Shape &

shape

)

Gets the mass properties of this shape using its dimensions and density.

Returns

Mass data for this shape.

GetMassData() [3/6]

MassData GetMassData ( const World &  world, BodyID  id  )

inline

Gets the mass data of the body.

Returns

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

Exceptions

std::out_of_range

If given an invalid body identifier.

GetMassData() [4/6]

MassData playrho::d2::GetMassData	(	const World &	world,
		ShapeID	id
	)

Gets the mass data for the identified shape in the given world.

Exceptions

std::out_of_range

If given an invalid identifier.

GetMassData() [5/6]

MassData playrho::d2::GetMassData	(	Length	r,
		NonNegative< AreaDensity >	density,
		const Length2 &	location
	)

Computes the mass data for a circular shape.

Parameters

r	Radius of the circular shape.
density	Areal density of mass.
location	Location of the center of the shape.

GetMassData() [6/6]

MassData playrho::d2::GetMassData	(	Length	r,
		NonNegative< AreaDensity >	density,
		const Length2 &	v0,
		const Length2 &	v1
	)

Computes the mass data for a linear shape.

Parameters

r	Radius of the vertices of the linear shape.
density	Areal density of mass.
v0	Location of vertex zero.
v1	Location of vertex one.

Use the fixture's areal mass density times the shape's second moment of area to derive I.

See also

https://en.wikipedia.org/wiki/Second_moment_of_area

Use the fixture's areal mass density times the shape's second moment of area to derive I.

See also

https://en.wikipedia.org/wiki/Second_moment_of_area

GetMaxForce()

Force playrho::d2::GetMaxForce

(

const Joint &

object

)

Gets the given joint's max force if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

GetMaxImbalance()

DynamicTree::Height playrho::d2::GetMaxImbalance ( const DynamicTree &  tree )

noexcept

Gets the maximum imbalance.

This gets the maximum imbalance of nodes in the given tree.

Note

The imbalance is the difference in height of the two children of a node.

Examples

World.cpp.

GetMaxMotorForce()

Force playrho::d2::GetMaxMotorForce

(

const Joint &

object

)

Gets the given joint's max motor force if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::GetMaxMotorForce().

GetMaxMotorTorque() [1/2]

Torque playrho::d2::GetMaxMotorTorque

(

const Joint &

object

)

Gets the given joint's max motor torque if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetMaxMotorTorque(), and playrho::d2::World::GetMaxMotorTorque().

GetMaxMotorTorque() [2/2]

Torque playrho::d2::GetMaxMotorTorque	(	const World &	world,
		JointID	id
	)

Gets the max motor torque.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetMaxSeparation() [1/3]

SeparationInfo playrho::d2::GetMaxSeparation	(	const DistanceProxy &	proxy1,
		const DistanceProxy &	proxy2,
		Length	stop = MaxFloat * Meter
	)

Gets the max separation information.

Returns

Index of the vertex and normal from proxy1, index of the vertex from proxy2 (that had the maximum separation distance from each other in the direction of that normal), and the maximal distance.

See also

Distance.

GetMaxSeparation() [2/3]

SeparationInfo playrho::d2::GetMaxSeparation	(	const DistanceProxy &	proxy1,
		const Transformation &	xf1,
		const DistanceProxy &	proxy2,
		const Transformation &	xf2
	)

Gets the max separation information.

Note

Prefer using this function - over the GetMaxSeparation function that takes a stopping length - when it's already known that the two convex shapes' AABBs overlap.

Returns

Index of the vertex and normal from proxy1, index of the vertex from proxy2 (that had the maximum separation distance from each other in the direction of that normal), and the maximal distance.

See also

Distance.

GetMaxSeparation() [3/3]

SeparationInfo playrho::d2::GetMaxSeparation	(	const DistanceProxy &	proxy1,
		const Transformation &	xf1,
		const DistanceProxy &	proxy2,
		const Transformation &	xf2,
		Length	stop
	)

Gets the max separation information.

Returns

Index of the vertex and normal from proxy1, index of the vertex from proxy2 (that had the maximum separation distance from each other in the direction of that normal), and the maximal distance.

See also

Distance.

GetMaxSeparation4x4()

SeparationInfo playrho::d2::GetMaxSeparation4x4	(	const DistanceProxy &	proxy1,
		const Transformation &	xf1,
		const DistanceProxy &	proxy2,
		const Transformation &	xf2
	)

Gets the max separation information for the first four vertices of the two given shapes.

This is a version of the get-max-separation functions that is optimized for two quadrilateral (4-sided) polygons.

Returns

Index of the vertex and normal from proxy1, index of the vertex from proxy2 (that had the maximum separation distance from each other in the direction of that normal), and the maximal distance.

See also

Distance.

GetMaxTorque()

Torque playrho::d2::GetMaxTorque

(

const Joint &

object

)

Gets the given joint's max torque if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

GetMotorForce()

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

inline

Gets the current motor force for the given joint, given the inverse time step.

Exceptions

std::out_of_range

If given an invalid joint identifier.

Examples

PrismaticJoint.cpp.

GetMotorJointConf() [1/2]

MotorJointConf playrho::d2::GetMotorJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

MotorJoint.cpp, and World.cpp.

GetMotorJointConf() [2/2]

MotorJointConf playrho::d2::GetMotorJointConf	(	const World &	world,
		BodyID	bA,
		BodyID	bB
	)

Gets the confguration for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetMotorSpeed() [1/2]

AngularVelocity playrho::d2::GetMotorSpeed

(

const Joint &

object

)

Gets the given joint's motor speed if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::GetMotorSpeed(), and playrho::d2::World::GetMotorSpeed().

GetMotorSpeed() [2/2]

AngularVelocity playrho::d2::GetMotorSpeed	(	const World &	world,
		JointID	id
	)

Gets the motor-speed property of the identied joint if it supports it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

See also

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

GetMotorTorque() [1/2]

Torque GetMotorTorque ( const Joint &  joint, Frequency  inv_dt  )

inline

Gets the current motor torque for the given joint given the inverse time step.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

RevoluteJoint.cpp, and WheelJoint.cpp.

GetMotorTorque() [2/2]

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

inline

Gets the current motor torque for the given joint given the inverse time step.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetName()

const char * playrho::d2::GetName ( Manifold::Type  type )

noexcept

Gets a unique name for the given manifold type.

Parameters

type	Manifold type to get name for. Must be one of the enumerated values.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

GetNext()

constexpr DynamicTree::Size GetNext ( const DynamicTree::TreeNode &  node )

constexprnoexcept

Gets the next index of the given node.

Precondition

The given node is unused, i.e.: IsUnused(node) is true.

GetNormal()

UnitVec playrho::d2::GetNormal ( const VelocityConstraint &  vc )

inlinenoexcept

Gets the normal of the velocity constraint contact in world coordinates.

Note

This value is set via the velocity constraint's SetNormal function.

Returns

The contact normal (in world coordinates) if previously set, an invalid value otherwise.

GetNormalized() [1/2]

Position playrho::d2::GetNormalized ( const Position &  val )

inlinenoexcept

Gets the "normalized" position.

Enforces a wrap-around of one rotation on the angular position.

Note

Use to prevent unbounded angles in positions.

Examples

World.cpp.

Referenced by playrho::d2::World::GetGearJointConf().

GetNormalized() [2/2]

Sweep GetNormalized ( Sweep  sweep )

inlinenoexcept

Gets a sweep with the given sweep's angles normalized.

Parameters

sweep

Sweep to return with its angles normalized.

Returns

Sweep with its position 0 angle to be between -2 pi and 2 pi and its position 1 angle reduced by the amount the position 0 angle was reduced by.

GetPerimeter()

constexpr Length playrho::d2::GetPerimeter ( const AABB &  aabb )

constexprnoexcept

Gets the perimeter length of the 2-dimensional AABB.

Precondition

The sizes of each of the AABB's ranges are representable.

Returns

Twice the sum of the width and height.

See also

https://en.wikipedia.org/wiki/Perimeter

Referenced by ComputePerimeterRatio(), ComputeTotalPerimeter(), and playrho::d2::DynamicTree::RebuildBottomUp().

GetPointDelta()

constexpr Length2 playrho::d2::GetPointDelta ( const SimplexEdge &  sv )

constexprnoexcept

Gets "w".

Returns

2-dimensional vector value of the simplex edge's point B minus its point A.

Referenced by playrho::d2::Simplex::CalcMetric(), CalcSearchDirection(), playrho::d2::Simplex::Get(), and GetScaledDelta().

GetPointStates()

PointStates playrho::d2::GetPointStates ( const Manifold &  manifold1, const Manifold &  manifold2  )

noexcept

Computes the before and after like point states given two manifolds.

Note

This can be useful for analyzing collision responses like in the world's pre-solve contact event listener.

Examples

World.cpp.

GetPosition()

Position playrho::d2::GetPosition ( const Position &  pos0, const Position &  pos1, Real  beta  )

noexcept

Gets the position between two positions at a given unit interval.

Parameters

pos0	Position at unit interval value of 0.
pos1	Position at unit interval value of 1.
beta	Ratio of travel between position 0 and position 1.

Returns

position 0 if pos0 == pos1 or beta == 0, position 1 if beta == 1, or at the given unit interval value between position 0 and position 1.

GetPrismaticJointConf() [1/2]

PrismaticJointConf playrho::d2::GetPrismaticJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

GearJoint.cpp, PrismaticJoint.cpp, and World.cpp.

GetPrismaticJointConf() [2/2]

PrismaticJointConf playrho::d2::GetPrismaticJointConf	(	const World &	world,
		BodyID	bA,
		BodyID	bB,
		const Length2 &	anchor,
		const UnitVec &	axis
	)

Gets the configuration for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetProxies()

const std::vector< DynamicTree::Size > & playrho::d2::GetProxies	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Gets the proxies for the identified body.

Exceptions

std::out_of_range

If given an invalid identifier.

GetPSM()

PositionSolverManifold playrho::d2::GetPSM	(	const Manifold &	manifold,
		Manifold::size_type	index,
		const Transformation &	xfA,
		const Transformation &	xfB
	)

Gets the normal-point-separation data in world coordinates for the given inputs.

Note

The returned normal is in the direction of shape A to shape B.

The returned separation distance does not account for vertex radiuses. It's simply the separation between the points of the manifold. To account for the vertex radiuses, the total vertex radius must be subtracted from this separation distance.

GetPulleyJointConf() [1/2]

PulleyJointConf playrho::d2::GetPulleyJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

PulleyJoint.cpp, and World.cpp.

GetPulleyJointConf() [2/2]

PulleyJointConf playrho::d2::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.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetRatio() [1/2]

Real playrho::d2::GetRatio

(

const Joint &

object

)

Gets the given joint's ratio property if it has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

GetRatio() [2/2]

Real playrho::d2::GetRatio	(	const World &	world,
		JointID	id
	)

Gets the ratio property of the identified joint if it has it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetReferenceAngle() [1/2]

Angle playrho::d2::GetReferenceAngle

(

const Joint &

object

)

Gets the reference angle of the joint if it has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

DistanceJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WeldJoint.cpp.

Referenced by playrho::d2::World::GetAngle(), playrho::d2::World::GetGearJointConf(), playrho::d2::Joint::GetReferenceAngle(), playrho::d2::World::GetReferenceAngle(), playrho::d2::RevoluteJointConf::InitVelocity(), and playrho::d2::RevoluteJointConf::SolvePosition().

GetReferenceAngle() [2/2]

Angle playrho::d2::GetReferenceAngle	(	const World &	world,
		JointID	id
	)

Gets the reference-angle property of the identified joint if it has it.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetReflectionMatrix()

constexpr auto playrho::d2::GetReflectionMatrix ( const UnitVec &  axis )

constexpr

Gets the reflection matrix for the given unit vector that defines the normal of the line through the origin that points should be reflected against.

See also

https://en.wikipedia.org/wiki/Transformation_matrix

GetResourceStats()

std::optional< pmr::StatsResource::Stats > playrho::d2::GetResourceStats ( const World &  world )

inlinenoexcept

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() [1/3]

Real playrho::d2::GetRestitution ( const Shape &  shape )

noexcept

Gets the coefficient of restitution value of the given shape.

See also

SetRestitution(Shape& shape, Real value).

Examples

Shape.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::Shape::GetDefaultRestitution(), playrho::d2::World::GetRestitution(), playrho::d2::detail::ShapeModel< T >::GetRestitution_(), and playrho::d2::detail::SetRestitution().

