Physical entity that exists within a World. More...

#include <Body.hpp>

Public Types
enum	Flag : FlagsType { e_islandFlag = FlagsType(0x0001), e_awakeFlag = FlagsType(0x0002), e_autoSleepFlag = FlagsType(0x0004), e_impenetrableFlag = FlagsType(0x0008), e_fixedRotationFlag = FlagsType(0x0010), e_enabledFlag = FlagsType(0x0020), e_velocityFlag = FlagsType(0x0080), e_accelerationFlag = FlagsType(0x0100), e_massDataDirtyFlag = FlagsType(0x0200) }
	Flag enumeration. More...

using	Fixtures = std::vector< Fixture * >
	Container type for fixtures. More...

using	KeyedJointPtr = std::pair< Body , Joint >
	Keyed joint pointer. More...

using	Joints = std::vector< KeyedJointPtr >
	Container type for joints. More...

using	Contacts = std::vector< KeyedContactPtr >
	Container type for contacts. More...

using	FlagsType = std::uint16_t
	Flags type. More...

Public Member Functions
Fixture *	CreateFixture (const Shape &shape, const FixtureConf &def=GetDefaultFixtureConf(), bool resetMassData=true)
	Creates a fixture and attaches it to this body. More...

bool	Destroy (Fixture *fixture, bool resetMassData=true)
	Destroys a fixture. More...

void	DestroyFixtures ()
	Destroys fixtures. More...

void	SetTransform (Length2 location, Angle angle)
	Sets the position of the body's origin and rotation. More...

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

Length2	GetLocation () const noexcept
	Gets the world body origin location. More...

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

Angle	GetAngle () const noexcept
	Get the angle. More...

Length2	GetWorldCenter () const noexcept
	Get the world position of the center of mass. More...

Length2	GetLocalCenter () const noexcept
	Gets the local position of the center of mass. More...

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

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

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

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

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

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

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

void	SetMassData (const MassData &massData)
	Set the mass properties to override the mass properties of the fixtures. More...

void	ResetMassData ()
	Resets the mass data properties. More...

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

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

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

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

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

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

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

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

void	SetBullet (bool flag) noexcept
	Sets the bullet status of this body. More...

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

void	SetSleepingAllowed (bool flag) noexcept

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

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

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

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

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

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

void	ResetUnderActiveTime () noexcept
	Resets the under-active time for this body. More...

void	SetEnabled (bool flag)
	Sets the enabled state of the body. More...

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

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

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

SizedRange< Fixtures::const_iterator >	GetFixtures () const noexcept
	Gets the range of all constant fixtures attached to this body. More...

SizedRange< Fixtures::iterator >	GetFixtures () noexcept
	Gets the range of all fixtures attached to this body. More...

SizedRange< Joints::const_iterator >	GetJoints () const noexcept
	Gets the range of all joints attached to this body. More...

SizedRange< Joints::iterator >	GetJoints () noexcept
	Gets the range of all joints attached to this body. More...

SizedRange< Contacts::const_iterator >	GetContacts () const noexcept
	Gets the container of all contacts attached to this body. More...

void *	GetUserData () const noexcept
	Gets the user data pointer that was provided in the body definition. More...

void	SetUserData (void *data) noexcept
	Sets the user data. Use this to store your application specific data. More...

World *	GetWorld () const noexcept
	Gets the parent world of this body. More...

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

Static Public Member Functions
static FlagsType	GetFlags (BodyType type) noexcept
	Gets the flags for the given value. More...

static FlagsType	GetFlags (const BodyConf &bd) noexcept
	Gets the flags for the given value. More...

Static Public Attributes
static const PLAYRHO_CONSTEXPR auto	InvalidIslandIndex = static_cast<BodyCounter>(-1)
	Invalid island index. More...

Friends
class	BodyAtty

Related Functions
(Note that these are not member functions.)
AABB	ComputeAABB (const Body &body)
	Computes the AABB for the given body. More...

MassData	ComputeMassData (const Body &body) noexcept
	Computes the body's mass data. More...

MassData	GetMassData (const Body &body) noexcept
	Gets the mass data of the body. More...

