A potential contact between the children of two Fixture objects. More...

#include <Contact.hpp>

Classes
struct	UpdateConf
	Update configuration. More...

Public Types
using	substep_type = TimestepIters
	Substep type. More...

Public Member Functions
	Contact (Fixture fA, ChildCounter iA, Fixture fB, ChildCounter iB)
	Initializing constructor. More...

	Contact ()=delete
	Default construction not allowed. More...

	Contact (const Contact &copy)=default
	Copy constructor. More...

const Manifold &	GetManifold () const noexcept
	Gets the contact manifold. More...

bool	IsTouching () const noexcept
	Is this contact touching? More...

void	SetEnabled (bool flag) noexcept
	Enables or disables this contact. More...

void	SetEnabled () noexcept
	Enables this contact. More...

void	UnsetEnabled () noexcept
	Disables this contact. More...

bool	IsEnabled () const noexcept
	Has this contact been disabled? More...

Fixture *	GetFixtureA () const noexcept
	Gets fixture A in this contact. More...

ChildCounter	GetChildIndexA () const noexcept
	Get the child primitive index for fixture A. More...

Fixture *	GetFixtureB () const noexcept
	Gets fixture B in this contact. More...

ChildCounter	GetChildIndexB () const noexcept
	Get the child primitive index for fixture B. More...

void	SetFriction (Real friction) noexcept
	Sets the friction value for this contact. More...

Real	GetFriction () const noexcept
	Gets the coefficient of friction. More...

void	SetRestitution (Real restitution) noexcept
	Sets the restitution. More...

Real	GetRestitution () const noexcept
	Gets the restitution. More...

void	SetTangentSpeed (LinearVelocity speed) noexcept
	Sets the desired tangent speed for a conveyor belt behavior. More...

LinearVelocity	GetTangentSpeed () const noexcept
	Gets the desired tangent speed. More...

substep_type	GetToiCount () const noexcept
	Gets the time of impact count. More...

bool	HasValidToi () const noexcept
	Gets whether a TOI is set. More...

Real	GetToi () const
	Gets the time of impact (TOI) as a fraction. More...

void	FlagForFiltering () noexcept
	Flags the contact for filtering. More...

bool	NeedsFiltering () const noexcept
	Whether or not the contact needs filtering. More...

void	FlagForUpdating () noexcept
	Flags the contact for updating. More...

bool	NeedsUpdating () const noexcept
	Whether or not the contact needs updating. More...

Static Public Member Functions
static UpdateConf	GetUpdateConf (const StepConf &conf) noexcept
	Gets the update configuration from the given step configuration data. More...

Friends
class	ContactAtty

Related Functions
(Note that these are not member functions.)
AABB	ComputeIntersectingAABB (const Contact &contact)
	Computes the intersecting AABB for the given contact. More...

WorldManifold	GetWorldManifold (const Contact &contact)

Body *	GetBodyA (const Contact &contact) noexcept
	Gets the body A associated with the given contact. More...

Body *	GetBodyB (const Contact &contact) noexcept
	Gets the body B associated with the given contact. More...

Fixture *	GetFixtureA (const Contact &contact) noexcept
	Gets the fixture A associated with the given contact. More...

Fixture *	GetFixtureB (const Contact &contact) noexcept
	Gets the fixture B associated with the given contact. More...

ChildCounter	GetChildIndexA (const Contact &contact) noexcept
	Gets the child index A of the given contact. More...

ChildCounter	GetChildIndexB (const Contact &contact) noexcept
	Gets the child index B of the given contact. More...

bool	HasSensor (const Contact &contact) noexcept
	Whether the given contact has a sensor. More...

bool	IsImpenetrable (const Contact &contact) noexcept
	Whether the given contact is "impenetrable". More...

bool	IsActive (const Contact &contact) noexcept
	Determines whether the given contact is "active". More...

void	SetAwake (const Contact &c) noexcept
	Sets awake the fixtures of the given contact. More...

void	ResetFriction (Contact &contact)

void	ResetRestitution (Contact &contact) noexcept

TOIOutput	CalcToi (const Contact &contact, ToiConf conf)
	Calculates the Time Of Impact for the given contact with the given configuration. More...

Detailed Description

A potential contact between the children of two Fixture objects.

The class manages contact between two shapes. A contact exists for each overlapping AABB in the broad-phase (except if filtered). Therefore a contact object may exist that has no actual contact points.

Note: These are created by World instances. Users have no need to instantiate these themselves.; This data structure is 104-bytes large (on at least one 64-bit platform).

Examples: Contact.cpp, and World.cpp.

Definition at line 81 of file Contact.hpp.

Member Typedef Documentation

◆ substep_type

using playrho::d2::Contact::substep_type = TimestepIters

Substep type.

Definition at line 86 of file Contact.hpp.

Constructor & Destructor Documentation

◆ Contact() [1/3]

playrho::d2::Contact::Contact	(	Fixture *	fA,
		ChildCounter	iA,
		Fixture *	fB,
		ChildCounter	iB
	)

Initializing constructor.

