Classes
struct	Acceleration
	2-D acceleration related data structure. More...

struct	BaseShapeConf
	Base configuration for initializing shapes. More...

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

class	BodyAtty
	Body attorney. More...

struct	BodyConf
	Body configuration. More...

class	BodyConstraint
	Body Constraint. More...

class	ChainShapeConf
	Chain shape configuration. More...

struct	ClipVertex
	Clip vertex. More...

class	ConstJointVisitor
	Constant joint visitor interface class. More...

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

class	ContactAtty
	Contact attorney. More...

class	ContactImpulsesList

class	ContactListener
	A pure-virtual interface for "listeners" for contacts. More...

class	ConvexHull
	Convex hull. More...

class	DestructionListener

struct	DiskShapeConf
	Disk shape configuration. More...

struct	DistanceConf
	Distance Configuration. More...

class	DistanceJoint
	Distance Joint. 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...

class	EdgeShapeConf
	Edge shape configuration. More...

class	Fixture
	An association between a body and a shape. More...

class	FixtureAtty
	Fixture attorney. More...

struct	FixtureConf
	Fixture definition. More...

class	FrictionJoint
	Friction joint. More...

struct	FrictionJointConf
	Friction joint definition. More...

class	FunctionalJointVisitor
	Functional joint visitor class. More...

class	GearJoint
	Gear joint. More...

struct	GearJointConf
	Gear joint definition. More...

struct	Island
	Definition of a self-contained constraint "island". More...

class	Joint
	Base joint class. More...

class	JointAtty
	Joint attorney. More...

struct	JointBuilder
	Joint builder definition structure. More...

struct	JointConf
	Abstract base Joint definition class. More...

class	JointKey
	Joint key. More...

class	JointVisitor
	Visitor interface for Joint instances. More...

class	Manifold
	A collision response oriented description of the intersection of two convex shapes. More...

class	MotorJoint
	Motor joint. More...

struct	MotorJointConf
	Motor joint definition. More...

struct	MultiShapeConf
	The "multi-shape" shape configuration. More...

class	PolygonShapeConf
	Polygon shape configuration. More...

struct	Position
	2-D positional data structure. More...

class	PositionConstraint

struct	PositionSolution
	Solution for position constraint. More...

struct	PositionSolverManifold

class	PrismaticJoint
	Prismatic Joint. More...

struct	PrismaticJointConf
	Prismatic joint definition. More...

class	PulleyJoint
	Pulley joint. More...

struct	PulleyJointConf
	Pulley joint definition. More...

struct	RayCastHit
	Ray-cast hit data. More...

class	RevoluteJoint
	Revolute Joint. More...

struct	RevoluteJointConf
	Revolute joint definition. More...

class	RopeJoint
	Rope joint. More...

struct	RopeJointConf
	Rope joint definition. More...

struct	SeparationScenario
	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...

class	Sweep
	Description of a "sweep" of motion in 2-D space. More...

class	TargetJoint
	Target Joint. More...

struct	TargetJointConf
	Target joint definition. More...

struct	Transformation
	Describes a geometric transformation. More...

class	TypeJointVisitor
	Typing `JointVisitor`. More...

class	UnitVec
	2-D unit vector. More...

struct	Velocity
	2-D velocity related data structure. More...

class	VelocityConstraint

class	VertexSet
	Vertex Set. More...

class	WeldJoint
	Weld joint. More...

struct	WeldJointConf
	Weld joint definition. More...

class	WheelJoint
	Wheel joint. More...

struct	WheelJointConf
	Wheel joint definition. More...

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

class	WorldAtty
	World attorney. More...

struct	WorldConf
	World configuration data. More...

class	WorldManifold
	Essentially a Manifold expressed in world coordinate terms. More...

Typedefs
using	AABB = detail::AABB< 2 >
	2-Dimensional Axis Aligned Bounding Box. More...

using	ClipList = ArrayList< ClipVertex, MaxManifoldPoints >
	Clip list for `ClipSegmentToLine`. More...

using	DynamicTreeSizeCB = std::function< DynamicTreeOpcode(DynamicTree::Size)>
	Query callback type. More...

using	QueryFixtureCallback = std::function< bool(Fixture *fixture, ChildCounter child)>
	Query AABB for fixtures callback function type. More...

using	LengthIndices = detail::LengthIndices< 2 >
	Length and vertex counter array of indices for 2-D space. More...

using	SeparationInfo = detail::SeparationInfo< 2 >
	Separation information alias for 2-D space. More...

using	MassData = detail::MassData< 2 >
	Mass data alias for 2-D objects. More...

using	RayCastInput = playrho::detail::RayCastInput< 2 >
	Ray cast input data for 2-dimensions. More...

using	RayCastOutput = Optional< RayCastHit >
	Ray cast output. More...

using	DynamicTreeRayCastCB = std::function< Real(Fixture *fixture, ChildCounter child, const RayCastInput &input)>
	Ray cast callback function. More...

using	FixtureRayCastCB = std::function< RayCastOpcode(Fixture *fixture, ChildCounter child, Length2 point, UnitVec normal)>
	Ray cast callback function signature. More...

using	TypeInfoVisitor = std::function< void(const std::type_info &ti, const void *data)>
	Visitor type alias for underlying shape configuration. More...

using	SimplexEdges = ArrayList< SimplexEdge, MaxSimplexEdges, std::remove_const< decltype(MaxSimplexEdges)>::type >
	Simplex edge collection. More...

using	VelocityPair = std::pair< Velocity, Velocity >
	Velocity pair. More...

using	ContactPtr = Contact *
	Contact pointer type. More...

using	KeyedContactPtr = std::pair< ContactKey, Contact * >
	Keyed contact pointer. More...

using	BodyConstraintPtr = BodyConstraint *
	A body constraint pointer alias. More...

using	BodyConstraintPair = std::pair< const Body *, BodyConstraintPtr >
	A body pointer and body constraint pointer pair alias. More...

using	BodyConstraintsMap = std::unordered_map< const Body , BodyConstraint >
	A body constraints map alias. More...

using	BodyPtr = Body *
	Body pointer alias. More...

using	BodyConstraintsPair = std::pair< const Body const, BodyConstraint >
	A body pointer and body constraint pointer pair. More...

using	BodyConstraints = std::vector< BodyConstraint >
	Collection of body constraints. More...

using	PositionConstraints = std::vector< PositionConstraint >
	Collection of position constraints. More...

using	VelocityConstraints = std::vector< VelocityConstraint >
	Collection of velocity constraints. More...