GetRestitution() [2/3]

Real playrho::d2::GetRestitution	(	const World &	world,
		ContactID	id
	)

Gets the restitution used with the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

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

GetRestitution() [3/3]

Real playrho::d2::GetRestitution	(	const World &	world,
		ShapeID	id
	)

Gets the coefficient of restitution of the specified shape.

Exceptions

std::out_of_range

If given an invalid identifier.

GetRevoluteJointConf() [1/2]

RevoluteJointConf playrho::d2::GetRevoluteJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

GearJoint.cpp, and RevoluteJoint.cpp.

GetRevoluteJointConf() [2/2]

RevoluteJointConf playrho::d2::GetRevoluteJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor
	)

Gets the configuration for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetRevPerpendicular()

constexpr UnitVec playrho::d2::GetRevPerpendicular ( const UnitVec &  vector )

constexprnoexcept

Gets a vector counter-clockwise (reverse-clockwise) perpendicular to the given vector.

This takes a vector of form (x, y) and returns the vector (-y, x).

Parameters

vector

Vector to return a counter-clockwise perpendicular equivalent for.

Returns

A counter-clockwise 90-degree rotation of the given vector.

See also

GetFwdPerpendicular.

Examples

PrismaticJoint.cpp, and WheelJoint.cpp.

Referenced by CalcSearchDirection(), GetContactRelVelocity(), playrho::d2::World::GetLinearVelocity(), playrho::d2::Body::GetLinearVelocityFromWorldPoint(), GetManifold(), GetMassData(), RayCast(), playrho::d2::World::SetMassData(), playrho::d2::DistanceJointConf::SolveVelocity(), playrho::d2::FrictionJointConf::SolveVelocity(), playrho::d2::MotorJointConf::SolveVelocity(), playrho::d2::PulleyJointConf::SolveVelocity(), playrho::d2::RevoluteJointConf::SolveVelocity(), playrho::d2::RopeJointConf::SolveVelocity(), playrho::d2::TargetJointConf::SolveVelocity(), and playrho::d2::WeldJointConf::SolveVelocity().

GetRopeJointConf()

RopeJointConf playrho::d2::GetRopeJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

RopeJoint.cpp.

GetRotInertia() [1/2]

RotInertia GetRotInertia ( const Body &  body )

inlinenoexcept

Gets the rotational inertia of the body.

Parameters

body	Body to get the rotational inertia for.

Returns

the rotational inertia.

See also

Body::GetInvRotInertia, Body::SetInvMassData.

Examples

WorldBody.cpp.

Referenced by playrho::d2::Body::GetLocalRotInertia(), playrho::d2::World::GetLocalRotInertia(), and playrho::d2::Body::GetTorque().

GetRotInertia() [2/2]

RotInertia GetRotInertia ( const World &  world, BodyID  id  )

inline

Gets the rotational inertia of the body.

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.

GetSeparationScenario()

SeparationScenario playrho::d2::GetSeparationScenario	(	IndexPair3	indices,
		const DistanceProxy &	proxyA,
		const Transformation &	xfA,
		const DistanceProxy &	proxyB,
		const Transformation &	xfB
	)

Gets a separation finder for the given inputs.

Parameters

indices	Collection of 1 to 3 index pairs. A points-type finder will be returned if given 1 index pair. A face-type finder will be returned otherwise.
proxyA	Proxy A.
xfA	Transformation A.
proxyB	Proxy B.
xfB	Transformation B.

Precondition

empty(indices) is false.

proxyA and proxyB both have more than zero vertices.

Referenced by playrho::ToiOutput::GetToiViaSat().

GetShape() [1/2]

const Shape & playrho::d2::GetShape	(	const AabbTreeWorld &	world,
		ShapeID	id
	)

Gets the identified shape.

Exceptions

std::out_of_range

If given an invalid shape identifier.

See also

CreateShape.

Examples

World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::ComputeAABB(), playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::ComputeMassData(), playrho::d2::World::GetDefaultFriction(), playrho::d2::World::GetDefaultRestitution(), playrho::d2::World::GetDensity(), playrho::d2::World::GetFilterData(), playrho::d2::World::GetFriction(), playrho::d2::World::GetMassData(), playrho::d2::World::GetRestitution(), playrho::d2::detail::WorldModel< T >::GetShape_(), playrho::d2::World::GetType(), playrho::Contact::GetWorldManifold(), IsDestroyed(), playrho::d2::World::IsSensor(), playrho::d2::World::RayCast(), playrho::d2::World::Rotate(), playrho::d2::World::Scale(), playrho::d2::World::SetDensity(), playrho::d2::World::SetFilterData(), playrho::d2::World::SetFriction(), playrho::d2::World::SetRestitution(), playrho::d2::World::SetSensor(), playrho::d2::World::TestPoint(), and playrho::d2::World::Translate().

GetShape() [2/2]

Shape playrho::d2::GetShape ( const World &  world, ShapeID  id  )

inline

Gets the shape associated with the identifier.

Exceptions

std::out_of_range

If given an out of range identifier.

See also

GetShapeRange.

GetShapeA()

ShapeID playrho::d2::GetShapeA	(	const World &	world,
		ContactID	id
	)

Gets shape A of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::GetDefaultFriction(), playrho::d2::World::GetDefaultRestitution(), playrho::d2::World::GetShapeA(), and playrho::Contact::GetWorldManifold().

GetShapeB()

ShapeID playrho::d2::GetShapeB	(	const World &	world,
		ContactID	id
	)

Gets shape B of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::GetDefaultFriction(), playrho::d2::World::GetDefaultRestitution(), playrho::d2::World::GetShapeB(), and playrho::Contact::GetWorldManifold().

GetShapeCount()

ShapeCounter playrho::d2::GetShapeCount	(	const World &	world,
		BodyID	id
	)

Gets the count of shapes associated with the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

GetShapes(const World& world, BodyID id).

Examples

WorldBody.cpp.

GetShapeRange() [1/2]

ShapeCounter playrho::d2::GetShapeRange ( const AabbTreeWorld &  world )

noexcept

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.

Examples

World.cpp, and WorldShape.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetShapeRange_().

GetShapeRange() [2/2]

ShapeCounter playrho::d2::GetShapeRange ( const World &  world )

inlinenoexcept

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() [1/2]

const std::vector< ShapeID > & playrho::d2::GetShapes	(	const AabbTreeWorld &	world,
		BodyID	id
	)

Disassociates all of the associated shape from the validly identified body.

Exceptions

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

Examples

Body.cpp, World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::ComputeAABB(), playrho::d2::World::ComputeMassData(), playrho::d2::World::Detach(), playrho::d2::World::GetAssociationCount(), playrho::d2::Body::GetBodyConf(), playrho::d2::World::GetShapeCount(), playrho::d2::detail::WorldModel< T >::GetShapes_(), playrho::d2::World::GetUsedShapesCount(), and playrho::d2::Body::operator==().

GetShapes() [2/2]

std::vector< ShapeID > playrho::d2::GetShapes ( const World &  world, BodyID  id  )

inline

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.

GetSoonestContact()

ContactID playrho::d2::GetSoonestContact ( const Span< const KeyedContactID > &  ids, const Span< const Contact > &  contacts  )

noexcept

Gets the identifier of the contact with the lowest time of impact.

This finds the contact with the lowest (soonest) time of impact that's under one and returns its identifier.

Returns

Identifier of contact with the least time of impact under 1, or invalid contact ID.

GetSubStepping() [1/2]

bool playrho::d2::GetSubStepping ( const AabbTreeWorld &  world )

inlinenoexcept

Gets whether or not sub-stepping is enabled.

See also

SetSubStepping, IsStepComplete.

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetSubStepping_().

GetSubStepping() [2/2]

bool playrho::d2::GetSubStepping ( const World &  world )

inlinenoexcept

Gets whether or not sub-stepping is enabled.

Parameters

world

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

See also

SetSubStepping, IsStepComplete.

GetSupportIndex()

template<class T >

VertexCounter GetSupportIndex ( const DistanceProxy &  proxy, T  dir  )

inlinenoexcept

Gets the supporting vertex index in given direction for given distance proxy.

This finds the vertex that's most significantly in direction of the given vector and returns its index.

Note

0 is returned for a given zero length direction vector.

Parameters

proxy	Distance proxy object to find index in if a valid index exists for it.
dir	Direction vector to find index for.

Returns

InvalidVertex if d is invalid or the count of vertices is zero, otherwise a value from 0 to one less than count.

See also

GetVertexCount().

Referenced by playrho::d2::DistanceProxy::Distance().

GetSweep()

const Sweep & GetSweep ( const Body &  body )

inlinenoexcept

Gets the body's sweep.

See also

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

Referenced by playrho::d2::Body::GetAngle(), playrho::d2::Body::GetBodyConf(), playrho::d2::Body::operator==(), playrho::d2::Body::SetAngle(), and playrho::d2::Body::SetTransformation().

GetTangentSpeed()

LinearVelocity playrho::d2::GetTangentSpeed	(	const World &	world,
		ContactID	id
	)

Gets the tangent speed of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::GetTangentSpeed().

GetTarget() [1/2]

Length2 playrho::d2::GetTarget

(

const Joint &

object

)

Gets the given joint's target property if it has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, TargetJoint.cpp, and World.cpp.

Referenced by playrho::d2::Joint::GetTarget(), and playrho::d2::World::GetTarget().

GetTarget() [2/2]

Length2 playrho::d2::GetTarget	(	const World &	world,
		JointID	id
	)

Gets the target point.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetTargetJointConf()

TargetJointConf playrho::d2::GetTargetJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

TargetJoint.cpp.

GetToi()

std::optional< UnitIntervalFF< Real > > playrho::d2::GetToi	(	const World &	world,
		ContactID	id
	)

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

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.

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::GetToi().

GetToiCount()

TimestepIters playrho::d2::GetToiCount	(	const World &	world,
		ContactID	id
	)

Gets the Time Of Impact (TOI) count.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::GetToiCount().

GetToiViaSat()

ToiOutput playrho::d2::GetToiViaSat	(	const DistanceProxy &	proxyA,
		const Sweep &	sweepA,
		const DistanceProxy &	proxyB,
		const Sweep &	sweepB,
		const ToiConf &	conf = GetDefaultToiConf()
	)

Gets the time of impact for two disjoint convex sets using the Separating Axis Theorem.

Computes the upper bound on time before two shapes penetrate too much. Time is represented as a fraction between [0,timeMax]. This uses a swept separating axis and may miss some intermediate, non-tunneling collision. If you change the time interval, you should call this function again.

See also

https://en.wikipedia.org/wiki/Hyperplane_separation_theorem

Precondition

The given sweeps are both at the same alpha-0.

Warning

Behavior is not specified if sweeps are not at the same alpha-0.

Note

Uses Distance to compute the contact point and normal at the time of impact.

This only works for two disjoint convex sets.

Parameters

proxyA	Proxy A. The proxy's vertex count must be 1 or more.
sweepA	Sweep A. Sweep of motion for shape represented by proxy A.
proxyB	Proxy B. The proxy's vertex count must be 1 or more.
sweepB	Sweep B. Sweep of motion for shape represented by proxy B.
conf	Configuration details for on calculation. Like the targeted depth of penetration.

Returns

Time of impact output data.

XXX maybe should return ToiOutput{timeLo, stats, ToiOutput::e_belowMinTarget}?

XXX maybe should return ToiOutput{timeLo, stats, ToiOutput::e_belowMinTarget}?

GetTouchingCount()

ContactCounter playrho::d2::GetTouchingCount

(

const World &

world

)

Gets the touching count for the given 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).

Examples

World.cpp, and WorldContact.cpp.

GetTransform0()

Transformation playrho::d2::GetTransform0 ( const Sweep &  sweep )

inlinenoexcept

Gets the transform at "time" zero.

Note

This is like calling GetTransformation(sweep, 0), except more efficiently.

See also

GetTransformation(const Sweep& sweep, Real beta).

Parameters

sweep

Sweep data to get the transform from.

Returns

Transformation of the given sweep at time zero.

GetTransform1()

Transformation playrho::d2::GetTransform1 ( const Sweep &  sweep )

inlinenoexcept

Gets the transform at "time" one.

Note

This is like calling GetTransformation(sweep, 1.0), except more efficiently.

See also

GetTransformation(const Sweep& sweep, Real beta).

Parameters

sweep

Sweep data to get the transform from.

Returns

Transformation of the given sweep at time one.

Examples

Body.cpp.

Referenced by playrho::d2::Body::SetPosition1(), and playrho::d2::Body::SetSweep().