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

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

Acceleration	CalcGravitationalAcceleration (const Body &body) noexcept
	Calculates the gravitationally associated acceleration for the given body within its world. More...

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

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

bool	ShouldCollide (const Body &lhs, const Body &rhs) noexcept
	Should collide. More...

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

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

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

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

void	ApplyLinearAcceleration (Body &body, LinearAcceleration2 amount)
	Applies the given linear acceleration to the given body. More...

void	SetForce (Body &body, Force2 force, Length2 point) noexcept
	Sets the given amount of force at the given point to the given body. More...

void	ApplyForce (Body &body, Force2 force, Length2 point) noexcept
	Apply a force at a world point. More...

void	ApplyForceToCenter (Body &body, Force2 force) noexcept
	Apply a force to the center of mass. More...

void	SetTorque (Body &body, Torque torque) noexcept
	Sets the given amount of torque to the given body. More...

void	ApplyTorque (Body &body, Torque torque) noexcept
	Applies a torque. More...

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

void	ApplyAngularImpulse (Body &body, AngularMomentum impulse) noexcept
	Applies an angular impulse. More...

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

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

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

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

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

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

void	SetAngularVelocity (Body &body, AngularVelocity omega) noexcept
	Sets the angular velocity. More...

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

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

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

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

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

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

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

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

BodyCounter	GetWorldIndex (const Body *body) noexcept
	Gets the world index for the given body. More...

std::size_t	GetFixtureCount (const Body &body) noexcept
	Gets the fixture count of the given body. More...

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

void	RotateAboutLocalPoint (Body &body, Angle amount, Length2 localPoint)
	Rotates a body a given amount around a point in body local coordinates. More...

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

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

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

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

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

Detailed Description

Physical entity that exists within a World.

A rigid body entity created or destroyed through a World instance. These have physical properties like: position, velocity, acceleration, and mass.

Invariant: Only bodies that allow sleeping, can be put to sleep.; Only "speedable" bodies can be awake.; Only "speedable" bodies can have non-zero velocities.; Only "accelerable" bodies can have non-zero accelerations.; Only "accelerable" bodies can have non-zero "under-active" times.

Note: Create these using the World::CreateBody method.; Destroy these using the World::Destroy(Body*) method.; From a memory management perspective, bodies own Fixture instances.; On a 64-bit architecture with 4-byte Real, this data structure is at least 192-bytes large.

See also: World, Fixture

Examples: Body.cpp, and World.cpp.

Definition at line 73 of file Body.hpp.

Member Typedef Documentation

◆ Fixtures

using playrho::d2::Body::Fixtures = std::vector<Fixture*>

Container type for fixtures.

Examples: Body.cpp.

Definition at line 78 of file Body.hpp.

◆ KeyedJointPtr

using playrho::d2::Body::KeyedJointPtr = std::pair<Body*, Joint*>

Keyed joint pointer.

Definition at line 81 of file Body.hpp.

◆ Joints

using playrho::d2::Body::Joints = std::vector<KeyedJointPtr>

Container type for joints.

Examples: Body.cpp.

Definition at line 84 of file Body.hpp.

◆ Contacts

using playrho::d2::Body::Contacts = std::vector<KeyedContactPtr>

Container type for contacts.

Examples: Body.cpp.

Definition at line 87 of file Body.hpp.

◆ FlagsType

using playrho::d2::Body::FlagsType = std::uint16_t

Flags type.

Note: For internal use. Made public to facilitate unit testing.

Definition at line 94 of file Body.hpp.

Member Enumeration Documentation

◆ Flag

enum playrho::d2::Body::Flag : FlagsType

Flag enumeration.

Note: For internal use. Made public to facilitate unit testing.