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

enum	JointType : std::uint8_t { JointType::Unknown, JointType::Revolute, JointType::Prismatic, JointType::Distance, JointType::Pulley, JointType::Target, JointType::Gear, JointType::Wheel, JointType::Weld, JointType::Friction, JointType::Rope, JointType::Motor }
	Enumeration of joint types. More...

Functions
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) noexcept
	Computes the AABB for the given shape with the given transformation. More...

AABB	ComputeAABB (const Fixture &fixture) noexcept
	Computes the AABB for the given fixture. More...

AABB	ComputeAABB (const Body &body)
	Computes the AABB for the given body. More...

AABB	ComputeIntersectingAABB (const Fixture &fA, ChildCounter iA, const Fixture &fB, ChildCounter iB) noexcept
	Computes the intersecting AABB for the given pair of fixtures and indexes. More...

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

AABB	GetAABB (const playrho::detail::RayCastInput< 2 > &input) noexcept
	Gets the AABB for the given ray cast input data. More...

PLAYRHO_CONSTEXPR Length	GetPerimeter (const AABB &aabb) noexcept
	Gets the perimeter length of the 2-dimensional AABB. More...

PointStates	GetPointStates (const Manifold &manifold1, const Manifold &manifold2) noexcept
	Computes the point states given two manifolds. More...

ClipList	ClipSegmentToLine (const ClipList &vIn, const UnitVec &normal, Length offset, ContactFeature::Index indexA)

DistanceConf	GetDistanceConf (const ToiConf &conf) noexcept
	Gets the distance configuration for the given time of impact configuration. More...

PairLength2	GetWitnessPoints (const Simplex &simplex) noexcept
	Gets the witness points of the given simplex. 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. More...

Area	TestOverlap (const DistanceProxy &proxyA, const Transformation &xfA, const DistanceProxy &proxyB, const Transformation &xfB, DistanceConf conf=DistanceConf{})
	Determine if two generic shapes overlap. More...

PLAYRHO_CONSTEXPR Length2	GetDelta (PairLength2 arg) noexcept
	Gets the delta to go from the first element to the second. More...

bool	operator== (const DistanceProxy &lhs, const DistanceProxy &rhs) noexcept
	Determines with the two given distance proxies are equal. More...

std::size_t	FindLowestRightMostVertex (Span< const Length2 > vertices)
	Finds the lowest right most vertex in the given collection. More...

std::vector< Length2 >	GetConvexHullAsVector (Span< const Length2 > vertices)
	Gets the convex hull for the given collection of vertices as a vector. More...

bool	TestPoint (const DistanceProxy &proxy, Length2 point) noexcept
	Tests a point for containment in the given distance proxy. More...

bool	operator!= (const DistanceProxy &lhs, const DistanceProxy &rhs) noexcept
	Determines with the two given distance proxies are not equal. More...

NonNegative< Length >	GetVertexRadius (const DistanceProxy &arg) noexcept
	Gets the vertex radius property of a given distance proxy. More...

template<class T >
VertexCounter	GetSupportIndex (const DistanceProxy &proxy, T dir) noexcept
	Gets the supporting vertex index in the given direction for the given distance proxy. More...

void	swap (DynamicTree &lhs, DynamicTree &rhs) noexcept

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, QueryFixtureCallback callback)
	Queries the world for all fixtures that potentially overlap the provided AABB. More...

Length	ComputeTotalPerimeter (const DynamicTree &tree) noexcept
	Gets the sum of the perimeters of nodes. More...

Real	ComputePerimeterRatio (const DynamicTree &tree) noexcept
	Gets the ratio of the sum of the perimeters of nodes to the root perimeter. More...

DynamicTree::Height	ComputeHeight (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Computes the height of the tree from a given node. More...

DynamicTree::Height	GetMaxImbalance (const DynamicTree &tree) noexcept
	Gets the maximum imbalance. More...

bool	ValidateStructure (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Validates the structure of the given tree from the given index. More...

bool	ValidateMetrics (const DynamicTree &tree, DynamicTree::Size index) noexcept
	Validates the metrics of the given tree from the given index. More...

PLAYRHO_CONSTEXPR bool	operator== (const DynamicTree::LeafData &lhs, const DynamicTree::LeafData &rhs) noexcept
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (const DynamicTree::LeafData &lhs, const DynamicTree::LeafData &rhs) noexcept
	Inequality operator. More...

PLAYRHO_CONSTEXPR bool	IsUnused (const DynamicTree::TreeNode &node) noexcept
	Is unused. More...

PLAYRHO_CONSTEXPR bool	IsLeaf (const DynamicTree::TreeNode &node) noexcept
	Is leaf. More...

PLAYRHO_CONSTEXPR bool	IsBranch (const DynamicTree::TreeNode &node) noexcept
	Is branch. More...

PLAYRHO_CONSTEXPR DynamicTree::BranchData	ReplaceChild (DynamicTree::BranchData bd, DynamicTree::Size oldChild, DynamicTree::Size newChild)
	Replaces the old child with the new child. More...