GetTransformation() [1/3]

const Transformation & GetTransformation ( const Body &  body )

inlinenoexcept

Gets the body's transformation.

See also

SetTransformation(Body& body, Transformation value).

Examples

Body.cpp, HelloWorld.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::ComputeAABB(), playrho::d2::World::ComputeIntersectingAABB(), playrho::d2::World::GetAnchorA(), playrho::d2::World::GetAnchorB(), playrho::d2::World::GetGearJointConf(), playrho::d2::World::GetJointTranslation(), playrho::d2::World::GetLinearVelocity(), playrho::d2::World::GetLocalPoint(), playrho::d2::World::GetLocalVector(), playrho::d2::World::GetLocation(), playrho::ToiOutput::GetToiViaSat(), GetTransform0(), GetTransform1(), GetTransformation(), playrho::d2::World::GetTransformation(), playrho::Contact::GetWorldManifold(), playrho::d2::World::GetWorldPoint(), playrho::d2::World::GetWorldVector(), playrho::d2::Body::operator==(), playrho::d2::World::RayCast(), playrho::d2::World::RotateAboutWorldPoint(), playrho::d2::Body::SetLocation(), playrho::d2::World::SetMassData(), playrho::GaussSeidel::SolvePositionConstraint(), and playrho::d2::World::TestPoint().

GetTransformation() [2/3]

Transformation playrho::d2::GetTransformation ( const Sweep &  sweep, const UnitIntervalFF< Real >  beta  )

inlinenoexcept

Gets the interpolated transform at a specific time.

Parameters

sweep	Sweep data to get the transform from.
beta	Time factor in [0,1], where 0 indicates alpha 0.

Returns

Transformation of the given sweep at the specified time.

GetTransformation() [3/3]

Transformation playrho::d2::GetTransformation	(	const World &	world,
		BodyID	id
	)

Gets the body's transformation.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

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

GetTree()

const DynamicTree & playrho::d2::GetTree ( const World &  world )

inline

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() [1/6]

BodyType GetType ( const Body &  body )

inlinenoexcept

Gets the type of this body.

See also

SetType(Body&,BodyType).

Examples

Body.cpp, DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, Joint.cpp, MotorJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, Shape.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::d2::Manifold::AddPoint(), playrho::d2::World::Awaken(), playrho::d2::Joint::EnableLimit(), playrho::d2::Joint::EnableMotor(), playrho::d2::Joint::GetAngularLowerLimit(), playrho::d2::Joint::GetAngularMass(), playrho::d2::Joint::GetAngularMotorImpulse(), playrho::d2::Joint::GetAngularOffset(), playrho::d2::Joint::GetAngularReaction(), playrho::d2::Joint::GetAngularUpperLimit(), playrho::d2::Body::GetBodyConf(), playrho::d2::Joint::GetDampingRatio(), playrho::d2::Joint::GetFrequency(), playrho::d2::World::GetGearJointConf(), playrho::d2::Joint::GetGroundAnchorA(), playrho::d2::Joint::GetGroundAnchorB(), playrho::d2::Joint::GetLength(), playrho::d2::Joint::GetLimitState(), playrho::d2::Joint::GetLinearLowerLimit(), playrho::d2::Joint::GetLinearMotorImpulse(), playrho::d2::Joint::GetLinearOffset(), playrho::d2::Joint::GetLinearReaction(), playrho::d2::Joint::GetLinearUpperLimit(), playrho::d2::Joint::GetLocalAnchorA(), playrho::d2::Joint::GetLocalAnchorB(), playrho::d2::Joint::GetLocalXAxisA(), playrho::d2::Joint::GetLocalYAxisA(), playrho::d2::Joint::GetMaxForce(), playrho::d2::Joint::GetMaxMotorForce(), playrho::d2::Joint::GetMaxMotorTorque(), playrho::d2::Joint::GetMaxTorque(), playrho::d2::Joint::GetMotorSpeed(), playrho::d2::Joint::GetRatio(), playrho::d2::Joint::GetReferenceAngle(), playrho::d2::Joint::GetTarget(), playrho::d2::World::GetType(), playrho::d2::Joint::IsLimitEnabled(), playrho::d2::Joint::IsMotorEnabled(), playrho::d2::Joint::SetAngularLimits(), playrho::d2::Joint::SetAngularOffset(), playrho::d2::Joint::SetFrequency(), playrho::d2::Joint::SetLinearLimits(), playrho::d2::Joint::SetLinearOffset(), playrho::d2::Joint::SetMaxMotorForce(), playrho::d2::Joint::SetMaxMotorTorque(), playrho::d2::Joint::SetMotorSpeed(), playrho::d2::Joint::SetTarget(), and playrho::d2::World::SetType().

GetType() [2/6]

TypeID playrho::d2::GetType ( const Shape &  shape )

noexcept

Gets the type info of the use of the given shape.

Note

This is not the same as calling GetTypeID<Shape>().

Returns

Type info of the underlying value's type.

GetType() [3/6]

TypeID playrho::d2::GetType ( const World &  world )

inlinenoexcept

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() [4/6]

BodyType playrho::d2::GetType	(	const World &	world,
		BodyID	id
	)

Gets the type of the identified body.

See also

SetType(World& world, BodyID id, BodyType value)

GetType() [5/6]

TypeID playrho::d2::GetType	(	const World &	world,
		JointID	id
	)

Gets the type of the joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetType() [6/6]

TypeID playrho::d2::GetType	(	const World &	world,
		ShapeID	id
	)

Gets the type of the shape.

Exceptions

std::out_of_range

If given an invalid identifier.

GetUnderActiveTime()

Time GetUnderActiveTime ( const Body &  body )

inlinenoexcept

Gets the given body's under-active time.

Returns

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

Referenced by playrho::d2::Body::GetBodyConf(), and playrho::d2::Body::operator==().

GetUnitVector()

template<class T >

UnitVec playrho::d2::GetUnitVector ( const Vector2< T > &  value, const UnitVec &  fallback = UnitVec::GetDefaultFallback()  )

inlinenoexcept

Gets the unit vector for the given value.

Parameters

value	Value to get the unit vector for.
fallback	Fallback unit vector value to use in case a unit vector can't effectively be calculated from the given value.

Returns

value divided by its length if length not almost zero otherwise invalid value.

Referenced by playrho::d2::World::CalcGravitationalAcceleration(), GetFwdNormalsArray(), GetFwdNormalsVector(), GetMassData(), GetSeparationScenario(), playrho::d2::PulleyJointConf::InitVelocity(), RayCast(), playrho::d2::FrictionJointConf::SolveVelocity(), playrho::d2::MotorJointConf::SolveVelocity(), and playrho::d2::TargetJointConf::SolveVelocity().

GetUsedShapesCount()

ShapeCounter playrho::d2::GetUsedShapesCount ( const World &  world )

noexcept

Gets the count of uniquely identified shapes that are in use - i.e. that are attached to bodies.

Parameters

world

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

See also

GetAssociationCount.

Examples

World.cpp.

GetVelocity() [1/3]

Velocity GetVelocity ( const Body &  body )

inlinenoexcept

Gets the velocity.

See also

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

Examples

Body.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::GetAngularVelocity(), GetBodyConstraint(), playrho::d2::World::GetLinearVelocity(), playrho::d2::World::GetVelocity(), and playrho::d2::Body::operator==().

GetVelocity() [2/3]

Velocity playrho::d2::GetVelocity ( const Body &  body, Time  h  )

noexcept

Gets the velocity of the body after the given time accounting for the body's acceleration and capped by the given configuration.

Parameters

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

GetVelocity() [3/3]

Velocity playrho::d2::GetVelocity	(	const World &	world,
		BodyID	id
	)

Gets the velocity of the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

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

GetVertexRadius()

NonNegative<Length> playrho::d2::GetVertexRadius	(	const Shape &	shape,
		ChildCounter	idx
	)

Gets the vertex radius of the indexed child of the given shape.

This gets the radius from the vertex that the shape's "skin" should extend outward by. While any edges - line segments between multiple vertices - are straight, corners between them (the vertices) are rounded and treated as rounded. Shapes with larger vertex radiuses compared to edge lengths therefore will be more prone to rolling or having other shapes more prone to roll off of them. Here's an image of a shape configured via a PolygonShapeConf with it's skin drawn:

Parameters

shape	Shape to get child's vertex radius for.
idx	Child index to get vertex radius for.

See also

UseVertexRadius

Exceptions

InvalidArgument

if the child index is not less than the child count.

GetVertexRadiusInterval() [1/2]

Interval< Positive< Length > > playrho::d2::GetVertexRadiusInterval ( const AabbTreeWorld &  world )

inlinenoexcept

Gets the vertex radius interval allowable for the given world.

See also

CreateShape(AabbTreeWorld&, const Shape&).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::GetVertexRadiusInterval_().

GetVertexRadiusInterval() [2/2]

Interval< Positive< Length > > playrho::d2::GetVertexRadiusInterval ( const World &  world )

inlinenoexcept

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() [1/2]

WeldJointConf playrho::d2::GetWeldJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

WeldJoint.cpp, and World.cpp.

GetWeldJointConf() [2/2]

WeldJointConf playrho::d2::GetWeldJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor = Length2{}
	)

Gets the configuration for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetWheelJointConf() [1/2]

WheelJointConf playrho::d2::GetWheelJointConf

(

const Joint &

joint

)

Gets the definition data for the given joint.

Exceptions

std::bad_cast

If the given joint's type is inappropriate for getting this value.

Examples

WheelJoint.cpp.

GetWheelJointConf() [2/2]

WheelJointConf playrho::d2::GetWheelJointConf	(	const World &	world,
		BodyID	bodyA,
		BodyID	bodyB,
		const Length2 &	anchor,
		const UnitVec &	axis = UnitVec::GetRight()
	)

Gets the definition data for the given parameters.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetWorldCenter()

Length2 playrho::d2::GetWorldCenter	(	const World &	world,
		BodyID	id
	)

Get the world position of the center of mass of the specified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetWorldIndex() [1/2]

BodyCounter playrho::d2::GetWorldIndex ( const World &  , BodyID  id  )

noexcept

Gets the world index for the given body.

Exceptions

std::out_of_range

If given an invalid body identifier.

Examples

RevoluteJoint.cpp, and WorldBody.cpp.

GetWorldIndex() [2/2]

JointCounter playrho::d2::GetWorldIndex ( const World &  , JointID  id  )

noexcept

Gets the world index of the given joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

GetWorldManifold() [1/3]

WorldManifold playrho::d2::GetWorldManifold	(	const Manifold &	manifold,
		const Transformation &	xfA,
		Length	radiusA,
		const Transformation &	xfB,
		Length	radiusB
	)

Gets the world manifold for the given data.

Precondition

The given manifold input has between 0 and 2 points.

Parameters

manifold	Manifold to use. Uses the manifold's type, local point, local normal, point-count, and the indexed-points' local point data.
xfA	Transformation A.
radiusA	Radius of shape A.
xfB	Transformation B.
radiusB	Radius of shape B.

Returns

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

GetWorldManifold() [2/3]

WorldManifold playrho::d2::GetWorldManifold	(	const World &	world,
		const Contact &	contact,
		const Manifold &	manifold
	)

Gets the world manifold for the given data.

Note

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

Parameters

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

Returns

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

GetWorldManifold() [3/3]

WorldManifold playrho::d2::GetWorldManifold	(	const World &	world,
		ContactID	id
	)

Gets the world manifold for the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Referenced by playrho::Contact::GetWorldManifold(), and playrho::d2::World::GetWorldManifold().

GetWorldPoint() [1/2]

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

inlinenoexcept

Gets the world coordinates of a point given in coordinates relative to the body's origin.

Parameters

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

Returns

the same point expressed in world coordinates.

Examples

GearJoint.cpp, and PulleyJoint.cpp.

Referenced by playrho::d2::Body::GetLinearVelocityFromLocalPoint(), and playrho::d2::World::RotateAboutLocalPoint().

GetWorldPoint() [2/2]

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

inline

Gets the world coordinates of a point given in coordinates relative to the body's origin.

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() [1/2]

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

inlinenoexcept

Gets the world coordinates of a vector given the local coordinates.

Parameters

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

Returns

the same vector expressed in world coordinates.

GetWorldVector() [2/2]

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

inline

Convenience function for getting a world vector of the identified body.

Exceptions

std::out_of_range

If given an invalid body identifier.

GetYAxis()

constexpr UnitVec playrho::d2::GetYAxis ( const UnitVec &  rot )

constexprnoexcept

Gets the "Y-axis".