Enumerator
e_islandFlag	Island flag.
e_awakeFlag	Awake flag.
e_autoSleepFlag	Auto sleep flag.
e_impenetrableFlag	Impenetrable flag. Indicates whether CCD should be done for this body. All static and kinematic bodies have this flag enabled.
e_fixedRotationFlag	Fixed rotation flag.
e_enabledFlag	Enabled flag.
e_velocityFlag	Velocity flag. Set this to enable changes in position due to velocity. Bodies with this set are "speedable" - either kinematic or dynamic bodies.
e_accelerationFlag	Acceleration flag. Set this to enable changes in velocity due to physical properties (like forces). Bodies with this set are "accelerable" - dynamic bodies.
e_massDataDirtyFlag	Mass Data Dirty Flag.

Definition at line 98 of file Body.hpp.

Member Function Documentation

◆ GetFlags() [1/2]

Body::FlagsType playrho::d2::Body::GetFlags ( BodyType type )

inlinestaticnoexcept

Gets the flags for the given value.

Examples: Body.cpp.

Definition at line 584 of file Body.hpp.

◆ GetFlags() [2/2]

Body::FlagsType playrho::d2::Body::GetFlags ( const BodyConf & bd )

staticnoexcept

Gets the flags for the given value.

Definition at line 38 of file Body.cpp.

◆ CreateFixture()

Fixture * playrho::d2::Body::CreateFixture	(	const Shape &	shape,
		const FixtureConf &	def = `GetDefaultFixtureConf()`,
		bool	resetMassData = `true`
	)

Creates a fixture and attaches it to this body.

Creates a fixture for attaching a shape and other characteristics to this body. Fixtures automatically go away when this body is destroyed. Fixtures can also be manually removed and destroyed using the Destroy(Fixture*, bool), or DestroyFixtures() methods.

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

Warning: This function is locked during callbacks.

Postcondition: After creating a new fixture, it will show up in the fixture enumeration returned by the GetFixtures() methods.

Parameters

shape	Shareable shape definition. Its vertex radius must be less than the minimum or more than the maximum allowed by the body's world.
def	Initial fixture settings. Friction and density must be >= 0. Restitution must be > -infinity and < infinity.
resetMassData	Whether or not to reset the mass data of the body.

Returns: Pointer to the created fixture.

Exceptions

WrongState	if called while the world is "locked".
InvalidArgument	if called for a shape with a vertex radius less than the minimum vertex radius.
InvalidArgument	if called for a shape with a vertex radius greater than the maximum vertex radius.

See also: Destroy, GetFixtures; Physical Entity Classes

Examples: Contact.cpp, and World.cpp.

Definition at line 113 of file Body.cpp.

◆ Destroy()

bool playrho::d2::Body::Destroy	(	Fixture *	fixture,
		bool	resetMassData = `true`
	)

Destroys a fixture.

Destroys a fixture previously created by the CreateFixture(const Shape&, const FixtureConf&, bool) method. This removes the fixture from the broad-phase and destroys all contacts associated with this fixture. All fixtures attached to a body are implicitly destroyed when the body is destroyed.

Warning: This function is locked during callbacks.

Note: Make sure to explicitly call ResetMassData() after fixtures have been destroyed if resetting the mass data is not requested via the reset mass data parameter.

Postcondition: After destroying a fixture, it will no longer show up in the fixture enumeration returned by the GetFixtures() methods.

Parameters

fixture	the fixture to be removed.
resetMassData	Whether or not to reset the mass data.

See also: CreateFixture, GetFixtures, ResetMassData.; Physical Entity Classes

Definition at line 119 of file Body.cpp.

◆ DestroyFixtures()

void playrho::d2::Body::DestroyFixtures ( )

Destroys fixtures.

Destroys all of the fixtures previously created for this body by the CreateFixture(const Shape&, const FixtureConf&, bool) method.

Note: This unconditionally calls the ResetMassData() method.

Postcondition: After this call, no fixtures will show up in the fixture enumeration returned by the GetFixtures() methods.

See also: CreateFixture, GetFixtures, ResetMassData.; Physical Entity Classes

Definition at line 128 of file Body.cpp.

◆ SetTransform()

void playrho::d2::Body::SetTransform	(	Length2	location,
		Angle	angle
	)

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

location	Valid world location of the body's local origin. Behavior is undefined if value is invalid.
angle	Valid world rotation. Behavior is undefined if value is invalid.

Definition at line 291 of file Body.cpp.