PLAYRHO_CONSTEXPR AABB	GetAABB (const DynamicTree::TreeNode &node) noexcept
	Gets the AABB of the given dynamic tree node. More...

PLAYRHO_CONSTEXPR DynamicTree::Size	GetNext (const DynamicTree::TreeNode &node) noexcept
	Gets the next index of the given node. More...

DynamicTree::Height	GetHeight (const DynamicTree &tree) noexcept
	Gets the height of the binary tree. More...

AABB	GetAABB (const DynamicTree &tree) noexcept
	Gets the AABB for the given dynamic tree. 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. More...

DynamicTree::Height	ComputeHeight (const DynamicTree &tree) noexcept
	Computes the height of the given dynamic tree. More...

std::size_t	size (const DynamicTree &tree) noexcept
	Gets the "size" of the given tree. More...

Manifold	GetManifold (bool flipped, const DistanceProxy &shape0, const Transformation &xf0, const VertexCounter idx0, const DistanceProxy &shape1, const Transformation &xf1, const 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, Length2 point, const Transformation &xfm)
	Computes manifolds for face-to-point collision. More...

Manifold	GetManifold (Length2 locationA, const Transformation &xfA, Length2 locationB, const Transformation &xfB, Length totalRadius) noexcept
	Gets a point-to-point based manifold. More...

Manifold	CollideShapes (const DistanceProxy &shapeA, const Transformation &xfA, const DistanceProxy &shapeB, const Transformation &xfB, Manifold::Conf conf=GetDefaultManifoldConf())
	Calculates the relevant collision manifold. More...

const char *	GetName (Manifold::Type type) noexcept
	Gets a unique name for the given manifold type. More...

bool	operator== (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are equal. More...

bool	operator!= (const Manifold::Point &lhs, const Manifold::Point &rhs) noexcept
	Determines whether the two given manifold points are not equal. More...

bool	operator== (const Manifold &lhs, const Manifold &rhs) noexcept
	Manifold equality operator. More...

bool	operator!= (const Manifold &lhs, const Manifold &rhs) noexcept
	Manifold inequality operator. More...

PLAYRHO_CONSTEXPR Manifold::Conf	GetDefaultManifoldConf () noexcept
	Gets the default manifold configuration. More...

MassData	GetMassData (Length r, NonNegative< AreaDensity > density, Length2 location)
	Computes the mass data for a circular shape. More...

MassData	GetMassData (Length r, NonNegative< AreaDensity > density, Length2 v0, 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. More...

MassData	GetMassData (const Fixture &f)
	Computes the mass data for the given fixture. 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...

RayCastOutput	RayCast (Length radius, Length2 location, const RayCastInput &input) noexcept
	Cast a ray against a circle of a given radius at the given location. More...

RayCastOutput	RayCast (const 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...

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 DynamicTree &tree, RayCastInput input, const DynamicTreeRayCastCB &callback)
	Cast rays against the leafs in the given tree. More...

bool	RayCast (const DynamicTree &tree, const RayCastInput &input, FixtureRayCastCB callback)
	Ray-cast the dynamic tree for all fixtures in the path of the ray. More...

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...

LengthIndexPair	FindMinSeparation (const SeparationScenario &scenario, const Transformation &xfA, const Transformation &xfB)
	Finds the minimum separation. More...

Length	Evaluate (const SeparationScenario &scenario, const Transformation &xfA, const Transformation &xfB, IndexPair indexPair)

ChainShapeConf	GetChainShapeConf (Length2 dimensions)
	Gets an enclosing chain shape configuration for an axis aligned rectangle of the given dimensions (width and height). More...

ChainShapeConf	GetChainShapeConf (const AABB &arg)
	Gets an enclosing chain shape configuration for the given axis aligned box. More...

ChildCounter	GetChildCount (const ChainShapeConf &arg) noexcept
	Gets the child count for a given chain shape configuration. More...

DistanceProxy	GetChild (const ChainShapeConf &arg, ChildCounter index)
	Gets the "child" shape for a given chain shape configuration. More...

MassData	GetMassData (const ChainShapeConf &arg) noexcept
	Gets the mass data for a given chain shape configuration. More...

bool	IsLooped (const ChainShapeConf &shape) noexcept
	Determines whether the given shape is looped. More...

ChildCounter	GetNextIndex (const ChainShapeConf &shape, ChildCounter index) noexcept
	Gets the next index after the given index for the given shape. More...

NonNegative< Length >	GetVertexRadius (const ChainShapeConf &arg)
	Gets the vertex radius of the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const ChainShapeConf &arg, ChildCounter)
	Gets the vertex radius of the given shape configuration. More...

void	Transform (ChainShapeConf &arg, const Mat22 &m) noexcept
	Transforms the given chain shape configuration's vertices by the given transformation matrix. More...

ChainShapeConf	GetChainShapeConf (Length dimension)
	Gets an enclosing chain shape configuration for an axis aligned square of the given dimension. More...

bool	operator== (const DiskShapeConf &lhs, const DiskShapeConf &rhs) noexcept
	Equality operator. More...

bool	operator!= (const DiskShapeConf &lhs, const DiskShapeConf &rhs) noexcept
	Inequality operator. More...

PLAYRHO_CONSTEXPR ChildCounter	GetChildCount (const DiskShapeConf &) noexcept
	Gets the "child" count of the given disk shape configuration. More...

DistanceProxy	GetChild (const DiskShapeConf &arg, ChildCounter index)
	Gets the "child" of the given disk shape configuration. More...

PLAYRHO_CONSTEXPR NonNegative< Length >	GetVertexRadius (const DiskShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration. More...

PLAYRHO_CONSTEXPR NonNegative< Length >	GetVertexRadius (const DiskShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration. More...