Parameters

fA	Non-null pointer to fixture A that must have a shape and may not be the same or have the same body as the other fixture.
iA	Child index A.
fB	Non-null pointer to fixture B that must have a shape and may not be the same or have the same body as the other fixture.
iB	Child index B.

Note: This need never be called directly by a user.

Warning: Behavior is undefined if fA is null.; Behavior is undefined if fB is null.; Behavior is undefined if fA == fB.; Behavior is undefined if both fixture's have the same body.

Definition at line 60 of file Contact.cpp.

◆ Contact() [2/3]

playrho::d2::Contact::Contact ( )

delete

Default construction not allowed.

◆ Contact() [3/3]

playrho::d2::Contact::Contact ( const Contact & copy )

default

Copy constructor.

Member Function Documentation

◆ GetUpdateConf()

Contact::UpdateConf playrho::d2::Contact::GetUpdateConf ( const StepConf & conf )

staticnoexcept

Gets the update configuration from the given step configuration data.

Definition at line 55 of file Contact.cpp.

◆ GetManifold()

const Manifold & playrho::d2::Contact::GetManifold ( ) const

inlinenoexcept

Gets the contact manifold.

Examples: World.cpp.

Definition at line 341 of file Contact.hpp.

◆ IsTouching()

bool playrho::d2::Contact::IsTouching ( ) const

inlinenoexcept

Is this contact touching?

Touching is defined as either:

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

Examples: World.cpp.

Definition at line 380 of file Contact.hpp.

◆ SetEnabled() [1/2]

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

inlinenoexcept

Enables or disables this contact.

Note: This can be used inside the pre-solve contact listener. The contact is only disabled for the current time step (or sub-step in continuous collisions).

Definition at line 353 of file Contact.hpp.

◆ SetEnabled() [2/2]

void playrho::d2::Contact::SetEnabled ( )

inlinenoexcept

Enables this contact.

Definition at line 365 of file Contact.hpp.

◆ UnsetEnabled()

void playrho::d2::Contact::UnsetEnabled ( )

inlinenoexcept

Disables this contact.

Definition at line 370 of file Contact.hpp.

◆ IsEnabled()

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

inlinenoexcept

Has this contact been disabled?

Definition at line 375 of file Contact.hpp.

◆ GetFixtureA()

Fixture * playrho::d2::Contact::GetFixtureA ( ) const

inlinenoexcept

Gets fixture A in this contact.

Examples: World.cpp.

Definition at line 397 of file Contact.hpp.

◆ GetChildIndexA()

ChildCounter playrho::d2::Contact::GetChildIndexA ( ) const

inlinenoexcept

Get the child primitive index for fixture A.

Definition at line 516 of file Contact.hpp.

◆ GetFixtureB()

Fixture * playrho::d2::Contact::GetFixtureB ( ) const

inlinenoexcept

Gets fixture B in this contact.

Examples: World.cpp.

Definition at line 402 of file Contact.hpp.

◆ GetChildIndexB()

ChildCounter playrho::d2::Contact::GetChildIndexB ( ) const

inlinenoexcept

Get the child primitive index for fixture B.

Definition at line 521 of file Contact.hpp.

◆ SetFriction()

void playrho::d2::Contact::SetFriction ( Real friction )

inlinenoexcept

Sets the friction value for this contact.

Override the default friction mixture.

Note: You can call this in ContactListener::PreSolve.; This value persists until set or reset.

Warning: Behavior is undefined if given a negative friction value.

Parameters

friction Co-efficient of friction value of zero or greater.

Definition at line 437 of file Contact.hpp.

◆ GetFriction()

Real playrho::d2::Contact::GetFriction ( ) const

inlinenoexcept

Gets the coefficient of friction.

Gets the combined friction of the two fixtures associated with this contact.

Returns: Value of 0 or higher.

See also: MixFriction.

Definition at line 443 of file Contact.hpp.

◆ SetRestitution()

void playrho::d2::Contact::SetRestitution ( Real restitution )

inlinenoexcept

Sets the restitution.

This override the default restitution mixture.

Note: You can call this in ContactListener::PreSolve.; The value persists until you set or reset.

Definition at line 448 of file Contact.hpp.

◆ GetRestitution()

Real playrho::d2::Contact::GetRestitution ( ) const

inlinenoexcept

Gets the restitution.

Definition at line 453 of file Contact.hpp.

◆ SetTangentSpeed()

void playrho::d2::Contact::SetTangentSpeed ( LinearVelocity speed )

inlinenoexcept

Sets the desired tangent speed for a conveyor belt behavior.

Definition at line 458 of file Contact.hpp.

◆ GetTangentSpeed()

LinearVelocity playrho::d2::Contact::GetTangentSpeed ( ) const

inlinenoexcept

Gets the desired tangent speed.

Definition at line 463 of file Contact.hpp.

◆ GetToiCount()

Contact::substep_type playrho::d2::Contact::GetToiCount ( ) const

inlinenoexcept

Gets the time of impact count.

Examples: World.cpp.

Definition at line 496 of file Contact.hpp.