Note

This is the reverse perpendicular vector of the given unit vector.

HasValidToi()

bool playrho::d2::HasValidToi	(	const World &	world,
		ContactID	id
	)

Whether or not the contact has a valid TOI.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

GetToi.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::HasValidToi().

InitVelocity() [1/12]

void playrho::d2::InitVelocity	(	DistanceJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::detail::JointModel< T >::InitVelocity_().

InitVelocity() [2/12]

void playrho::d2::InitVelocity	(	FrictionJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [3/12]

void playrho::d2::InitVelocity	(	GearJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [4/12]

void playrho::d2::InitVelocity	(	Joint &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

See also

SolveVelocity.

InitVelocity() [5/12]

void playrho::d2::InitVelocity	(	MotorJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [6/12]

void playrho::d2::InitVelocity	(	PrismaticJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocityConstraints.

InitVelocity() [7/12]

void playrho::d2::InitVelocity	(	PulleyJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [8/12]

void playrho::d2::InitVelocity	(	RevoluteJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocityConstraints.

InitVelocity() [9/12]

void playrho::d2::InitVelocity	(	RopeJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [10/12]

void playrho::d2::InitVelocity	(	TargetJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyB must index a body within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyB value is not InvalidBodyID and does not index within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [11/12]

void playrho::d2::InitVelocity	(	WeldJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InitVelocity() [12/12]

void playrho::d2::InitVelocity	(	WheelJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step,
		const ConstraintSolverConf &	conf
	)

Initializes velocity constraint data based on the given solver data.

Note

This MUST be called prior to calling SolveVelocity.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

SolveVelocity.

InverseRotate()

template<class T >

constexpr auto playrho::d2::InverseRotate ( const Vector2< T > &  vector, const UnitVec &  angle  )

constexprnoexcept

Inverse rotates a vector.

This is the inverse of rotating a vector - it undoes what rotate does. I.e. this effectively subtracts from the angle of the given vector the angle that's expressed by the angle parameter.

Parameters

vector	Vector to reverse rotate.
angle	Expresses the angle to reverse rotate the given vector by.

See also

Rotate.

Referenced by playrho::d2::DistanceProxy::Distance(), playrho::d2::World::GetGearJointConf(), playrho::d2::Body::GetLocalVector(), playrho::d2::World::GetLocalVector(), InverseTransform(), MulT(), and playrho::d2::GearJointConf::SolvePosition().

InverseTransform()

constexpr Length2 playrho::d2::InverseTransform ( const Length2 &  v, const Transformation &  xfm  )

constexprnoexcept

Inverse transforms the given 2-D vector with the given transformation.

Inverse translate and rotate the given 2-D vector according to the translation and rotation defined by the given transformation.

Note

Passing the output of this function to Transform (with the same transformation again) will result in the original vector being returned.

See also

Transform.

Parameters

v	2-D vector to inverse transform (inverse translate and inverse rotate).
xfm	Transformation (a translation and rotation) to inversely apply to the given vector.

Returns

Inverse transformed vector.

Referenced by playrho::d2::Body::GetLocalPoint(), playrho::d2::World::GetLocalPoint(), GetManifold(), playrho::d2::DistanceProxy::RayCast(), and playrho::d2::World::TestPoint().

IsAccelerable() [1/2]

bool IsAccelerable ( const Body &  body )

inlinenoexcept

Is "accelerable".

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

Returns

true if the body is accelerable, false otherwise.

See also

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

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), playrho::d2::World::IsAccelerable(), and playrho::d2::World::SetMassData().

IsAccelerable() [2/2]

bool playrho::d2::IsAccelerable	(	const World &	world,
		BodyID	id
	)

Is identified body "accelerable"?

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() [1/3]

bool IsAwake ( const Body &  body )

inlinenoexcept

Gets the awake/asleep state of this body.

Warning

Being awake may or may not imply being speedable.

Returns

true if the body is awake.

See also

SetAwake(Body&), UnsetAwake(Body&).

Examples

Body.cpp, RevoluteJoint.cpp, World.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::Body::Awaken(), playrho::d2::World::Awaken(), playrho::d2::World::GetAwakeCount(), playrho::d2::Body::GetBodyConf(), playrho::d2::World::IsAwake(), playrho::d2::Body::operator==(), and playrho::d2::Body::Unawaken().

IsAwake() [2/3]

bool playrho::d2::IsAwake	(	const World &	world,
		BodyID	id
	)

Gets the awake/asleep state of this body.

Warning

Being awake may or may not imply being speedable.

Returns

true if the body is awake.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

SetAwake(World& world, BodyID id), UnsetAwake(BodyID id).

IsAwake() [3/3]

bool playrho::d2::IsAwake	(	const World &	world,
		ContactID	id
	)

Gets the awake status of the specified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

SetAwake.

IsBranch()

constexpr bool IsBranch ( const DynamicTree::TreeNode &  node )

constexprnoexcept

Is branch.

Determines whether the given dynamic tree node is a branch node. Branch nodes have 2 indices to child nodes.

Determines whether the given node is a "branch" node.

Referenced by playrho::d2::DynamicTree::FindReference(), and playrho::d2::DynamicTree::GetBranchData().

IsDestroyed() [1/9]

auto playrho::d2::IsDestroyed ( const AabbTreeWorld &  world, BodyID  id  ) -> bool

inline

Gets whether the given identifier is to a body that's been destroyed.

Note

Complexity of this function is O(1).

See also

Destroy(AabbTreeWorld& world, BodyID).

Examples

Body.cpp, and World.cpp.

Referenced by IsDestroyed().

IsDestroyed() [2/9]

auto playrho::d2::IsDestroyed ( const AabbTreeWorld &  world, ContactID  id  ) -> bool

inline

Gets whether the given identifier is to a contact that's been destroyed.

Note

Complexity of this function is O(1).

IsDestroyed() [3/9]

auto playrho::d2::IsDestroyed ( const AabbTreeWorld &  world, JointID  id  ) -> bool

inline

Gets whether the given identifier is to a joint that's been destroyed.

Note

Complexity is O(1).

See also

Destroy(AabbTreeWorld& world, JointID).

IsDestroyed() [4/9]

auto playrho::d2::IsDestroyed ( const AabbTreeWorld &  world, ShapeID  id  ) -> bool

inline

Gets whether the given identifier is to a shape that's been destroyed.

Note

Complexity is O(1).

See also

Destroy(AabbTreeWorld& world, ShapeID).

IsDestroyed() [5/9]

constexpr auto playrho::d2::IsDestroyed ( const Body &  body ) -> bool

constexprnoexcept

Whether or not the given body was destroyed.

See also

SetDestroyed, UnsetDestroyed.

IsDestroyed() [6/9]

auto playrho::d2::IsDestroyed ( const World &  world, BodyID  id  ) -> bool

inline

Gets whether the given identifier is to a body that's been destroyed.

Note

Complexity of this function is O(1).

See also

Destroy(World& world, BodyID).

IsDestroyed() [7/9]

auto playrho::d2::IsDestroyed ( const World &  world, ContactID  id  ) -> bool

inline

Gets whether the given identifier is to a contact that's been destroyed.

Note

Complexity of this function is O(1).

IsDestroyed() [8/9]

auto playrho::d2::IsDestroyed ( const World &  world, JointID  id  ) -> bool

inline

Gets whether the given identifier is to a joint that's been destroyed.

Note

Complexity of this function is O(1).

IsDestroyed() [9/9]

auto playrho::d2::IsDestroyed ( const World &  world, ShapeID  id  ) -> bool

inline

Gets whether the given identifier is to a shape that's been destroyed.

Note

Complexity of this function is O(1).

IsEnabled() [1/4]

bool IsEnabled ( const Body &  body )

inlinenoexcept

Gets the enabled/disabled state of the body.

See also

SetEnabled(Body&), UnsetEnabled(Body&).

Examples

Body.cpp, RevoluteJoint.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), and playrho::d2::World::IsEnabled().

IsEnabled() [2/4]

bool playrho::d2::IsEnabled	(	const World &	world,
		BodyID	id
	)

Gets the enabled/disabled state of the body.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

SetEnabled.

IsEnabled() [3/4]

bool playrho::d2::IsEnabled	(	const World &	world,
		ContactID	id
	)

Gets the enabled status of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

IsEnabled() [4/4]

bool playrho::d2::IsEnabled	(	const World &	world,
		JointID	id
	)

Gets the enabled/disabled state of the joint.

Exceptions

std::out_of_range

If given an invalid joint identifier.

IsFixedRotation() [1/2]

bool IsFixedRotation ( const Body &  body )

inlinenoexcept

Does this body have fixed rotation?

See also

SetFixedRotation(Body&, bool).

Examples

Body.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), playrho::d2::World::IsFixedRotation(), playrho::d2::Body::operator==(), playrho::d2::World::SetFixedRotation(), and playrho::d2::World::SetMassData().

IsFixedRotation() [2/2]

bool playrho::d2::IsFixedRotation	(	const World &	world,
		BodyID	id
	)

Gets whether the body has fixed rotation.

Exceptions

std::out_of_range

If given an invalid body identifier.

See also

SetFixedRotation.

IsImpenetrable() [1/2]

bool IsImpenetrable ( const Body &  body )

inlinenoexcept

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

See also

SetImpenetrable(Body&).

Examples

World.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), and playrho::d2::World::IsImpenetrable().

IsImpenetrable() [2/2]

bool playrho::d2::IsImpenetrable	(	const World &	world,
		BodyID	id
	)

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

Exceptions

std::out_of_range

If given an invalid body identifier.

IsLeaf()

constexpr bool IsLeaf ( const DynamicTree::TreeNode &  node )

constexprnoexcept

Is leaf.

Whether or not this node is a leaf node.

Determines whether the given dynamic tree node is a leaf node.

Note

This has constant complexity.

Returns

true if this is a leaf node, false otherwise.

Referenced by playrho::d2::DynamicTree::DestroyLeaf(), playrho::d2::DynamicTree::FindIndex(), and playrho::d2::DynamicTree::GetLeafData().

IsLimitEnabled() [1/2]

bool playrho::d2::IsLimitEnabled

(

const Joint &

object

)

Gets the specified joint's limit property if it supports one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, PrismaticJoint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::Joint::IsLimitEnabled(), and playrho::d2::World::IsLimitEnabled().

IsLimitEnabled() [2/2]

bool playrho::d2::IsLimitEnabled	(	const World &	world,
		JointID	id
	)

Gets whether the identified joint's limit is enabled.

Exceptions

std::out_of_range

If given an invalid joint identifier.

IsLocked()

bool playrho::d2::IsLocked ( const World &  world )

inlinenoexcept

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 playrho::d2::IsMassDataDirty	(	const World &	world,
		BodyID	id
	)

Gets whether the body's mass-data is dirty.

Exceptions

std::out_of_range

If given an invalid body identifier.

IsMotorEnabled() [1/2]

bool playrho::d2::IsMotorEnabled

(

const Joint &

object

)

Gets the specified joint's motor property value if it supports one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::Joint::IsMotorEnabled(), and playrho::d2::World::IsMotorEnabled().

IsMotorEnabled() [2/2]

bool playrho::d2::IsMotorEnabled	(	const World &	world,
		JointID	id
	)

Is the joint motor enabled?

Exceptions

std::out_of_range

If given an invalid joint identifier.

See also

EnableMotor(World& world, JointID joint, bool value)

IsSensor() [1/2]

bool playrho::d2::IsSensor ( const Shape &  shape )

noexcept

Gets whether or not the given shape is a sensor.

See also

SetSensor(Shape& shape, bool value).

Examples

Shape.cpp, World.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::IsSensor(), playrho::d2::detail::ShapeModel< T >::IsSensor_(), and playrho::d2::detail::SetSensor().

IsSensor() [2/2]

bool playrho::d2::IsSensor	(	const World &	world,
		ShapeID	id
	)

Is the specified shape a sensor (non-solid)?

Returns

the true if the shape is a sensor.

Exceptions

std::out_of_range

If given an invalid identifier.

See also

SetSensor.

IsSleepingAllowed() [1/2]

bool IsSleepingAllowed ( const Body &  body )

inlinenoexcept

Gets whether or not this body allowed to sleep.

See also

SetSleepingAllowed(Body&).

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::Body::GetBodyConf(), playrho::d2::World::IsSleepingAllowed(), playrho::d2::Body::operator==(), and playrho::d2::Body::Unawaken().