MassData	GetMassData (const DiskShapeConf &arg) noexcept
	Gets the mass data of the given disk shape configuration. More...

void	Transform (DiskShapeConf &arg, const Mat22 &m) noexcept
	Transforms the given shape configuration's vertices by the given transformation matrix. More...

bool	operator== (const EdgeShapeConf &lhs, const EdgeShapeConf &rhs) noexcept
	Equality operator. More...

bool	operator!= (const EdgeShapeConf &lhs, const EdgeShapeConf &rhs) noexcept
	Inequality operator. More...

PLAYRHO_CONSTEXPR ChildCounter	GetChildCount (const EdgeShapeConf &) noexcept
	Gets the "child" count for the given shape configuration. More...

DistanceProxy	GetChild (const EdgeShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const EdgeShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const EdgeShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration. More...

MassData	GetMassData (const EdgeShapeConf &arg) noexcept
	Gets the mass data for the given shape configuration. More...

void	Transform (EdgeShapeConf &arg, const Mat22 &m) noexcept
	Transforms the given shape configuration's vertices by the given transformation matrix. More...

MassData	GetMassData (const MultiShapeConf &arg) noexcept
	Gets the mass data for the given shape configuration. More...

bool	operator== (const MultiShapeConf &lhs, const MultiShapeConf &rhs) noexcept
	Equality operator. More...

bool	operator!= (const MultiShapeConf &lhs, const MultiShapeConf &rhs) noexcept
	Inequality operator. More...

ChildCounter	GetChildCount (const MultiShapeConf &arg) noexcept
	Gets the "child" count for the given shape configuration. More...

DistanceProxy	GetChild (const MultiShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const MultiShapeConf &arg, ChildCounter index)
	Gets the vertex radius of the given shape configuration. More...

void	Transform (MultiShapeConf &arg, const Mat22 &m) noexcept
	Transforms the given multi shape configuration by the given transformation matrix. More...

Length2	GetEdge (const PolygonShapeConf &shape, VertexCounter index)

bool	Validate (const Span< const Length2 > verts)
	Validates the convexity of the given collection of vertices. More...

PLAYRHO_CONSTEXPR ChildCounter	GetChildCount (const PolygonShapeConf &) noexcept
	Gets the "child" count for the given shape configuration. More...

DistanceProxy	GetChild (const PolygonShapeConf &arg, ChildCounter index)
	Gets the "child" shape for the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const PolygonShapeConf &arg) noexcept
	Gets the vertex radius of the given shape configuration. More...

NonNegative< Length >	GetVertexRadius (const PolygonShapeConf &arg, ChildCounter) noexcept
	Gets the vertex radius of the given shape configuration. More...

MassData	GetMassData (const PolygonShapeConf &arg) noexcept
	Gets the mass data for the given shape configuration. More...

void	Transform (PolygonShapeConf &arg, const Mat22 &m) noexcept
	Transforms the given polygon configuration's vertices by the given transformation matrix. More...

bool	TestPoint (const Shape &shape, Length2 point) noexcept
	Test a point for containment in the given shape. More...

ChildCounter	GetChildCount (const Shape &shape) noexcept
	Gets the number of child primitives of the shape. More...

DistanceProxy	GetChild (const Shape &shape, ChildCounter index)
	Gets the "child" for the given index. More...

MassData	GetMassData (const Shape &shape) noexcept
	Gets the mass properties of this shape using its dimensions and density. More...

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

Real	GetRestitution (const Shape &shape) noexcept
	Gets the coefficient of restitution value of the given shape. More...

NonNegative< AreaDensity >	GetDensity (const Shape &shape) noexcept
	Gets the density of the given shape. More...

NonNegative< Length >	GetVertexRadius (const Shape &shape, ChildCounter idx)
	Gets the vertex radius of the indexed child of the given shape. More...

void	Transform (Shape &shape, const Mat22 &m)
	Transforms all of the given shape's vertices by the given transformation matrix. More...

bool	Visit (const Shape &shape, void *userData)
	Visits the given shape with the potentially non-null user data pointer. More...

const void *	GetData (const Shape &shape) noexcept
	Gets a pointer to the underlying data. More...

const std::type_info &	GetUseTypeInfo (const Shape &shape)
	Gets the type info of the use of the given shape. More...

void	Accept (const Shape &shape, const TypeInfoVisitor &visitor)
	Accepts a visitor. More...

bool	operator== (const Shape &lhs, const Shape &rhs) noexcept
	Equality operator for shape to shape comparisons. More...

bool	operator!= (const Shape &lhs, const Shape &rhs) noexcept
	Inequality operator for shape to shape comparisons. More...

PLAYRHO_CONSTEXPR NonNegative< AreaDensity >	GetDensity (const BaseShapeConf &arg) noexcept
	Gets the density of the given shape configuration. More...

PLAYRHO_CONSTEXPR Finite< Real >	GetRestitution (const BaseShapeConf &arg) noexcept
	Gets the restitution of the given shape configuration. More...

PLAYRHO_CONSTEXPR NonNegative< Real >	GetFriction (const BaseShapeConf &arg) noexcept
	Gets the friction of the given shape configuration. More...

SeparationInfo	GetMaxSeparation4x4 (const DistanceProxy &proxy1, Transformation xf1, const DistanceProxy &proxy2, Transformation xf2)
	Gets the max separation information for the first four vertices of the two given shapes. More...

SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, Transformation xf1, const DistanceProxy &proxy2, Transformation xf2)
	Gets the max separation information. More...

SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, Transformation xf1, const DistanceProxy &proxy2, Transformation xf2, Length stop)
	Gets the max separation information. More...

SeparationInfo	GetMaxSeparation (const DistanceProxy &proxy1, const DistanceProxy &proxy2, Length stop=MaxFloat *Meter)
	Gets the max separation information. More...

IndexPair3	GetIndexPairs (const SimplexEdges &collection) noexcept
	Gets index pairs for the given edges collection. More...