◆ GetTransformation()

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

inlinenoexcept

Gets the body transform for the body's origin.

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

See also: GetLocation.

Definition at line 607 of file Body.hpp.

◆ GetLocation()

Length2 playrho::d2::Body::GetLocation ( ) const

inlinenoexcept

Gets the world body 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:

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

See also
GetTransformation.

Examples: Body.cpp, and World.cpp.

Definition at line 612 of file Body.hpp.

◆ GetSweep()

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

inlinenoexcept

Gets the body's sweep.

Definition at line 617 of file Body.hpp.

◆ GetAngle()

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

inlinenoexcept

Get the angle.

Returns: the current world rotation angle.

Definition at line 622 of file Body.hpp.

◆ GetWorldCenter()

Length2 playrho::d2::Body::GetWorldCenter ( ) const

inlinenoexcept

Get the world position of the center of mass.

Definition at line 627 of file Body.hpp.

◆ GetLocalCenter()

Length2 playrho::d2::Body::GetLocalCenter ( ) const

inlinenoexcept

Gets the local position of the center of mass.

Definition at line 632 of file Body.hpp.

◆ GetVelocity()

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

inlinenoexcept

Gets the velocity.

Definition at line 637 of file Body.hpp.

◆ SetVelocity()

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

noexcept

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

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

See also: SetAwake, SetUnderActiveTime.

Definition at line 229 of file Body.cpp.

◆ SetAcceleration()

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

noexcept

Sets the linear and rotational accelerations on this body.

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

Parameters

linear	Linear acceleration.
angular	Angular acceleration.

Examples: Body.cpp.

Definition at line 243 of file Body.cpp.

◆ GetLinearAcceleration()

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

inlinenoexcept

Gets this body's linear acceleration.

Definition at line 821 of file Body.hpp.

◆ GetAngularAcceleration()

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

inlinenoexcept

Gets this body's angular acceleration.

Definition at line 826 of file Body.hpp.

◆ GetInvMass()

InvMass playrho::d2::Body::GetInvMass ( ) const

inlinenoexcept

Gets the inverse total mass of the body.

This is the cached result of dividing 1 by the body's mass. 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: SetMassData.

Definition at line 642 of file Body.hpp.

◆ GetInvRotInertia()

InvRotInertia playrho::d2::Body::GetInvRotInertia ( ) const

inlinenoexcept

Gets the inverse rotational inertia of the body.

This is the cached result of dividing 1 by the body's rotational inertia. 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).

Definition at line 647 of file Body.hpp.

◆ SetMassData()

void playrho::d2::Body::SetMassData ( const MassData & massData )

Set 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

massData the mass properties.

Definition at line 186 of file Body.cpp.

◆ ResetMassData()

void playrho::d2::Body::ResetMassData ( )

Resets the mass data properties.

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

Note: This method must be called after calling CreateFixture to update the body mass data properties unless SetMassData is used.

See also: SetMassData.

Definition at line 138 of file Body.cpp.

◆ GetLinearDamping()

Frequency playrho::d2::Body::GetLinearDamping ( ) const

inlinenoexcept

Gets the linear damping of the body.

Definition at line 652 of file Body.hpp.

◆ SetLinearDamping()

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

inlinenoexcept

Sets the linear damping of the body.

Definition at line 657 of file Body.hpp.

◆ GetAngularDamping()

Frequency playrho::d2::Body::GetAngularDamping ( ) const

inlinenoexcept

Gets the angular damping of the body.

Definition at line 662 of file Body.hpp.

◆ SetAngularDamping()

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

inlinenoexcept

Sets the angular damping of the body.

Definition at line 667 of file Body.hpp.

◆ SetType()

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

Sets the type of this body.

Note: This may alter the mass and velocity.

Definition at line 108 of file Body.cpp.

◆ GetType()

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

inlinenoexcept

Gets the type of this body.

Definition at line 596 of file Body.hpp.

◆ IsSpeedable()

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

inlinenoexcept

Is "speedable".

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

Definition at line 757 of file Body.hpp.

◆ IsAccelerable()

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

inlinenoexcept

Is "accelerable".