IsSleepingAllowed() [2/2]

bool playrho::d2::IsSleepingAllowed	(	const World &	world,
		BodyID	id
	)

Gets whether the identified body is allowed to sleep.

Exceptions

std::out_of_range

If given an invalid body identifier.

IsSpeedable() [1/2]

bool IsSpeedable ( const Body &  body )

inlinenoexcept

Is "speedable".

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

Examples

Body.cpp, World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::Awaken(), playrho::d2::World::Awaken(), playrho::d2::World::IsSpeedable(), and playrho::d2::World::SetMassData().

IsSpeedable() [2/2]

bool playrho::d2::IsSpeedable	(	const World &	world,
		BodyID	id
	)

Is identified body "speedable".

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() [1/2]

bool playrho::d2::IsStepComplete ( const AabbTreeWorld &  world )

inlinenoexcept

Whether or not "step" is complete.

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

Returns

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

See also

GetSubStepping, SetSubStepping.

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::IsStepComplete_().

IsStepComplete() [2/2]

bool playrho::d2::IsStepComplete ( const World &  world )

inlinenoexcept

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 playrho::d2::IsTouching	(	const World &	world,
		ContactID	id
	)

Is this contact touching?

Touching is defined as either:

1. This contact's manifold has more than 0 contact points, or
2. 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.

Examples

World.cpp.

Referenced by playrho::d2::World::GetTouchingCount(), and playrho::d2::World::IsTouching().

IsUnused()

constexpr bool IsUnused ( const DynamicTree::TreeNode &  node )

constexprnoexcept

Is unused.

Whether this node is free (or allocated).

Determines whether the given dynamic tree node is an unused node.

Referenced by playrho::d2::DynamicTree::DestroyLeaf(), playrho::d2::DynamicTree::TreeNode::GetAABB(), playrho::d2::DynamicTree::GetAABB(), playrho::d2::DynamicTree::TreeNode::GetNext(), and playrho::d2::DynamicTree::ShiftOrigin().

Mul()

constexpr Transformation playrho::d2::Mul ( const Transformation &  A, const Transformation &  B  )

constexprnoexcept

Multiplies a given transformation by another given transformation.

Note

v2 = A.q.Rot(B.q.Rot(v1) + B.p) + A.p = (A.q * B.q).Rot(v1) + A.q.Rot(B.p) + A.p

MulT()

constexpr Transformation playrho::d2::MulT ( const Transformation &  A, const Transformation &  B  )

constexprnoexcept

Inverse multiplies a given transformation by another given transformation.

Note

v2 = A.q' * (B.q * v1 + B.p - A.p) = A.q' * B.q * v1 + A.q' * (B.p - A.p)

Referenced by playrho::d2::DistanceProxy::GetMaxSeparation(), and playrho::d2::DistanceProxy::GetMaxSeparation4x4().

NeedsFiltering()

bool playrho::d2::NeedsFiltering	(	const World &	world,
		ContactID	id
	)

Whether or not the contact needs filtering.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

World.cpp.

Referenced by playrho::d2::World::NeedsFiltering().

NeedsUpdating()

bool playrho::d2::NeedsUpdating	(	const World &	world,
		ContactID	id
	)

Whether or not the contact needs updating.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

World.cpp.

Referenced by playrho::d2::World::NeedsUpdating().

operator!=() [1/3]

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

inline

Not-equals operator.

See also

operator==(const Body&, const Body&).

operator!=() [2/3]

bool playrho::d2::operator!= ( const Manifold &  lhs, const Manifold &  rhs  )

noexcept

Manifold inequality operator.

Determines whether the two given manifolds are not equal.

operator!=() [3/3]

bool playrho::d2::operator!= ( const World &  lhs, const World &  rhs  )

inlinenoexcept

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==() [1/3]

bool playrho::d2::operator==	(	const Body &	lhs,
		const Body &	rhs
	)

Equals operator.

See also

operator!=(const Body&, const Body&).

operator==() [2/3]

bool playrho::d2::operator== ( const Manifold &  lhs, const Manifold &  rhs  )

noexcept

Manifold equality operator.

Note

In-so-far as manifold points are concerned, order doesn't matter; only whether the two manifolds have the same point set.

operator==() [3/3]

bool playrho::d2::operator== ( const World &  lhs, const World &  rhs  )

inlinenoexcept

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.

Query() [1/2]

void playrho::d2::Query	(	const DynamicTree &	tree,
		const AABB &	aabb,
		const DynamicTreeSizeCB &	callback
	)

Query the given dynamic tree and find nodes overlapping the given AABB.

Note

The callback instance is called for each leaf node that overlaps the supplied AABB.

Examples

World.cpp.

Referenced by Query().

Query() [2/2]

void playrho::d2::Query	(	const DynamicTree &	tree,
		const AABB &	aabb,
		QueryShapeCallback	callback
	)

Queries the world for all fixtures that potentially overlap the provided AABB.

Parameters

tree	Dynamic tree to do the query over.
aabb	The query box.
callback	User implemented callback function.

ReplaceChild()

constexpr DynamicTreeBranchData playrho::d2::ReplaceChild ( DynamicTreeBranchData  bd, DynamicTree::Size  oldChild, DynamicTree::Size  newChild  )

constexpr

Replaces the old child with the new child.

Precondition

Either bd.child1 or bd.child2 is equal to oldChild .

ResetFriction()

void ResetFriction ( World &  world, ContactID  id  )

inline

Resets the friction mixture to the default value.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

ResetMassData()

void playrho::d2::ResetMassData	(	World &	world,
		BodyID	id
	)

Resets the mass data properties.

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.

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::Attach(), playrho::d2::World::Detach(), playrho::d2::World::SetFixedRotation(), and playrho::d2::World::SetType().

ResetRestitution()

void ResetRestitution ( World &  world, ContactID  id  )

inline

Resets the restitution to the default value.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Rotate() [1/4]

constexpr UnitVec playrho::d2::Rotate ( const UnitVec &  vector, const UnitVec &  angle  )

constexprnoexcept

Rotates a unit vector by the angle expressed by the second unit vector.

Returns

Unit vector for the angle that's the sum of the two angles expressed by the input unit vectors.

Rotate() [2/4]

template<class T >

constexpr auto playrho::d2::Rotate ( const Vector2< T > &  vector, const UnitVec &  angle  )

constexprnoexcept

Rotates a vector by a given angle.

This rotates a vector by the angle expressed by the angle parameter.

Parameters

vector	Vector to forward rotate.
angle	Expresses the angle to forward rotate the given vector by.

See also

InverseRotate.

Rotate() [3/4]

void playrho::d2::Rotate	(	Shape &	shape,
		const UnitVec &	value
	)

Rotates all of the given shape's vertices by the given amount.

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.

Rotate() [4/4]

void playrho::d2::Rotate	(	World &	world,
		ShapeID	id,
		const UnitVec &	value
	)

Rotates all of the given shape's vertices by the given amount.

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 playrho::d2::RotateAboutLocalPoint	(	World &	world,
		BodyID	id,
		Angle	amount,
		const Length2 &	localPoint
	)

Rotates a body a given amount around a point in body local coordinates.

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.

Examples

WorldBody.cpp.

RotateAboutWorldPoint()

void playrho::d2::RotateAboutWorldPoint	(	World &	world,
		BodyID	id,
		Angle	amount,
		const Length2 &	worldPoint
	)

Rotates a body a given amount around a point in world coordinates.

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.

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::RotateAboutLocalPoint().

Scale() [1/2]

void playrho::d2::Scale	(	Shape &	shape,
		const Vec2 &	value
	)

Scales all of the given shape's vertices by the given amount.

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.

Scale() [2/2]

void playrho::d2::Scale	(	World &	world,
		ShapeID	id,
		const Vec2 &	value
	)

Scales all of the given shape's vertices by the given amount.

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() [1/8]

void SetAcceleration ( Body &  body, AngularAcceleration  value  )

inlinenoexcept

Sets the given angular acceleration of the given body.

See also

GetAcceleration(const Body& body).

SetAcceleration() [2/8]

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

inlinenoexcept

Sets the accelerations on the given body.

Note

This has no effect on non-accelerable bodies.

A non-zero acceleration will also awaken the body.

Parameters

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

See also

GetAcceleration(const Body& body).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::ApplyForce(), playrho::d2::World::ApplyForceToCenter(), playrho::d2::World::ApplyTorque(), playrho::d2::World::SetAcceleration(), playrho::d2::World::SetAccelerations(), playrho::d2::World::SetForce(), and playrho::d2::World::SetTorque().

SetAcceleration() [3/8]

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

inlinenoexcept

Sets the linear and rotational accelerations on this body.

Note

This has no effect on non-accelerable bodies.

A non-zero acceleration will also awaken the body.

Parameters

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

See also

GetAcceleration(const Body& body).

SetAcceleration() [4/8]

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

inlinenoexcept

Sets the given linear acceleration of the given body.

See also

GetAcceleration(const Body& body).

SetAcceleration() [5/8]

void playrho::d2::SetAcceleration	(	World &	world,
		BodyID	id,
		AngularAcceleration	value
	)

Sets the rotational accelerations on the body.

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() [6/8]

void playrho::d2::SetAcceleration	(	World &	world,
		BodyID	id,
		const Acceleration &	value
	)

Sets the accelerations on the given body.

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() [7/8]

void playrho::d2::SetAcceleration	(	World &	world,
		BodyID	id,
		const LinearAcceleration2 &	linear,
		AngularAcceleration	angular
	)

Sets the linear and rotational accelerations on the body.

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() [8/8]

void playrho::d2::SetAcceleration	(	World &	world,
		BodyID	id,
		const LinearAcceleration2 &	value
	)

Sets the linear accelerations on the body.

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 playrho::d2::SetAccelerations	(	World &	world,
		const Acceleration &	acceleration
	)

Sets the accelerations of all the world's bodies to the given value.

Exceptions

WrongState

if this function is called while the world is locked.

SetAccelerations() [2/3]

void playrho::d2::SetAccelerations	(	World &	world,
		const LinearAcceleration2 &	acceleration
	)

Sets the accelerations of all the world's bodies to the given value.

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
	)

Sets the accelerations of all the world's bodies.

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).

Examples

DistanceJoint.cpp, RevoluteJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::ClearForces().

SetAngle() [1/2]

void playrho::d2::SetAngle	(	Body &	body,
		Angle	value
	)

Sets the body's angular orientation.

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

Warning

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

Parameters

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

See also

GetAngle(const Body& body).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::SetAngle().

SetAngle() [2/2]

void playrho::d2::SetAngle	(	World &	world,
		BodyID	id,
		Angle	value
	)

Sets the body's angular orientation.

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() [1/2]

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

inlinenoexcept

Sets the angular damping of the body.

See also

GetAngularDamping(const Body& body).

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::World::SetAngularDamping().

SetAngularDamping() [2/2]

void playrho::d2::SetAngularDamping	(	World &	world,
		BodyID	id,
		NonNegative< Frequency >	angularDamping
	)

Sets the angular damping of the body.

Exceptions

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

SetAngularLimits() [1/2]

void playrho::d2::SetAngularLimits	(	Joint &	object,
		Angle	lower,
		Angle	upper
	)

Sets the joint limits.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, and RevoluteJoint.cpp.

Referenced by playrho::d2::World::SetAngularLimits().

SetAngularLimits() [2/2]

void playrho::d2::SetAngularLimits	(	World &	world,
		JointID	id,
		Angle	lower,
		Angle	upper
	)

Set the joint limits.

Exceptions

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

SetAngularOffset() [1/2]

void playrho::d2::SetAngularOffset	(	Joint &	object,
		Angle	value
	)

Sets the angular offset property of the specified joint if its type has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

MotorJoint.cpp, and PrismaticJoint.cpp.

Referenced by playrho::d2::World::SetAngularOffset().

SetAngularOffset() [2/2]

void playrho::d2::SetAngularOffset	(	World &	world,
		JointID	id,
		Angle	value
	)

Sets the target angular offset.

Exceptions

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

SetAwake() [1/4]

void SetAwake ( Body &  body )

inlinenoexcept

Awakens this body.

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

Postcondition

If this body is a "speedable" body, then IsAwake(const Body&) function returns true.

If this body is a "speedable" body, then this body's GetUnderActiveTime function returns zero.

See also

IsAwake(const Body&), UnsetAwake(Body&).

Examples

RevoluteJoint.cpp, World.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::Awaken(), and playrho::d2::World::SetAwake().

SetAwake() [2/4]

void playrho::d2::SetAwake	(	World &	world,
		BodyID	id
	)

Wakes up the identified body.