Length2	CalcSearchDirection (const SimplexEdges &simplexEdges) noexcept
	Calculates the "search direction" for the given simplex edge list. More...

Length2	GetScaledDelta (const Simplex &simplex, Simplex::size_type index)
	Gets the scaled delta for the given indexed element of the given simplex. More...

PLAYRHO_CONSTEXPR Length2	GetClosestPoint (const Simplex &simplex)
	Gets the "closest point". More...

PLAYRHO_CONSTEXPR Length2	GetPointDelta (const SimplexEdge &sv) noexcept
	Gets "w". More...

PLAYRHO_CONSTEXPR bool	operator== (const SimplexEdge &lhs, const SimplexEdge &rhs) noexcept
	Equality operator for `SimplexEdge`. More...

PLAYRHO_CONSTEXPR bool	operator!= (const SimplexEdge &lhs, const SimplexEdge &rhs) noexcept
	Inequality operator for `SimplexEdge`. More...

TOIOutput	GetToiViaSat (const DistanceProxy &proxyA, const Sweep &sweepA, const DistanceProxy &proxyB, const Sweep &sweepB, ToiConf conf=GetDefaultToiConf())
	Gets the time of impact for two disjoint convex sets using the Separating Axis Theorem. More...

WorldManifold	GetWorldManifold (const Manifold &manifold, Transformation xfA, Length radiusA, Transformation xfB, Length radiusB)
	Gets the world manifold for the given data. More...

WorldManifold	GetWorldManifold (const Contact &contact)

PLAYRHO_CONSTEXPR bool	operator== (const Acceleration &lhs, const Acceleration &rhs)
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (const Acceleration &lhs, const Acceleration &rhs)
	Inequality operator. More...

PLAYRHO_CONSTEXPR Acceleration &	operator*= (Acceleration &lhs, const Real rhs)
	Multiplication assignment operator. More...

PLAYRHO_CONSTEXPR Acceleration &	operator/= (Acceleration &lhs, const Real rhs)
	Division assignment operator. More...

PLAYRHO_CONSTEXPR Acceleration &	operator+= (Acceleration &lhs, const Acceleration &rhs)
	Addition assignment operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator+ (const Acceleration &lhs, const Acceleration &rhs)
	Addition operator. More...

PLAYRHO_CONSTEXPR Acceleration &	operator-= (Acceleration &lhs, const Acceleration &rhs)
	Subtraction assignment operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator- (const Acceleration &lhs, const Acceleration &rhs)
	Subtraction operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator- (const Acceleration &value)
	Negation operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator+ (const Acceleration &value)
	Positive operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator* (const Acceleration &lhs, const Real rhs)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator* (const Real lhs, const Acceleration &rhs)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Acceleration	operator/ (const Acceleration &lhs, const Real rhs)
	Division operator. More...

void	Dump (const World &world)

void	Dump (const Body &body, std::size_t bodyIndex)
	Dump body to a log file. More...

void	Dump (const Joint &joint, std::size_t index)
	Dump joint to the log file. More...

void	Dump (const Fixture &fixture, std::size_t bodyIndex)
	Dump fixture to log file. More...

void	Dump (const DistanceJoint &joint, std::size_t index)
	Dump joint to log file. More...

void	Dump (const FrictionJoint &joint, std::size_t index)
	Dump joint to the log file. More...

void	Dump (const GearJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const MotorJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const TargetJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const PrismaticJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const PulleyJoint &joint, std::size_t index)
	Dump joint to log file. More...

void	Dump (const RevoluteJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const RopeJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const WeldJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

void	Dump (const WheelJoint &joint, std::size_t index)
	Dumps the joint to the log file. More...

LinearVelocity2	GetContactRelVelocity (const Velocity velA, const Length2 relA, const Velocity velB, const Length2 relB) noexcept
	Gets the contact relative velocity. More...

PLAYRHO_CONSTEXPR Vec2	GetVec2 (const UnitVec value)
	Gets a `Vec2` representation of the given value. More...

Angle	GetAngle (const UnitVec value)
	Gets the angle of the given unit vector. More...

template<class T , LoValueCheck lo, HiValueCheck hi>
PLAYRHO_CONSTEXPR Vector2< T >	operator* (BoundedValue< T, lo, hi > s, UnitVec u) noexcept
	Multiplication operator. More...

template<class T >
PLAYRHO_CONSTEXPR Vector2< T >	operator* (const T s, const UnitVec u) noexcept
	Multiplication operator. More...

template<class T , LoValueCheck lo, HiValueCheck hi>
PLAYRHO_CONSTEXPR Vector2< T >	operator* (UnitVec u, BoundedValue< T, lo, hi > s) noexcept
	Multiplication operator. More...

template<class T >
PLAYRHO_CONSTEXPR Vector2< T >	operator* (const UnitVec u, const T s) noexcept
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Vec2	operator/ (const UnitVec u, const UnitVec::value_type s) noexcept
	Division operator. More...

template<class T >
PLAYRHO_CONSTEXPR auto	Rotate (const Vector2< T > vector, const UnitVec &angle) noexcept
	Rotates a vector by a given angle. More...

template<class T >
PLAYRHO_CONSTEXPR auto	InverseRotate (const Vector2< T > vector, const UnitVec &angle) noexcept
	Inverse rotates a vector. More...

template<class T >
UnitVec	GetUnitVector (Vector2< T > value, UnitVec fallback=UnitVec::GetDefaultFallback())

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...

PLAYRHO_CONSTEXPR Length2	Transform (const Length2 v, const Transformation xfm) noexcept
	Transforms the given 2-D vector with the given transformation. More...

PLAYRHO_CONSTEXPR Length2	InverseTransform (const Length2 v, const Transformation T) noexcept
	Inverse transforms the given 2-D vector with the given transformation. More...