◆ HasValidToi()

bool playrho::d2::Contact::HasValidToi ( ) const

inlinenoexcept

Gets whether a TOI is set.

Returns: true if this object has a TOI set for it, false otherwise.

Examples: World.cpp.

Definition at line 468 of file Contact.hpp.

◆ GetToi()

Real playrho::d2::Contact::GetToi ( ) const

inline

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

Note: This is only valid if a TOI has been set.

See also: void SetToi(Real toi).

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 undefined.

Definition at line 473 of file Contact.hpp.

◆ FlagForFiltering()

void playrho::d2::Contact::FlagForFiltering ( )

inlinenoexcept

Flags the contact for filtering.

Definition at line 407 of file Contact.hpp.

◆ NeedsFiltering()

bool playrho::d2::Contact::NeedsFiltering ( ) const

inlinenoexcept

Whether or not the contact needs filtering.

Definition at line 417 of file Contact.hpp.

◆ FlagForUpdating()

void playrho::d2::Contact::FlagForUpdating ( )

inlinenoexcept

Flags the contact for updating.

Definition at line 422 of file Contact.hpp.

◆ NeedsUpdating()

bool playrho::d2::Contact::NeedsUpdating ( ) const

inlinenoexcept

Whether or not the contact needs updating.

Definition at line 432 of file Contact.hpp.

Friends And Related Function Documentation

◆ ContactAtty

friend class ContactAtty

friend

Definition at line 217 of file Contact.hpp.

◆ ComputeIntersectingAABB()

AABB ComputeIntersectingAABB ( const Contact & contact )

Definition at line 100 of file AABB.cpp.

◆ GetWorldManifold()

WorldManifold GetWorldManifold ( const Contact & contact )

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

contact Contact to return a world manifold for.

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.

Definition at line 126 of file WorldManifold.cpp.

◆ GetBodyA()

Body * GetBodyA ( const Contact & contact )

Definition at line 227 of file Contact.cpp.

◆ GetBodyB()

Body * GetBodyB ( const Contact & contact )

Definition at line 232 of file Contact.cpp.

◆ GetFixtureA()

Fixture * GetFixtureA ( const Contact & contact )

Definition at line 541 of file Contact.hpp.

◆ GetFixtureB()

Fixture * GetFixtureB ( const Contact & contact )

Definition at line 548 of file Contact.hpp.

◆ GetChildIndexA()

ChildCounter GetChildIndexA ( const Contact & contact )

Definition at line 555 of file Contact.hpp.

◆ GetChildIndexB()

ChildCounter GetChildIndexB ( const Contact & contact )

Definition at line 562 of file Contact.hpp.

◆ HasSensor()

bool HasSensor ( const Contact & contact )

Definition at line 237 of file Contact.cpp.

◆ IsImpenetrable()

bool IsImpenetrable ( const Contact & contact )

Definition at line 242 of file Contact.cpp.

◆ IsActive()

bool IsActive ( const Contact & contact )

Definition at line 249 of file Contact.cpp.

◆ SetAwake()

void SetAwake ( const Contact & c )

Definition at line 264 of file Contact.cpp.

◆ ResetFriction()

void ResetFriction ( Contact & contact )

Definition at line 271 of file Contact.cpp.

◆ ResetRestitution()

void ResetRestitution ( Contact & contact )

Definition at line 277 of file Contact.cpp.

◆ CalcToi()

TOIOutput CalcToi	(	const Contact &	contact,
		ToiConf	conf
	)

Definition at line 284 of file Contact.cpp.

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

Dynamics/Contacts/Contact.hpp
Collision/AABB.hpp
Collision/WorldManifold.hpp
Dynamics/Contacts/Contact.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Friends

Related Functions

Detailed Description

Member Typedef Documentation

◆ substep_type

Constructor & Destructor Documentation

◆ Contact() [1/3]

◆ Contact() [2/3]

◆ Contact() [3/3]

Member Function Documentation

◆ GetUpdateConf()

◆ GetManifold()

◆ IsTouching()

◆ SetEnabled() [1/2]

◆ SetEnabled() [2/2]

◆ UnsetEnabled()

◆ IsEnabled()

◆ GetFixtureA()

◆ GetChildIndexA()

◆ GetFixtureB()

◆ GetChildIndexB()

◆ SetFriction()

◆ GetFriction()

◆ SetRestitution()

◆ GetRestitution()

◆ SetTangentSpeed()

◆ GetTangentSpeed()

◆ GetToiCount()

◆ HasValidToi()

◆ GetToi()

◆ FlagForFiltering()

◆ NeedsFiltering()

◆ FlagForUpdating()

◆ NeedsUpdating()

Friends And Related Function Documentation

◆ ContactAtty

◆ ComputeIntersectingAABB()

◆ GetWorldManifold()

◆ GetBodyA()

◆ GetBodyB()

◆ GetFixtureA()

◆ GetFixtureB()

◆ GetChildIndexA()

◆ GetChildIndexB()

◆ HasSensor()

◆ IsImpenetrable()

◆ IsActive()

◆ SetAwake()

◆ ResetFriction()

◆ ResetRestitution()

◆ CalcToi()