A physical world that handles physical objects. More...

#include <PhysicsWorld.h>

Inheritance diagram for icl::physics::PhysicsWorld:

Public Types
enum	BulletSolverType { SequentialImpulseConstraintSolver, MLCP_Dantzig, NNCG, Lemke, Default = SequentialImpulseConstraintSolver }

Public Member Functions
	PhysicsWorld (BulletSolverType solver_type=Default)
	constructor with given config file name More...

	~PhysicsWorld ()
	Destructor. More...

void	addObject (PhysicsObject *obj)
	adds a physics object to the world (ownership is not passed) More...

void	removeObject (PhysicsObject *obj)
	removes the given physics object from the world More...

void	setGravity (const geom::Vec &gravity)
	sets the Gravity of the World More...

void	setGravityEnabled (bool on, const geom::Vec *useThisGravityIfOn=0)
	enables/disables gravity More...

void	splitImpulseEnabled (bool enable)
	enable splitImpulse More...

void	step (float dtSeconds=-1, int maxSubSteps=10, float fixedTimeStep=1.f/120.f)
	applies physical simulation for the given time step More...

double	getLastTimeDelta ()
	returns the last delta of time in seconds as a double value. More...

bool	collideWithWorld (RigidObject *obj, bool ignoreJoints=true)
	check collision of an object with the world More...

void	setGroupCollision (int group0, int group1, bool collides)
	enables/disables collision between the group0 and group1 More...

bool	getGroupCollision (int group0, int group1)
	returns wether group0 and group1 collide More...

bool	rayCast (const geom::ViewRay &ray, float rayLength, PhysicsObject *&obj, geom::Vec &normal, geom::Vec &hitPoint)
	Return true if the ray hit and sets the pointer to the first object that was hit as well as the hit normal and hit point. More...

void	addConstraint (Constraint *constraint, bool disableCollisionWithLinkedBodies=false, bool passOwnerShip=false)
	adds a constraint to the world More...

void	removeConstraint (Constraint *constraint)
	removes a cosntraint from the world More...

const btSoftBodyWorldInfo *	getWorldInfo () const
	returns an internal world-info struct More...

btSoftBodyWorldInfo *	getWorldInfo ()
	returns an internal world-info struct More...

Public Member Functions inherited from icl::utils::Lockable
	Lockable (bool recursive=false)
	Default constructor. More...

	Lockable (const Lockable &l)
	copy constructor (does not copy the source mutex) More...

Lockable &	operator= (const Lockable &l)
	assignment operator (does not copy the source mutex) More...

	~Lockable ()
	Destructor. More...

void	lock () const
	lock object More...

void	unlock () const
	unlock object More...

Mutex &	getMutex () const
	returns mutex of this object More...

Protected Member Functions
void	removeContactPoints (PhysicsObject *obj)
	removes contactpoints (used when the collisionshape of an object has changed) More...

Protected Member Functions inherited from icl::utils::Uncopyable
	Uncopyable ()
	Empty base constructor. More...

Private Member Functions
void	setSolver (BulletSolverType type)

Private Attributes
Data *	data
	internal data pointer More...

Friends
class	PhysicsObject

Detailed Description

A physical world that handles physical objects.

Member Enumeration Documentation

◆ BulletSolverType

enum icl::physics::PhysicsWorld::BulletSolverType

Enumerator
SequentialImpulseConstraintSolver
MLCP_Dantzig
NNCG
Lemke
Default

Constructor & Destructor Documentation

◆ PhysicsWorld()

icl::physics::PhysicsWorld::PhysicsWorld ( BulletSolverType solver_type = Default )

constructor with given config file name

◆ ~PhysicsWorld()

icl::physics::PhysicsWorld::~PhysicsWorld ( )

Destructor.

Member Function Documentation

◆ addConstraint()

void icl::physics::PhysicsWorld::addConstraint	(	Constraint *	constraint,
		bool	disableCollisionWithLinkedBodies = `false`,
		bool	passOwnerShip = `false`
	)

adds a constraint to the world

◆ addObject()

void icl::physics::PhysicsWorld::addObject ( PhysicsObject * obj )

adds a physics object to the world (ownership is not passed)

◆ collideWithWorld()

bool icl::physics::PhysicsWorld::collideWithWorld	(	RigidObject *	obj,
		bool	ignoreJoints = `true`
	)

check collision of an object with the world

◆ getGroupCollision()

bool icl::physics::PhysicsWorld::getGroupCollision	(	int	group0,
		int	group1
	)

returns wether group0 and group1 collide

◆ getLastTimeDelta()

double icl::physics::PhysicsWorld::getLastTimeDelta ( )

returns the last delta of time in seconds as a double value.

◆ getWorldInfo() [1/2]

const btSoftBodyWorldInfo* icl::physics::PhysicsWorld::getWorldInfo ( ) const

returns an internal world-info struct

◆ getWorldInfo() [2/2]

btSoftBodyWorldInfo* icl::physics::PhysicsWorld::getWorldInfo ( )

returns an internal world-info struct

◆ rayCast()

bool icl::physics::PhysicsWorld::rayCast	(	const geom::ViewRay &	ray,
		float	rayLength,
		PhysicsObject *&	obj,
		geom::Vec &	normal,
		geom::Vec &	hitPoint
	)

Return true if the ray hit and sets the pointer to the first object that was hit as well as the hit normal and hit point.

◆ removeConstraint()

void icl::physics::PhysicsWorld::removeConstraint ( Constraint * constraint )

removes a cosntraint from the world

◆ removeContactPoints()

void icl::physics::PhysicsWorld::removeContactPoints ( PhysicsObject * obj )

protected

removes contactpoints (used when the collisionshape of an object has changed)

◆ removeObject()

void icl::physics::PhysicsWorld::removeObject ( PhysicsObject * obj )

removes the given physics object from the world

◆ setGravity()

void icl::physics::PhysicsWorld::setGravity ( const geom::Vec & gravity )

sets the Gravity of the World

◆ setGravityEnabled()

void icl::physics::PhysicsWorld::setGravityEnabled	(	bool	on,
		const geom::Vec *	useThisGravityIfOn = `0`
	)

enables/disables gravity

When enabling gravity (on = true), either the given gravity value can be used or if useThisGravityIfOn is null, the default gravity (0,0, -9810) is used

◆ setGroupCollision()

void icl::physics::PhysicsWorld::setGroupCollision	(	int	group0,
		int	group1,
		bool	collides
	)

enables/disables collision between the group0 and group1

◆ setSolver()

void icl::physics::PhysicsWorld::setSolver ( BulletSolverType type )

private

◆ splitImpulseEnabled()

void icl::physics::PhysicsWorld::splitImpulseEnabled ( bool enable )

enable splitImpulse

◆ step()

void icl::physics::PhysicsWorld::step	(	float	dtSeconds = `-1`,
		int	maxSubSteps = `10`,
		float	fixedTimeStep = `1.f/120.f`
	)

applies physical simulation for the given time step

If the given time interval tdSeconds is < 0, the actual time interval since the last call of this method is used

Friends And Related Function Documentation

◆ PhysicsObject

friend class PhysicsObject

friend

Member Data Documentation

◆ data

Data* icl::physics::PhysicsWorld::data