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

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

Definition at line 762 of file Body.hpp.

◆ SetBullet()

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

inlinenoexcept

Sets the bullet status of this body.

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

Definition at line 672 of file Body.hpp.

◆ IsImpenetrable()

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

inlinenoexcept

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

Definition at line 684 of file Body.hpp.

◆ SetSleepingAllowed()

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

inlinenoexcept

You can disable sleeping on this body. If you disable sleeping, the body will be woken.

Definition at line 767 of file Body.hpp.

◆ IsSleepingAllowed()

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

inlinenoexcept

Gets whether or not this body allowed to sleep.

Definition at line 781 of file Body.hpp.

◆ SetAwake()

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

inlinenoexcept

Awakens this body.

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

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

Definition at line 703 of file Body.hpp.

◆ UnsetAwake()

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

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: This body's IsAwake method returns false.; This body's GetUnderActiveTime method returns zero.; This body's GetVelocity method returns zero linear and zero angular speed.

Definition at line 714 of file Body.hpp.

◆ IsAwake()

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

inlinenoexcept

Gets the awake/asleep state of this body.

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

Returns: true if the body is awake.

Definition at line 724 of file Body.hpp.

◆ GetUnderActiveTime()

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

inlinenoexcept

Gets this body's under-active time value.

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

Definition at line 729 of file Body.hpp.

◆ SetUnderActiveTime()

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

inlinenoexcept

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

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

Warning: Behavior is undefined for negative values.

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

Definition at line 734 of file Body.hpp.

◆ ResetUnderActiveTime()

void playrho::d2::Body::ResetUnderActiveTime ( )

inlinenoexcept

Resets the under-active time for this body.

Note: This has performance degrading potential and is best not called unless the caller is certain that it should be.

Definition at line 742 of file Body.hpp.

◆ SetEnabled()

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

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.

Definition at line 309 of file Body.cpp.

◆ IsEnabled()

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

inlinenoexcept

Gets the enabled/disabled state of the body.

Definition at line 747 of file Body.hpp.

◆ SetFixedRotation()

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

Sets this body to have fixed rotation.

Note: This causes the mass to be reset.

Definition at line 336 of file Body.cpp.

◆ IsFixedRotation()

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

inlinenoexcept

Does this body have fixed rotation?

Definition at line 752 of file Body.hpp.

◆ GetFixtures() [1/2]

SizedRange< Body::Fixtures::iterator > playrho::d2::Body::GetFixtures ( ) const

inlinenoexcept

Gets the range of all constant fixtures attached to this body.

Definition at line 786 of file Body.hpp.

◆ GetFixtures() [2/2]

SizedRange<Fixtures::iterator> playrho::d2::Body::GetFixtures ( )

noexcept

Gets the range of all fixtures attached to this body.

◆ GetJoints() [1/2]

SizedRange< Body::Joints::iterator > playrho::d2::Body::GetJoints ( ) const

inlinenoexcept

Gets the range of all joints attached to this body.

Definition at line 796 of file Body.hpp.

◆ GetJoints() [2/2]

SizedRange<Joints::iterator> playrho::d2::Body::GetJoints ( )

noexcept

Gets the range of all joints attached to this body.

◆ GetContacts()

SizedRange< Body::Contacts::const_iterator > playrho::d2::Body::GetContacts ( ) const

inlinenoexcept

Gets the container of all contacts attached to this body.

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

Definition at line 806 of file Body.hpp.

◆ GetUserData()

void * playrho::d2::Body::GetUserData ( ) const

inlinenoexcept

Gets the user data pointer that was provided in the body definition.

Definition at line 816 of file Body.hpp.

◆ SetUserData()

void playrho::d2::Body::SetUserData ( void * data )

inlinenoexcept

Sets the user data. Use this to store your application specific data.

Definition at line 811 of file Body.hpp.

◆ GetWorld()

World * playrho::d2::Body::GetWorld ( ) const

inlinenoexcept

Gets the parent world of this body.

Definition at line 842 of file Body.hpp.