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() [3/4]

void playrho::d2::SetAwake	(	World &	world,
		ContactID	id
	)

Sets awake the bodies of the given contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

SetAwake() [4/4]

void playrho::d2::SetAwake	(	World &	world,
		JointID	id
	)

Wakes up the joined bodies.

Exceptions

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

SetBeginContactListener()

void playrho::d2::SetBeginContactListener ( World &  world, ContactFunction  listener  )

inlinenoexcept

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() [1/2]

void playrho::d2::SetBody	(	AabbTreeWorld &	world,
		BodyID	id,
		Body	value
	)

Sets the identified body.

Exceptions

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

See also

GetBody, GetBodyRange.

Referenced by playrho::d2::World::ApplyAngularImpulse(), playrho::d2::World::ApplyLinearImpulse(), playrho::d2::AabbTreeWorld::Attach(), playrho::d2::World::Attach(), playrho::d2::AabbTreeWorld::Detach(), playrho::d2::World::Detach(), playrho::d2::World::SetAcceleration(), playrho::d2::World::SetAngle(), playrho::d2::World::SetAngularDamping(), playrho::d2::World::SetAwake(), playrho::d2::detail::WorldModel< T >::SetBody_(), playrho::d2::World::SetEnabled(), playrho::d2::World::SetFixedRotation(), playrho::d2::World::SetImpenetrable(), playrho::d2::World::SetLinearDamping(), playrho::d2::World::SetLocation(), playrho::d2::World::SetMassData(), playrho::d2::World::SetSleepingAllowed(), playrho::d2::World::SetTransformation(), playrho::d2::World::SetType(), playrho::d2::World::SetVelocity(), playrho::d2::World::UnsetAwake(), and playrho::d2::World::UnsetImpenetrable().

SetBody() [2/2]

void playrho::d2::SetBody ( World &  world, BodyID  id, const Body &  body  )

inline

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() [1/2]

void playrho::d2::SetContact	(	AabbTreeWorld &	world,
		ContactID	id,
		Contact	value
	)

Sets the identified contact's state.

Note

The new state:

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

Parameters

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

Exceptions

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

See also

GetContact, GetContactRange.

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::SetContact_(), playrho::d2::World::SetEnabled(), playrho::d2::World::SetFriction(), playrho::d2::World::SetRestitution(), playrho::d2::World::SetTangentSpeed(), and playrho::d2::World::UnsetEnabled().

SetContact() [2/2]

void playrho::d2::SetContact ( World &  world, ContactID  id, const Contact &  value  )

inline

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() [1/2]

void playrho::d2::SetDensity	(	Shape &	shape,
		NonNegative< AreaDensity >	value
	)

Sets the density of the given shape.

See also

GetDensity.

Examples

WorldShape.cpp.

Referenced by playrho::d2::World::SetDensity().

SetDensity() [2/2]

void playrho::d2::SetDensity	(	World &	world,
		ShapeID	id,
		NonNegative< AreaDensity >	value
	)

Sets the density of this shape.

Exceptions

std::out_of_range

If given an invalid identifier.

SetDestroyed()

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

constexprnoexcept

Sets the destroyed property of the given body.

Note

This is only meaningfully used by the world implementation.

Examples

Body.cpp.

SetDetachListener()

void playrho::d2::SetDetachListener ( World &  world, BodyShapeFunction  listener  )

inlinenoexcept

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() [1/5]

void SetEnabled ( Body &  body )

inlinenoexcept

Sets the enabled state.

See also

IsEnabled(const Body&), UnsetEnabled(Body&).

Examples

WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::SetEnabled().

SetEnabled() [2/5]

void SetEnabled ( Body &  body, bool  value  )

inlinenoexcept

Sets the enabled state to the given value.

See also

IsEnabled(const Body&), SetEnabled(Body&), UnsetEnabled(Body&).

SetEnabled() [3/5]

void playrho::d2::SetEnabled	(	World &	world,
		BodyID	id,
		bool	value
	)

Sets the enabled state of the body.

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() [4/5]

void playrho::d2::SetEnabled	(	World &	world,
		ContactID	id
	)

Sets the enabled status of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

SetEnabled() [5/5]

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

inline

Convenience function for setting/unsetting the enabled status of the identified contact based on the value parameter.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

IsEnabled(const World&, ContactID).

SetEndContactListener()

void playrho::d2::SetEndContactListener ( World &  world, ContactFunction  listener  )

inlinenoexcept

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).

SetFilter()

void playrho::d2::SetFilter	(	Shape &	shape,
		Filter	value
	)

Sets the filter value for the given shape.

See also

GetFilter(const Shape& shape).

Referenced by playrho::d2::World::SetFilterData().

SetFilterData()

void playrho::d2::SetFilterData	(	World &	world,
		ShapeID	id,
		const Filter &	filter
	)

Convenience function for setting the contact filtering data.

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.

Examples

World.cpp, and WorldShape.cpp.

SetFixedRotation() [1/2]

void SetFixedRotation ( Body &  body, bool  value  )

inline

Sets this body to have fixed rotation.

Note

This causes the mass to be reset.

See also

IsFixedRotation(const Body&).

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::SetFixedRotation().

SetFixedRotation() [2/2]

void playrho::d2::SetFixedRotation	(	World &	world,
		BodyID	id,
		bool	value
	)

Sets this body to have fixed rotation.

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 playrho::d2::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.

Exceptions

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

Examples

WorldBody.cpp.

SetFrequency() [1/2]

void playrho::d2::SetFrequency	(	Joint &	object,
		Frequency	value
	)

Sets the frequency of the joint if it has this property.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

SetFrequency() [2/2]

void playrho::d2::SetFrequency	(	World &	world,
		JointID	id,
		Frequency	value
	)

Sets the frequency of the identified joint if it has this property.

Exceptions

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

SetFriction() [1/3]

void playrho::d2::SetFriction	(	Shape &	shape,
		NonNegative< Real >	value
	)

Sets the coefficient of friction.

See also

GetFriction(const Shape& shape).

Examples

WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::ResetFriction(), and playrho::d2::World::SetFriction().

SetFriction() [2/3]

void playrho::d2::SetFriction	(	World &	world,
		ContactID	id,
		NonNegative< Real >	friction
	)

Sets the friction value for the identified contact.

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() [3/3]

void playrho::d2::SetFriction	(	World &	world,
		ShapeID	id,
		NonNegative< Real >	value
	)

Convenience function for setting the coefficient of friction of the specified shape.

Exceptions

std::out_of_range

If given an invalid identifier.

See also

GetFriction.

SetImpenetrable() [1/3]

void SetImpenetrable ( Body &  body )

inlinenoexcept

Sets the impenetrable status of this body.

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

See also

IsImpenetrable(const Body&), UnsetImpenetrable(Body&).

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::SetImpenetrable().

SetImpenetrable() [2/3]

void playrho::d2::SetImpenetrable	(	World &	world,
		BodyID	id
	)

Sets the impenetrable status of the identified body.

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() [3/3]

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

inline

Convenience function that sets/unsets the impenetrable status of the identified body.

Exceptions

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

SetJoint() [1/3]

void playrho::d2::SetJoint	(	AabbTreeWorld &	world,
		JointID	id,
		Joint	def
	)

Sets the identified joint.

Exceptions

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

See also

CreateJoint(Joint def), Destroy(JointID joint).

Examples

GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::EnableLimit(), playrho::d2::World::EnableMotor(), playrho::d2::World::SetAngularLimits(), playrho::d2::World::SetAngularOffset(), playrho::d2::World::SetFrequency(), playrho::d2::World::SetJoint(), playrho::d2::detail::WorldModel< T >::SetJoint_(), playrho::d2::World::SetLinearOffset(), playrho::d2::World::SetMaxMotorTorque(), playrho::d2::World::SetMotorSpeed(), playrho::d2::World::SetTarget(), and playrho::d2::World::ShiftOrigin().

SetJoint() [2/3]

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

inline

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() [3/3]

template<typename T >

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

Sets a joint's value from a configuration.

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() [1/2]

void playrho::d2::SetJointDestructionListener ( AabbTreeWorld &  world, JointFunction  listener  )

inlinenoexcept

Register a destruction listener for joints.

Note

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

See also

Clear, Destroy(BodyID).

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::SetJointDestructionListener_().

SetJointDestructionListener() [2/2]

void playrho::d2::SetJointDestructionListener ( World &  world, JointFunction  listener  )

inlinenoexcept

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() [1/2]

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

inlinenoexcept

Sets the linear damping of the body.

See also

GetLinearDamping(const Body& body).

Examples

Body.cpp, and World.cpp.

Referenced by playrho::d2::World::SetLinearDamping().

SetLinearDamping() [2/2]

void playrho::d2::SetLinearDamping	(	World &	world,
		BodyID	id,
		NonNegative< Frequency >	linearDamping
	)

Sets the linear damping of the body.

Exceptions

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

SetLinearLimits()

void playrho::d2::SetLinearLimits	(	Joint &	object,
		Length	lower,
		Length	upper
	)

Sets the joint limits.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, and PrismaticJoint.cpp.

SetLinearOffset() [1/2]

void playrho::d2::SetLinearOffset	(	Joint &	object,
		const Length2 &	value
	)

Sets the linear offset property of the specified joint if its type has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

MotorJoint.cpp, and PrismaticJoint.cpp.

Referenced by playrho::d2::World::SetLinearOffset().

SetLinearOffset() [2/2]

void playrho::d2::SetLinearOffset	(	World &	world,
		JointID	id,
		const Length2 &	value
	)

Sets the target linear offset, in frame A.

Exceptions

std::out_of_range

If given an invalid joint identifier.

SetLocation() [1/2]

void playrho::d2::SetLocation	(	Body &	body,
		const Length2 &	value
	)

Sets the body's location.

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

Warning

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

Parameters

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

See also

GetLocation(const Body& body).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::SetLocation().

SetLocation() [2/2]

void playrho::d2::SetLocation	(	World &	world,
		BodyID	id,
		const Length2 &	value
	)

Sets the body's location.

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() [1/2]

void playrho::d2::SetManifold	(	AabbTreeWorld &	world,
		ContactID	id,
		const Manifold &	value
	)

Sets the identified manifold.

Exceptions

std::out_of_range

If given an invalid contact identifier.

See also

GetManifold, GetContactRange.

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::SetManifold_().

SetManifold() [2/2]

void playrho::d2::SetManifold ( World &  world, ContactID  id, const Manifold &  value  )

inline

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 playrho::d2::SetMassData	(	World &	world,
		BodyID	id,
		const MassData &	massData
	)

Sets the mass properties to override the mass properties of the fixtures.

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.

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::ResetMassData().

SetMaxMotorForce()

void playrho::d2::SetMaxMotorForce	(	Joint &	object,
		Force	value
	)

Sets the given joint's max motor force if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, and PrismaticJoint.cpp.

SetMaxMotorTorque() [1/2]

void playrho::d2::SetMaxMotorTorque	(	Joint &	object,
		Torque	value
	)

Sets the given joint's max motor torque if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

Joint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::SetMaxMotorTorque().

SetMaxMotorTorque() [2/2]

void playrho::d2::SetMaxMotorTorque	(	World &	world,
		JointID	id,
		Torque	value
	)

Sets the maximum motor torque.

Exceptions

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

SetMotorSpeed() [1/2]

void playrho::d2::SetMotorSpeed	(	Joint &	object,
		AngularVelocity	value
	)

Sets the given joint's motor speed if its type supports that.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, Joint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::World::SetMotorSpeed().

SetMotorSpeed() [2/2]

void playrho::d2::SetMotorSpeed	(	World &	world,
		JointID	id,
		AngularVelocity	value
	)

Sets the motor-speed property of the identied joint if it supports it.

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 playrho::d2::SetPostSolveContactListener ( World &  world, ContactImpulsesFunction  listener  )

inlinenoexcept

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 playrho::d2::SetPreSolveContactListener ( World &  world, ContactManifoldFunction  listener  )

inlinenoexcept

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() [1/3]

void playrho::d2::SetRestitution	(	Shape &	shape,
		Real	value
	)

Sets the coefficient of restitution value of the given shape.

See also

GetRestitution(const Shape& shape).

Examples

WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::ResetRestitution(), and playrho::d2::World::SetRestitution().

SetRestitution() [2/3]

void playrho::d2::SetRestitution	(	World &	world,
		ContactID	id,
		Real	restitution
	)

Sets the restitution value for the specified contact.

This override the default restitution mixture.

Note

You can call this in "pre-solve" listeners.

The value persists until you set or reset.