PLAYRHO_CONSTEXPR Transformation	Mul (const Transformation &A, const Transformation &B) noexcept
	Multiplies a given transformation by another given transformation. More...

PLAYRHO_CONSTEXPR Transformation	MulT (const Transformation &A, const Transformation &B) noexcept
	Inverse multiplies a given transformation by another given transformation. More...

PLAYRHO_CONSTEXPR Transformation	GetTransformation (const Length2 ctr, const UnitVec rot, const Length2 localCtr) noexcept
	Gets the transformation for the given values. More...

Transformation	GetTransformation (const Position pos, const Length2 local_ctr) noexcept
	Gets the transformation for the given values. More...

Transformation	GetTransformation (const Sweep &sweep, const Real beta) noexcept
	Gets the interpolated transform at a specific time. 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...

bool	IsUnderActive (Velocity velocity, LinearVelocity linSleepTol, AngularVelocity angSleepTol) noexcept
	Gets whether the given velocity is "under active" based on the given tolerances. More...

PLAYRHO_CONSTEXPR auto	GetReflectionMatrix (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...

PLAYRHO_CONSTEXPR bool	operator== (const Position &lhs, const Position &rhs)
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (const Position &lhs, const Position &rhs)
	Inequality operator. More...

PLAYRHO_CONSTEXPR Position	operator- (const Position &value)
	Negation operator. More...

PLAYRHO_CONSTEXPR Position	operator+ (const Position &value)
	Positive operator. More...

PLAYRHO_CONSTEXPR Position &	operator+= (Position &lhs, const Position &rhs)
	Addition assignment operator. More...

PLAYRHO_CONSTEXPR Position	operator+ (const Position &lhs, const Position &rhs)
	Addition operator. More...

PLAYRHO_CONSTEXPR Position &	operator-= (Position &lhs, const Position &rhs)
	Subtraction assignment operator. More...

PLAYRHO_CONSTEXPR Position	operator- (const Position &lhs, const Position &rhs)
	Subtraction operator. More...

PLAYRHO_CONSTEXPR Position	operator* (const Position &pos, const Real scalar)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Position	operator* (const Real scalar, const Position &pos)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Position	GetPosition (const Position pos0, const Position pos1, const Real beta) noexcept

PLAYRHO_CONSTEXPR bool	operator== (Transformation lhs, Transformation rhs) noexcept
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (Transformation lhs, Transformation rhs) noexcept
	Inequality operator. More...

PLAYRHO_CONSTEXPR UnitVec	GetXAxis (UnitVec rot) noexcept
	Gets the "X-axis". More...

PLAYRHO_CONSTEXPR UnitVec	GetYAxis (UnitVec rot) noexcept
	Gets the "Y-axis". More...

PLAYRHO_CONSTEXPR bool	operator== (const UnitVec a, const UnitVec b) noexcept
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (const UnitVec a, const UnitVec b) noexcept
	Inequality operator. More...

PLAYRHO_CONSTEXPR UnitVec	GetRevPerpendicular (const UnitVec vector) noexcept
	Gets a vector counter-clockwise (reverse-clockwise) perpendicular to the given vector. More...

PLAYRHO_CONSTEXPR UnitVec	GetFwdPerpendicular (const UnitVec vector) noexcept
	Gets a vector clockwise (forward-clockwise) perpendicular to the given vector. More...

PLAYRHO_CONSTEXPR UnitVec	Rotate (const UnitVec vector, const UnitVec &angle) noexcept
	Rotates a unit vector by the angle expressed by the second unit vector. More...

PLAYRHO_CONSTEXPR UnitVec	InverseRotate (const UnitVec vector, const UnitVec &angle) noexcept
	Inverse rotates a vector. More...

template<std::size_t I>
PLAYRHO_CONSTEXPR UnitVec::value_type	get (UnitVec v) noexcept
	Gets the specified element of the given collection. More...

template<>
PLAYRHO_CONSTEXPR UnitVec::value_type	get< 0 > (UnitVec v) noexcept
	Gets element 0 of the given collection. More...

template<>
PLAYRHO_CONSTEXPR UnitVec::value_type	get< 1 > (UnitVec v) noexcept
	Gets element 1 of the given collection. More...

inline ::std::ostream &	operator<< (::std::ostream &os, const UnitVec &value)
	Output stream operator. More...

VelocityPair	CalcWarmStartVelocityDeltas (const VelocityConstraint &vc)
	Calculates the "warm start" velocity deltas for the given velocity constraint. More...

PLAYRHO_CONSTEXPR bool	operator== (const Velocity &lhs, const Velocity &rhs)
	Equality operator. More...

PLAYRHO_CONSTEXPR bool	operator!= (const Velocity &lhs, const Velocity &rhs)
	Inequality operator. More...

PLAYRHO_CONSTEXPR Velocity &	operator*= (Velocity &lhs, const Real rhs)
	Multiplication assignment operator. More...

PLAYRHO_CONSTEXPR Velocity &	operator/= (Velocity &lhs, const Real rhs)
	Division assignment operator. More...

PLAYRHO_CONSTEXPR Velocity &	operator+= (Velocity &lhs, const Velocity &rhs)
	Addition assignment operator. More...

PLAYRHO_CONSTEXPR Velocity	operator+ (const Velocity &lhs, const Velocity &rhs)
	Addition operator. More...

PLAYRHO_CONSTEXPR Velocity &	operator-= (Velocity &lhs, const Velocity &rhs)
	Subtraction assignment operator. More...

PLAYRHO_CONSTEXPR Velocity	operator- (const Velocity &lhs, const Velocity &rhs)
	Subtraction operator. More...

PLAYRHO_CONSTEXPR Velocity	operator- (const Velocity &value)
	Negation operator. More...