◆ IsMassDataDirty()

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

inlinenoexcept

Gets whether the mass data for this body is "dirty".

Definition at line 857 of file Body.hpp.

Friends And Related Function Documentation

◆ BodyAtty

friend class BodyAtty

friend

Definition at line 454 of file Body.hpp.

◆ ComputeAABB()

AABB ComputeAABB ( const Body & body )

Definition at line 77 of file AABB.cpp.

◆ ComputeMassData()

MassData ComputeMassData ( const Body & body )

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.

Definition at line 187 of file MassData.cpp.

◆ GetMassData()

MassData GetMassData ( const Body & body )

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

Definition at line 206 of file MassData.cpp.

◆ GetAcceleration()

Acceleration GetAcceleration ( const Body & body )

Parameters

body	Body whose acceleration should be returned.

Examples: Body.cpp, and World.cpp.

Definition at line 892 of file Body.hpp.

◆ SetAcceleration()

void SetAcceleration	(	Body &	body,
		Acceleration	value
	)

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

Parameters

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

Examples: Body.cpp, and World.cpp.

Definition at line 903 of file Body.hpp.

◆ CalcGravitationalAcceleration()

Acceleration CalcGravitationalAcceleration ( const Body & body )

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.

Examples: Body.cpp.

Definition at line 544 of file Body.cpp.

◆ Awaken()

bool Awaken ( Body & body )

Examples: World.cpp.

Definition at line 917 of file Body.hpp.

◆ Unawaken()

bool Unawaken ( Body & body )

Definition at line 929 of file Body.hpp.

◆ ShouldCollide()

bool ShouldCollide	(	const Body &	lhs,
		const Body &	rhs
	)

Determines whether a body should possibly be able to collide with the other body.

Returns: true if either body is dynamic and no joint prevents collision, false otherwise.

Definition at line 424 of file Body.cpp.

◆ GetPosition1()

Position GetPosition1 ( const Body & body )

Definition at line 947 of file Body.hpp.

◆ GetMass()

Mass GetMass ( const Body & body )

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

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

See also: GetInvMass, SetMassData

Examples: Body.cpp, and World.cpp.

Definition at line 957 of file Body.hpp.

◆ SetLinearAcceleration()

void SetLinearAcceleration	(	Body &	body,
		LinearAcceleration2	value
	)

Definition at line 965 of file Body.hpp.

◆ SetAngularAcceleration()

void SetAngularAcceleration	(	Body &	body,
		AngularAcceleration	value
	)

Definition at line 972 of file Body.hpp.

◆ ApplyLinearAcceleration()

void ApplyLinearAcceleration	(	Body &	body,
		LinearAcceleration2	amount
	)

Examples: Body.cpp.

Definition at line 979 of file Body.hpp.

◆ SetForce()

void SetForce	(	Body &	body,
		Force2	force,
		Length2	point
	)

Definition at line 986 of file Body.hpp.

◆ ApplyForce()

void ApplyForce	(	Body &	body,
		Force2	force,
		Length2	point
	)

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

Parameters

body	Body to apply the force to.
force	World force vector.
point	World position of the point of application.

Definition at line 1004 of file Body.hpp.

◆ ApplyForceToCenter()

void ApplyForceToCenter	(	Body &	body,
		Force2	force
	)

Note: Non-zero forces wakes up the body.

Parameters

body	Body to apply the force to.
force	World force vector.

Examples: World.cpp.

Definition at line 1022 of file Body.hpp.

◆ SetTorque()

void SetTorque	(	Body &	body,
		Torque	torque
	)

Definition at line 1031 of file Body.hpp.

◆ ApplyTorque()

void ApplyTorque	(	Body &	body,
		Torque	torque
	)

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

Parameters

body	Body to apply the torque to.
torque	about the z-axis (out of the screen).

Definition at line 1046 of file Body.hpp.

◆ ApplyLinearImpulse()

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

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

Parameters

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

Definition at line 1063 of file Body.hpp.

◆ ApplyAngularImpulse()

void ApplyAngularImpulse	(	Body &	body,
		AngularMomentum	impulse
	)

Parameters

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

Definition at line 1077 of file Body.hpp.