SetRestitution() [3/3]

void playrho::d2::SetRestitution	(	World &	world,
		ShapeID	id,
		Real	value
	)

Sets the coefficient of restitution of the specified shape.

Exceptions

std::out_of_range

If given an invalid identifier.

SetSensor() [1/2]

void playrho::d2::SetSensor	(	Shape &	shape,
		bool	value
	)

Sets whether or not the given shape is a sensor.

See also

IsSensor(const Shape& shape).

Examples

World.cpp, WorldContact.cpp, and WorldShape.cpp.

Referenced by playrho::d2::World::SetSensor().

SetSensor() [2/2]

void playrho::d2::SetSensor	(	World &	world,
		ShapeID	id,
		bool	value
	)

Convenience function for setting whether the shape is a sensor or not.

Exceptions

std::out_of_range

If given an invalid identifier.

See also

IsSensor.

SetShape() [1/2]

void playrho::d2::SetShape	(	AabbTreeWorld &	world,
		ShapeID	id,
		Shape	def
	)

Sets the value of the identified shape.

Warning

This function is locked during callbacks.

Note

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

Exceptions

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

See also

CreateShape, Destroy(ShapeID id).

Examples

World.cpp.

Referenced by playrho::d2::World::Rotate(), playrho::d2::World::Scale(), playrho::d2::World::SetDensity(), playrho::d2::World::SetFilterData(), playrho::d2::World::SetFriction(), playrho::d2::World::SetRestitution(), playrho::d2::World::SetSensor(), playrho::d2::detail::WorldModel< T >::SetShape_(), and playrho::d2::World::Translate().

SetShape() [2/2]

void playrho::d2::SetShape ( World &  world, ShapeID  id, const Shape &  def  )

inline

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() [1/2]

void playrho::d2::SetShapeDestructionListener ( AabbTreeWorld &  world, ShapeFunction  listener  )

inlinenoexcept

Registers a destruction listener for shapes.

Note

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

See also

Clear(AabbTreeWorld&).

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::SetShapeDestructionListener_().

SetShapeDestructionListener() [2/2]

void playrho::d2::SetShapeDestructionListener ( World &  world, ShapeFunction  listener  )

inlinenoexcept

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() [1/2]

void SetSleepingAllowed ( Body &  body, bool  value  )

inlinenoexcept

You can disable sleeping on this body. If you disable sleeping, the body will be woken.

See also

IsSleepingAllowed(const Body&).

Examples

World.cpp.

Referenced by playrho::d2::World::SetSleepingAllowed().

SetSleepingAllowed() [2/2]

void playrho::d2::SetSleepingAllowed	(	World &	world,
		BodyID	id,
		bool	value
	)

Sets whether the identified body is allowed to sleep.

Exceptions

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

SetSubStepping() [1/2]

void playrho::d2::SetSubStepping ( AabbTreeWorld &  world, bool  flag  )

inlinenoexcept

Enables/disables single stepped continuous physics.

Note

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

Postcondition

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

See also

IsStepComplete, GetSubStepping.

Examples

World.cpp.

Referenced by playrho::d2::detail::WorldModel< T >::SetSubStepping_().

SetSubStepping() [2/2]

void playrho::d2::SetSubStepping ( World &  world, bool  flag  )

inlinenoexcept

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.

SetSweep()

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

inlinenoexcept

Sets the sweep value of the given body.

See also

GetSweep(const Body& body).

Referenced by playrho::d2::Body::SetAngle(), playrho::d2::World::SetMassData(), and playrho::d2::Body::SetTransformation().

SetTangentSpeed()

void playrho::d2::SetTangentSpeed	(	World &	world,
		ContactID	id,
		LinearVelocity	value
	)

Sets the desired tangent speed for a conveyor belt behavior.

Exceptions

std::out_of_range

If given an invalid contact identifier.

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::SetTangentSpeed().

SetTarget() [1/2]

void playrho::d2::SetTarget	(	Joint &	object,
		const Length2 &	value
	)

Sets the given joint's target property if it has one.

Exceptions

std::invalid_argument

If not supported for the given joint's type.

Examples

PrismaticJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::SetTarget().

SetTarget() [2/2]

void playrho::d2::SetTarget	(	World &	world,
		JointID	id,
		const Length2 &	value
	)

Sets the target point.

Exceptions

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

SetTorque()

void playrho::d2::SetTorque	(	World &	world,
		BodyID	id,
		Torque	torque
	)

Sets the given amount of torque to the given body.

Exceptions

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

Examples

WorldBody.cpp.

SetTransform()

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

inline

Sets the position of the body's origin and rotation.

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.

Examples

WorldBody.cpp.

Referenced by playrho::d2::World::RotateAboutWorldPoint().

SetTransformation() [1/2]

void playrho::d2::SetTransformation ( Body &  body, const Transformation &  value  )

noexcept

Sets the body's transformation.

Note

This sets the sweep to the new transformation.

Postcondition

GetTransformation(const Body& body) will return the value set.

GetPosition1(const Body& body) will return a position equivalent to value given.

See also

GetTransformation(const Body& body), GetPosition1(const Body& body).

Examples

Body.cpp, and WorldBody.cpp.

Referenced by playrho::d2::Body::SetLocation(), playrho::d2::World::SetTransform(), and playrho::d2::World::SetTransformation().

SetTransformation() [2/2]

void playrho::d2::SetTransformation	(	World &	world,
		BodyID	id,
		const Transformation &	value
	)

Sets the transformation of the body.

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() [1/2]

void SetType ( Body &  body, BodyType  value  )

inlinenoexcept

Sets the type of this body.

See also

GetType(const Body&).

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::SetType().

SetType() [2/2]

void playrho::d2::SetType	(	World &	world,
		BodyID	id,
		BodyType	value,
		bool	resetMassData = true
	)

Sets the type of the given body.

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() [1/6]

void SetVelocity ( Body &  body, AngularVelocity  value  )

inlinenoexcept

Sets the angular velocity.

Parameters

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

See also

GetAngularVelocity(const Body& body).

SetVelocity() [2/6]

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

inlinenoexcept

Sets the linear velocity of the center of mass.

Parameters

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

See also

GetLinearVelocity(const Body& body).

SetVelocity() [3/6]

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

inlinenoexcept

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

Note

This function does nothing if this body is not speedable.

A non-zero velocity will awaken this body.

See also

GetVelocity(const Body& body), SetAwake, SetUnderActiveTime.

Examples

World.cpp, and WorldBody.cpp.

Referenced by playrho::d2::World::SetVelocity().

SetVelocity() [4/6]

void playrho::d2::SetVelocity	(	World &	world,
		BodyID	id,
		AngularVelocity	value
	)

Sets the velocity of the identified body.

Exceptions

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

SetVelocity() [5/6]

void playrho::d2::SetVelocity	(	World &	world,
		BodyID	id,
		const LinearVelocity2 &	value
	)

Sets the velocity of the identified body.

Exceptions

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

SetVelocity() [6/6]

void playrho::d2::SetVelocity	(	World &	world,
		BodyID	id,
		const Velocity &	value
	)

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

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.

SetVertexRadius()

void playrho::d2::SetVertexRadius	(	Shape &	shape,
		ChildCounter	idx,
		NonNegative< Length >	value
	)

Sets the vertex radius of the indexed child of the given shape.

Exceptions

InvalidArgument

if the vertex radius cannot be set to the specified value.

See also

GetVertexRadius(const Shape& shape, ChildCounter idx).

ShiftOrigin() [1/4]

void playrho::d2::ShiftOrigin	(	AabbTreeWorld &	world,
		const Length2 &	newOrigin
	)

Shifts the world origin.

Note

Useful for large worlds.

The body shift formula is: position -= newOrigin.

Postcondition

The "origin" of this world's bodies, joints, and the board-phase dynamic tree have been translated per the shift amount and direction.

Parameters

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

Exceptions

WrongState

if this function is called while the world is locked.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, and World.cpp.

Referenced by playrho::d2::World::ShiftOrigin(), playrho::d2::detail::WorldModel< T >::ShiftOrigin_(), and playrho::d2::detail::JointModel< T >::ShiftOrigin_().

ShiftOrigin() [2/4]

bool playrho::d2::ShiftOrigin ( Joint &  object, const Length2 &  value  )

noexcept

Shifts the origin for any points stored in world coordinates.

Returns

true if shift done, false otherwise.

ShiftOrigin() [3/4]

void playrho::d2::ShiftOrigin ( World &  world, const Length2 &  newOrigin  )

inline

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() [4/4]

bool playrho::d2::ShiftOrigin	(	World &	world,
		JointID	id,
		const Length2 &	value
	)

Shifts the origin of the identified joint.

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.

ShouldCollide()

bool ShouldCollide ( const Shape &  a, const Shape &  b  )

inlinenoexcept

Whether contact calculations should be performed between the two instances.

Returns

true if contact calculations should be performed between these two instances; false otherwise.

Referenced by playrho::d2::Shape::ShouldCollide().

size()

std::size_t playrho::d2::size ( const DynamicTree &  tree )

inlinenoexcept

Gets the "size" of the given tree.

Note

Size in this context is defined as the leaf count.

This provides ancillary support for the container named requirement's size function.

See also

DynamicTree::GetLeafCount()

https://en.cppreference.com/w/cpp/named_req/Container

Examples

Body.cpp, Compositor.cpp, World.cpp, WorldBody.cpp, and WorldShape.cpp.

Referenced by playrho::BlockAllocator::Allocate(), CalcSearchDirection(), playrho::d2::DistanceProxy::Distance(), FindLowestRightMostVertex(), playrho::BlockAllocator::Free(), playrho::d2::ConvexHull::Get(), playrho::d2::World::GetAssociationCount(), playrho::d2::World::GetBodyCount(), playrho::d2::part::StaticRectangle< W, H, V >::GetChild(), playrho::d2::part::DynamicRectangle< W, H, V >::GetChild(), GetChildCount(), playrho::d2::World::GetContactCount(), GetConvexHullAsVector(), playrho::d2::ConvexHull::GetDistanceProxy(), GetFwdNormalsVector(), GetIndexPairs(), playrho::d2::World::GetJointCount(), GetManifold(), GetMassData(), playrho::BlockAllocator::GetMaxBlockSize(), playrho::d2::World::GetShapeCount(), playrho::d2::World::GetUsedShapesCount(), playrho::d2::ChainShapeConf::GetVertexCount(), playrho::d2::PolygonShapeConf::GetVertexCount(), GetWitnessPoints(), playrho::d2::PolygonShapeConf::Set(), playrho::d2::ChainShapeConf::Set(), playrho::d2::VertexSet::size(), and Validate().

SolvePosition() [1/12]

bool playrho::d2::SolvePosition	(	const DistanceJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::detail::JointModel< T >::SolvePosition_().

SolvePosition() [2/12]

bool playrho::d2::SolvePosition	(	const FrictionJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Note

This is a no-op and always returns true.

Returns

true.

SolvePosition() [3/12]

bool playrho::d2::SolvePosition	(	const GearJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [4/12]

bool playrho::d2::SolvePosition	(	const Joint &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Returns

true if the position errors are within tolerance.

SolvePosition() [5/12]

bool playrho::d2::SolvePosition	(	const MotorJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Note

This is a no-op and always returns true.

Returns

true.

SolvePosition() [6/12]

bool playrho::d2::SolvePosition	(	const PrismaticJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [7/12]

bool playrho::d2::SolvePosition	(	const PulleyJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [8/12]

bool playrho::d2::SolvePosition	(	const RevoluteJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [9/12]

bool playrho::d2::SolvePosition	(	const RopeJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [10/12]

bool playrho::d2::SolvePosition	(	const TargetJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Note

This is a no-op and always returns true.

Returns

true.

SolvePosition() [11/12]

bool playrho::d2::SolvePosition	(	const WeldJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolvePosition() [12/12]

bool playrho::d2::SolvePosition	(	const WheelJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const ConstraintSolverConf &	conf
	)

Solves the position constraint.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
conf	Constraint solver configuration.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

Returns

true if the position errors are within tolerance.

SolveVelocity() [1/12]

bool playrho::d2::SolveVelocity	(	DistanceJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, MotorJoint.cpp, PrismaticJoint.cpp, PulleyJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, TargetJoint.cpp, WeldJoint.cpp, and WheelJoint.cpp.

Referenced by playrho::d2::detail::JointModel< T >::SolveVelocity_().