PLAYRHO_CONSTEXPR Velocity	operator+ (const Velocity &value)
	Positive operator. More...

PLAYRHO_CONSTEXPR Velocity	operator* (const Velocity &lhs, const Real rhs)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Velocity	operator* (const Real lhs, const Velocity &rhs)
	Multiplication operator. More...

PLAYRHO_CONSTEXPR Velocity	operator/ (const Velocity &lhs, const Real rhs)
	Division operator. More...

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

BodyCounter	GetWorldIndex (const Body *body) noexcept
	Gets the world index for the given body. 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	Cap (Velocity velocity, Time h, MovementConf conf) noexcept
	Caps velocity. 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...

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

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

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...

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...

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...

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...

Transformation	GetTransformation (const Body &body) noexcept
	Gets the body's transformation. More...

void	SetTransformation (Body &body, const Transformation &xfm) noexcept
	Sets the body's transformation. More...

Position	GetPosition (const Body &body) noexcept
	Gets the body's position. 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...

PLAYRHO_CONSTEXPR BodyConf	GetDefaultBodyConf () noexcept
	Gets the default body definition. More...

ContactImpulsesList	GetContactImpulses (const VelocityConstraint &vc)
	Gets the contact impulses for the given velocity constraint. More...

Momentum	GetMaxNormalImpulse (const ContactImpulsesList &impulses) noexcept
	Gets the maximum normal impulse from the given contact impulses list. More...

BodyConstraint	GetBodyConstraint (const Body &body, Time time, MovementConf conf) noexcept
	Gets the `BodyConstraint` based on the given parameters. More...

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...

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)
	Resets the friction mixture to the default value. More...

void	ResetRestitution (Contact &contact) noexcept
	Reset the restitution to the default value. More...

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

ContactKey	GetContactKey (const Fixture &fixtureA, ChildCounter childIndexA, const Fixture &fixtureB, ChildCounter childIndexB) noexcept
	Gets the `ContactKey` for the given parameters. More...

ContactKey	GetContactKey (const Contact &contact) noexcept
	Gets the `ContactKey` for the given contact. More...

Contact *	GetContactPtr (KeyedContactPtr value)
	Gets the contact pointer for the given value. More...

PositionSolution	operator+ (PositionSolution lhs, PositionSolution rhs)
	Addition operator. More...

PositionSolution	operator- (PositionSolution lhs, PositionSolution rhs)
	Subtraction operator. More...

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

VelocityConstraint::Conf	GetRegVelocityConstraintConf (const StepConf &conf) noexcept
	Gets the regular phase velocity constraint configuration from the given step configuration. More...

VelocityConstraint::Conf	GetToiVelocityConstraintConf (const StepConf &conf) noexcept
	Gets the TOI phase velocity constraint configuration from the given step configuration. More...

UnitVec	GetNormal (const VelocityConstraint &vc) noexcept

UnitVec	GetTangent (const VelocityConstraint &vc) noexcept
	Gets the tangent from the given velocity constraint data. More...

InvMass	GetInvMass (const VelocityConstraint &vc) noexcept
	Gets the inverse mass from the given velocity constraint data. More...

Length2	GetPointRelPosA (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the point relative position A data. More...

Length2	GetPointRelPosB (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the point relative position B data. More...

LinearVelocity	GetVelocityBiasAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the velocity bias at the given point from the given velocity constraint. More...

Mass	GetNormalMassAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the normal mass at the given point from the given velocity constraint. More...

Mass	GetTangentMassAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the tangent mass at the given point from the given velocity constraint. More...

Momentum	GetNormalImpulseAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the normal impulse at the given point from the given velocity constraint. More...

Momentum	GetTangentImpulseAtPoint (const VelocityConstraint &vc, VelocityConstraint::size_type index)
	Gets the tangent impulse at the given point from the given velocity constraint. More...

Momentum2	GetNormalImpulses (const VelocityConstraint &vc)
	Gets the normal impulses of the given velocity constraint. More...

Momentum2	GetTangentImpulses (const VelocityConstraint &vc)
	Gets the tangent impulses of the given velocity constraint. More...

void	SetNormalImpulseAtPoint (VelocityConstraint &vc, VelocityConstraint::size_type index, Momentum value)
	Sets the normal impulse at the given point of the given velocity constraint. More...

void	SetTangentImpulseAtPoint (VelocityConstraint &vc, VelocityConstraint::size_type index, Momentum value)
	Sets the tangent impulse at the given point of the given velocity constraint. More...

void	SetNormalImpulses (VelocityConstraint &vc, const Momentum2 impulses)
	Sets the normal impulses of the given velocity constraint. More...

void	SetTangentImpulses (VelocityConstraint &vc, const Momentum2 impulses)
	Sets the tangent impulses of the given velocity constraint. More...

bool	TestPoint (const Fixture &f, Length2 p) noexcept
	Tests a point for containment in a fixture. More...

void	SetAwake (const Fixture &f) noexcept
	Sets the associated body's sleep status to awake. More...

Transformation	GetTransformation (const Fixture &f) noexcept
	Gets the transformation associated with the given fixture. More...

bool	ShouldCollide (const Fixture &fixtureA, const Fixture &fixtureB) noexcept
	Whether contact calculations should be performed between the two fixtures. More...

FixtureConf	GetFixtureConf (const Fixture &fixture) noexcept
	Gets the fixture definition for the given fixture. More...

PLAYRHO_CONSTEXPR FixtureConf	GetDefaultFixtureConf () noexcept
	Gets the default fixture definition. More...

std::size_t	Count (const Island &island, const Body *entry)
	Counts the number of occurrences of the given entry in the given island. More...

std::size_t	Count (const Island &island, const Contact *entry)
	Counts the number of occurrences of the given entry in the given island. More...

std::size_t	Count (const Island &island, const Joint *entry)
	Counts the number of occurrences of the given entry in the given island. More...

bool	IsFullOfBodies (const Island &island)
	Determines whether the given island is full of bodies. More...

bool	IsFullOfContacts (const Island &island)
	Determines whether the given island is full of contacts. More...