◆ GetCentripetalForce()

Force2 GetCentripetalForce	(	const Body &	body,
		Length2	axis
	)

Examples: Body.cpp.

Definition at line 528 of file Body.cpp.

◆ GetRotInertia()

RotInertia GetRotInertia ( const Body & body )

Parameters

body	Body to get the rotational inertia for.

Returns: the rotational inertia.

Examples: Body.cpp.

Definition at line 1094 of file Body.hpp.

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia ( const Body & body )

Returns: the rotational inertia.

Definition at line 1102 of file Body.hpp.

◆ GetLinearVelocity()

LinearVelocity2 GetLinearVelocity ( const Body & body )

Parameters

body	Body to get the linear velocity for.

Returns: the linear velocity of the center of mass.

Examples: Body.cpp, and World.cpp.

Definition at line 1112 of file Body.hpp.

◆ GetAngularVelocity()

AngularVelocity GetAngularVelocity ( const Body & body )

Parameters

body	Body to get the angular velocity for.

Returns: the angular velocity.

Definition at line 1121 of file Body.hpp.

◆ SetLinearVelocity()

void SetLinearVelocity	(	Body &	body,
		const LinearVelocity2	v
	)

Parameters

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

Examples: Body.cpp.

Definition at line 1130 of file Body.hpp.

◆ SetAngularVelocity()

void SetAngularVelocity	(	Body &	body,
		AngularVelocity	omega
	)

Parameters

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

Definition at line 1139 of file Body.hpp.

◆ GetWorldPoint()

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

Parameters

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

Returns: the same point expressed in world coordinates.

Definition at line 1149 of file Body.hpp.

◆ GetWorldVector() [1/2]

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

Parameters

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

Returns: the same vector expressed in world coordinates.

Definition at line 1159 of file Body.hpp.

◆ GetWorldVector() [2/2]

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

Definition at line 1166 of file Body.hpp.

◆ GetLocalPoint()

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

Parameters

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

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

Definition at line 1176 of file Body.hpp.

◆ GetLocalVector()

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

Parameters

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

Returns: the corresponding local vector.

Definition at line 1186 of file Body.hpp.

◆ GetLinearVelocityFromWorldPoint()

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

Parameters

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

Returns: the world velocity of a point.

Definition at line 1196 of file Body.hpp.

◆ GetLinearVelocityFromLocalPoint()

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

Parameters

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

Returns: the world velocity of a point.

Definition at line 1211 of file Body.hpp.

◆ GetForce()

Force2 GetForce ( const Body & body )

Definition at line 1219 of file Body.hpp.

◆ GetTorque()

Torque GetTorque ( const Body & body )

Definition at line 1226 of file Body.hpp.

◆ GetVelocity()

Velocity GetVelocity	(	const Body &	body,
		Time	h
	)

Warning: Behavior is undefined if the given elapsed time is an invalid value (like NaN).

Parameters

body	Body to get the velocity for.
h	Time elapsed to get velocity for. Behavior is undefined if this value is invalid.

Definition at line 458 of file Body.cpp.

◆ GetWorldIndex()

BodyCounter GetWorldIndex ( const Body * body )

Examples: Body.cpp.

Definition at line 440 of file Body.cpp.

◆ GetFixtureCount()

std::size_t GetFixtureCount ( const Body & body )

Examples: Body.cpp, and World.cpp.

Definition at line 504 of file Body.cpp.

◆ RotateAboutWorldPoint()

void RotateAboutWorldPoint	(	Body &	body,
		Angle	amount,
		Length2	worldPoint
	)

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

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

Parameters

body	Body to rotate.
amount	Amount to rotate body by (in counter-clockwise direction).
worldPoint	Point in world coordinates.

Examples: Body.cpp.

Definition at line 510 of file Body.cpp.

◆ RotateAboutLocalPoint()

void RotateAboutLocalPoint	(	Body &	body,
		Angle	amount,
		Length2	localPoint
	)

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

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

Parameters

body	Body to rotate.
amount	Amount to rotate body by (in counter-clockwise direction).
localPoint	Point in local coordinates.