SolveVelocity() [2/12]

bool playrho::d2::SolveVelocity	(	FrictionJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [3/12]

bool playrho::d2::SolveVelocity	(	GearJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [4/12]

bool playrho::d2::SolveVelocity	(	Joint &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [5/12]

bool playrho::d2::SolveVelocity	(	MotorJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [6/12]

bool playrho::d2::SolveVelocity	(	PrismaticJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [7/12]

bool playrho::d2::SolveVelocity	(	PulleyJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [8/12]

bool playrho::d2::SolveVelocity	(	RevoluteJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [9/12]

bool playrho::d2::SolveVelocity	(	RopeJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [10/12]

bool playrho::d2::SolveVelocity	(	TargetJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyB must index a body within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyB value is not InvalidBodyID and does not index within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [11/12]

bool playrho::d2::SolveVelocity	(	WeldJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

SolveVelocity() [12/12]

bool playrho::d2::SolveVelocity	(	WheelJointConf &	object,
		const Span< BodyConstraint > &	bodies,
		const StepConf &	step
	)

Solves velocity constraint.

Precondition

InitVelocity has been called.

Parameters

object	Configuration object. bodyA and bodyB must index bodies within the given bodies container or be the special body ID value of InvalidBodyID.
bodies	Container of body constraints.
step	Configuration for the step.

Exceptions

std::out_of_range

If the given object's bodyA or bodyB values are not InvalidBodyID and are not indices within range of the given bodies container.

See also

InitVelocity.

Returns

true if velocity is "solved", false otherwise.

Step() [1/3]

StepStats playrho::d2::Step	(	AabbTreeWorld &	world,
		const StepConf &	conf
	)

Steps the world simulation according to the given configuration.

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

Warning

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

Note

Calling this with a zero step time delta results only in fixtures and bodies registered for proxy handling being processed. No physics is performed.

If the given velocity and position iterations are zero, this function doesn't do velocity or position resolutions respectively of the contacting bodies.

While body velocities are updated accordingly (per the sum of forces acting on them), body positions (barring any collisions) are updated as if they had moved the entire time step at those resulting velocities. In other words, a body initially at position 0 (p0) going velocity 0 (v0) fast with a sum acceleration of a, after time t and barring any collisions, will have a new velocity (v1) of v0 + (a * t) and a new position (p1) of p0 + v1 * t.

Parameters

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

Precondition

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

Postcondition

Static bodies are unmoved.

Kinetic bodies are moved based on their previous velocities.

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

The bodies for proxies queue will be empty.

The fixtures for proxies queue will be empty.

No contact in the world needs updating.

Returns

Statistics for the step.

Exceptions

WrongState

if this function is called while the world is locked.

See also

GetBodiesForProxies, GetFixturesForProxies.

Examples

DistanceJoint.cpp, FrictionJoint.cpp, GearJoint.cpp, HelloWorld.cpp, MotorJoint.cpp, PrismaticJoint.cpp, RevoluteJoint.cpp, RopeJoint.cpp, WeldJoint.cpp, WheelJoint.cpp, World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::Step(), and playrho::d2::detail::WorldModel< T >::Step_().

Step() [2/3]

StepStats playrho::d2::Step ( World &  world, const StepConf &  conf = StepConf{}  )

inline

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() [3/3]

StepStats playrho::d2::Step	(	World &	world,
		Time	delta,
		TimestepIters	velocityIterations = StepConf::DefaultRegVelocityIters,
		TimestepIters	positionIterations = StepConf::DefaultRegPositionIters
	)

Steps the world ahead by a given time amount.

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.

swap()

void playrho::d2::swap ( DynamicTree &  lhs, DynamicTree &  rhs  )

noexcept

Note

This satisfies the Swappable named requirement.

See also

https://en.cppreference.com/w/cpp/named_req/Swappable

Referenced by playrho::d2::DynamicTree::operator=(), and RayCast().

TestOverlap()

Area playrho::d2::TestOverlap	(	const DistanceProxy &	proxyA,
		const Transformation &	xfA,
		const DistanceProxy &	proxyB,
		const Transformation &	xfB,
		DistanceConf	conf = DistanceConf{}
	)

Determine if two generic shapes overlap.

Note

The returned touching state information typically agrees with that returned from the CollideShapes function. This is not always the case however especially when the separation or overlap distance is closer to zero.

Examples

Shape.cpp, and World.cpp.

Referenced by Query(), RayCast(), and playrho::d2::DynamicTree::TestOverlap().

Transform() [1/2]

constexpr Length2 playrho::d2::Transform ( const Length2 &  v, const Transformation &  xfm  )

constexprnoexcept

Transforms the given 2-D vector with the given transformation.

Rotate and translate the given 2-D linear position according to the rotation and translation defined by the given transformation.

Note

Passing the output of this function to InverseTransform (with the same transformation again) will result in the original vector being returned.

For a 2-D linear position of the origin (0, 0), the result is simply the translation.

See also

InverseTransform.

Parameters

v	2-D position to transform (to rotate and then translate).
xfm	Transformation (a translation and rotation) to apply to the given vector.

Returns

Rotated and translated vector.

Referenced by playrho::d2::DistanceProxy::ComputeAABB(), playrho::d2::World::GetAnchorA(), playrho::d2::World::GetAnchorB(), GetManifold(), playrho::d2::DistanceProxy::GetMaxSeparation(), playrho::d2::DistanceProxy::GetMaxSeparation4x4(), GetSeparationScenario(), playrho::d2::Body::GetWorldPoint(), playrho::d2::World::GetWorldPoint(), playrho::d2::DistanceProxy::RayCast(), playrho::d2::World::SetMassData(), playrho::d2::FrictionJointConf::SolveVelocity(), playrho::d2::MotorJointConf::SolveVelocity(), playrho::d2::TargetJointConf::SolveVelocity(), playrho::d2::WeldJointConf::SolveVelocity(), and playrho::d2::PolygonShapeConf::Transform().

Transform() [2/2]

void Transform ( PolygonShapeConf &  arg, const Mat22 &  m  )

inline

Transforms the given polygon configuration's vertices by the given transformation matrix.

See also

https://en.wikipedia.org/wiki/Transformation_matrix

Translate() [1/2]

void playrho::d2::Translate	(	Shape &	shape,
		const Length2 &	value
	)

Translates all of the given shape's vertices by the given amount.

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.

Translate() [2/2]

void playrho::d2::Translate	(	World &	world,
		ShapeID	id,
		const Length2 &	value
	)

Translates all of the given shape's vertices by the given amount.

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() [1/12]

template<typename T >

T TypeCast ( const Joint &  value )

inline

Converts the given joint 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.

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() [2/12]

template<typename T >

std::add_pointer_t< std::add_const_t< T > > playrho::d2::TypeCast ( const Joint *  value )

inlinenoexcept

Converts the given joint 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 code from the LLVM Project.

See also

https://llvm.org/

Examples

DistanceJoint.cpp, Joint.cpp, Shape.cpp, and World.cpp.

TypeCast() [3/12]

template<typename T >

T TypeCast ( const Shape &  value )

inline

Casts the specified instance into the template specified type.

Exceptions

std::bad_cast

If the template specified type is not the type of data underlying the given instance.

See also

GetType(const Shape&)

TypeCast() [4/12]

template<typename T >

std::add_pointer_t< std::add_const_t< T > > playrho::d2::TypeCast ( const Shape *  value )

noexcept

Converts the given shape 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 code from the LLVM Project.

See also

https://llvm.org/

GetType(const Shape&)

TypeCast() [5/12]

template<typename T >

T TypeCast ( const World &  value )

inline

Converts the given joint 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.

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() [6/12]

template<typename T >

std::add_pointer_t< std::add_const_t< T > > playrho::d2::TypeCast ( const World *  value )

inlinenoexcept

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() [7/12]

template<typename T >

T TypeCast ( Joint &&  value )

inline

Converts the given joint 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.

See also

https://llvm.org/

TypeCast() [8/12]

template<typename T >

T TypeCast ( Joint &  value )

inline

Converts the given joint 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.

See also

https://llvm.org/

TypeCast() [9/12]

template<typename T >

std::add_pointer_t< T > playrho::d2::TypeCast ( Joint *  value )

inlinenoexcept

Converts the given joint 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.

See also

https://llvm.org/

TypeCast() [10/12]

template<typename T >

T TypeCast ( World &&  value )

inline

Converts the given joint 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.

See also

https://llvm.org/

TypeCast() [11/12]

template<typename T >

T TypeCast ( World &  value )

inline

Converts the given joint 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.

See also

https://llvm.org/

TypeCast() [12/12]

template<typename T >

std::add_pointer_t< T > playrho::d2::TypeCast ( World *  value )

inlinenoexcept

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/

Unawaken()

bool Unawaken ( Body &  body )

inlinenoexcept

Puts the body to sleep if it's awake.

See also

Awaken(Body& body).

UnsetAwake() [1/2]

void UnsetAwake ( Body &  body )

inlinenoexcept

Sets this body to asleep if sleeping is allowed.

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

Postcondition

IsAwake(const Body&) function returns false.

This body's GetUnderActiveTime function returns zero.

This body's GetVelocity function returns zero linear and zero angular speed.

See also

IsAwake(const Body&), SetAwake(Body&).

Examples

RevoluteJoint.cpp, WorldBody.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::UnsetAwake().

UnsetAwake() [2/2]

void playrho::d2::UnsetAwake	(	World &	world,
		BodyID	id
	)

Sleeps the identified body.

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).

UnsetDestroyed()

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

constexprnoexcept

Unsets the destroyed property of the given body.

Note

This is only meaningfully used by the world implementation.

Examples

Body.cpp.

UnsetEnabled() [1/2]

void UnsetEnabled ( Body &  body )

inlinenoexcept

Unsets the enabled state.

See also

IsEnabled(const Body&), SetEnabled(Body&).

Examples

WorldContact.cpp.

Referenced by playrho::d2::World::SetEnabled(), and playrho::d2::World::UnsetEnabled().

UnsetEnabled() [2/2]

void playrho::d2::UnsetEnabled	(	World &	world,
		ContactID	id
	)

Unsets the enabled status of the identified contact.

Exceptions

std::out_of_range

If given an invalid contact identifier.

UnsetImpenetrable() [1/2]

void UnsetImpenetrable ( Body &  body )

inlinenoexcept

Unsets the impenetrable status of this body.

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

See also

IsImpenetrable(const Body&), SetImpenetrable(Body&).

Examples

World.cpp, and WorldContact.cpp.

Referenced by playrho::d2::World::SetImpenetrable(), and playrho::d2::World::UnsetImpenetrable().

UnsetImpenetrable() [2/2]

void playrho::d2::UnsetImpenetrable	(	World &	world,
		BodyID	id
	)

Unsets the impenetrable status of the identified body.

Exceptions

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

Validate()

bool playrho::d2::Validate

(

const Span< const Length2 > &

verts

)

Validates the convexity of the given collection of vertices.

Note

This is a time consuming operation.

Returns

true if the given collection of vertices is indeed convex, false otherwise.

ValidateMetrics()

bool playrho::d2::ValidateMetrics ( const DynamicTree &  tree, DynamicTree::Size  index  )

noexcept

Validates the metrics of the given tree from the given index.

Note

Meant for testing.

Returns

true if valid, false otherwise.

ValidateStructure()

bool playrho::d2::ValidateStructure ( const DynamicTree &  tree, DynamicTree::Size  index  )

noexcept

Validates the structure of the given tree from the given index.

Note

Meant for testing.

Returns

true if valid, false otherwise.

Variable Documentation

EarthlyGravity

constexpr auto playrho::d2::EarthlyGravity = LinearAcceleration2{0_mps2, EarthlyLinearAcceleration}

constexpr

Earthly gravity in 2-dimensions.

Linear acceleration in 2-dimensions of an earthly object due to Earth's mass.

See also

EarthlyLinearAcceleration

Examples

HelloWorld.cpp, RevoluteJoint.cpp, and World.cpp.

InvalidAABB

constexpr auto playrho::d2::InvalidAABB

constexpr

Initial value:

= AABB{
    LengthInterval{Invalid<Length>},
    LengthInterval{Invalid<Length>}
}

Invalid AABB value.

IsValidJointTypeV

template<class T >

constexpr bool playrho::d2::IsValidJointTypeV = detail::IsValidJointType<T>::value

inlineconstexpr

Boolean value for whether the specified type is a valid joint type.

See also

Joint.

Transform_identity

constexpr auto playrho::d2::Transform_identity

constexpr

Initial value:

= Transformation{
    Length2{0_m, 0_m}, UnitVec::GetRight()
}

Identity transformation value.