Examples: Body.cpp.

Definition at line 523 of file Body.cpp.

◆ GetLocation()

Length2 GetLocation ( const Body & body )

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

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

See also
GetAngle.

Examples: Body.cpp, and World.cpp.

Definition at line 1287 of file Body.hpp.

◆ GetAngle()

Angle GetAngle ( const Body & body )

Returns: Body's angle relative to its World.

Examples: Body.cpp, and World.cpp.

Definition at line 1295 of file Body.hpp.

◆ SetLocation()

void SetLocation	(	Body &	body,
		Length2	value
	)

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

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

Parameters

body	Body to move.
value	Valid world location of the body's local origin. Behavior is undefined if value is invalid.

See also: Body::SetTransform

Examples: Body.cpp, and World.cpp.

Definition at line 1328 of file Body.hpp.

◆ SetAngle()

void SetAngle	(	Body &	body,
		Angle	value
	)

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

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

Parameters

body	Body to move.
value	Valid world angle of the body's local origin. Behavior is undefined if value is invalid.

See also: Body::SetTransform

Examples: Body.cpp.

Definition at line 1341 of file Body.hpp.

◆ GetBodyConf()

BodyConf GetBodyConf ( const Body & body )

Parameters

body	Body to get the `BodyConf` for.

Definition at line 28 of file BodyConf.cpp.

Member Data Documentation

◆ InvalidIslandIndex

const PLAYRHO_CONSTEXPR auto playrho::d2::Body::InvalidIslandIndex = static_cast<BodyCounter>(-1)

static

Invalid island index.

Definition at line 90 of file Body.hpp.

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

Dynamics/Body.hpp
Collision/AABB.hpp
Collision/MassData.hpp
Dynamics/Body.cpp
Dynamics/BodyConf.hpp

Public Types

Public Member Functions

Static Public Member Functions

Static Public Attributes

Friends

Related Functions

Detailed Description

Member Typedef Documentation

◆ Fixtures

◆ KeyedJointPtr

◆ Joints

◆ Contacts

◆ FlagsType

Member Enumeration Documentation

◆ Flag

Member Function Documentation

◆ GetFlags() [1/2]

◆ GetFlags() [2/2]

◆ CreateFixture()

◆ Destroy()

◆ DestroyFixtures()

◆ SetTransform()

◆ GetTransformation()

◆ GetLocation()

◆ GetSweep()

◆ GetAngle()

◆ GetWorldCenter()

◆ GetLocalCenter()

◆ GetVelocity()

◆ SetVelocity()

◆ SetAcceleration()

◆ GetLinearAcceleration()

◆ GetAngularAcceleration()

◆ GetInvMass()

◆ GetInvRotInertia()

◆ SetMassData()

◆ ResetMassData()

◆ GetLinearDamping()

◆ SetLinearDamping()

◆ GetAngularDamping()

◆ SetAngularDamping()

◆ SetType()

◆ GetType()

◆ IsSpeedable()

◆ IsAccelerable()

◆ SetBullet()

◆ IsImpenetrable()

◆ SetSleepingAllowed()

◆ IsSleepingAllowed()

◆ SetAwake()

◆ UnsetAwake()

◆ IsAwake()

◆ GetUnderActiveTime()

◆ SetUnderActiveTime()

◆ ResetUnderActiveTime()

◆ SetEnabled()

◆ IsEnabled()

◆ SetFixedRotation()

◆ IsFixedRotation()

◆ GetFixtures() [1/2]

◆ GetFixtures() [2/2]

◆ GetJoints() [1/2]

◆ GetJoints() [2/2]

◆ GetContacts()

◆ GetUserData()

◆ SetUserData()

◆ GetWorld()

◆ IsMassDataDirty()

Friends And Related Function Documentation

◆ BodyAtty

◆ ComputeAABB()

◆ ComputeMassData()

◆ GetMassData()

◆ GetAcceleration()

◆ SetAcceleration()

◆ CalcGravitationalAcceleration()

◆ Awaken()

◆ Unawaken()

◆ ShouldCollide()

◆ GetPosition1()