DistanceJointConf	GetDistanceJointConf (const DistanceJoint &joint) noexcept
	Gets the definition data for the given joint. More...

FrictionJointConf	GetFrictionJointConf (const FrictionJoint &joint) noexcept
	Gets the definition data for the given joint. More...

GearJointConf	GetGearJointConf (const GearJoint &joint) noexcept
	Gets the definition data for the given joint. More...

bool	IsEnabled (const Joint &j) noexcept
	Short-cut function to determine if both bodies are enabled. More...

void	SetAwake (Joint &j) noexcept
	Wakes up the joined bodies. More...

JointCounter	GetWorldIndex (const Joint *joint)
	Gets the world index of the given joint. More...

BodyConstraintPtr &	At (std::unordered_map< const Body , BodyConstraint > &container, const Body *key)
	Provides referenced access to the identified element of the given container. More...

const char *	ToString (Joint::LimitState val) noexcept
	Provides a human readable C-style string uniquely identifying the given limit state. More...

template<class T >
void	IncMotorSpeed (T &j, AngularVelocity delta)
	Increment motor speed. More...

void	Set (JointConf &def, const Joint &joint) noexcept
	Sets the joint definition data for the given joint. More...

JointKey	GetJointKey (const Joint &joint) noexcept
	Gets the `JointKey` for the given joint. More...

PLAYRHO_CONSTEXPR int	Compare (const JointKey &lhs, const JointKey &rhs) noexcept
	Compares the given joint keys. More...

PLAYRHO_CONSTEXPR bool	IsFor (const JointKey key, const Body *body) noexcept
	Determines whether the given key is for the given body. More...

Joint *	GetJointPtr (std::pair< JointKey, Joint * > value)
	Gets the joint pointer from the given value. More...

JointType	GetType (const Joint &joint) noexcept
	Gets the type of the given joint. More...

const char *	ToString (JointType type) noexcept
	Provides a C-style (null-terminated) string name for given joint type. More...

MotorJointConf	GetMotorJointConf (const MotorJoint &joint) noexcept
	Gets the definition data for the given joint. More...

Length	GetJointTranslation (const PrismaticJoint &joint) noexcept
	Get the current joint translation. More...

LinearVelocity	GetLinearVelocity (const PrismaticJoint &joint) noexcept
	Get the current joint translation speed. More...

Force	GetMotorForce (const PrismaticJoint &joint, Frequency inv_dt) noexcept
	Gets the current motor force for the given joint, given the inverse time step. More...

PrismaticJointConf	GetPrismaticJointConf (const PrismaticJoint &joint) noexcept
	Gets the definition data for the given joint. More...

Length	GetCurrentLengthA (const PulleyJoint &joint)
	Get the current length of the segment attached to body-A. More...

Length	GetCurrentLengthB (const PulleyJoint &joint)
	Get the current length of the segment attached to body-B. More...

PulleyJointConf	GetPulleyJointConf (const PulleyJoint &joint) noexcept
	Gets the definition data for the given joint. More...

Angle	GetJointAngle (const RevoluteJoint &joint)
	Gets the current joint angle. More...

AngularVelocity	GetAngularVelocity (const RevoluteJoint &joint)
	Gets the current joint angle speed. More...

Torque	GetMotorTorque (const RevoluteJoint &joint, Frequency inv_dt) noexcept
	Gets the current motor torque for the given joint given the inverse time step. More...

RevoluteJointConf	GetRevoluteJointConf (const RevoluteJoint &joint) noexcept
	Gets the definition data for the given joint. More...

RopeJointConf	GetRopeJointConf (const RopeJoint &joint) noexcept
	Gets the definition data for the given joint. More...

TargetJointConf	GetTargetJointConf (const TargetJoint &joint) noexcept
	Gets the definition data for the given joint. More...

WeldJointConf	GetWeldJointConf (const WeldJoint &joint) noexcept
	Gets the definition data for the given joint. More...

Length	GetJointTranslation (const WheelJoint &joint) noexcept
	Get the current joint translation. More...

AngularVelocity	GetAngularVelocity (const WheelJoint &joint) noexcept
	Get the current joint translation speed. More...

Torque	GetMotorTorque (const WheelJoint &joint, Frequency inv_dt) noexcept
	Gets the current motor torque for the given joint for the given the inverse time step. More...

WheelJointConf	GetWheelJointConf (const WheelJoint &joint) noexcept
	Gets the definition data for the given joint. More...

StepStats	Step (World &world, Time delta, TimestepIters velocityIterations=8, TimestepIters positionIterations=3)
	Steps the world ahead by a given time amount. More...

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

size_t	GetFixtureCount (const World &world) noexcept
	Gets the count of fixtures in the given world. More...

size_t	GetShapeCount (const World &world) noexcept
	Gets the count of unique shapes in the given world. More...

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

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

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

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

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

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

JointCounter	GetJointCount (const World &world) noexcept

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

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

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

PLAYRHO_CONSTEXPR WorldConf	GetDefaultWorldConf () noexcept

Variables
const PLAYRHO_CONSTEXPR auto	Transform_identity
	Identity transformation value. More...

const PLAYRHO_CONSTEXPR auto	EarthlyGravity
	Earthly gravity in 2-dimensions. More...

Detailed Description

Name space for 2-dimensionally related PlayRho names.

Typedef Documentation

◆ AABB

using playrho::d2::AABB = typedef detail::AABB<2>

2-Dimensional Axis Aligned Bounding Box.

Note: This data structure is 16-bytes large (on at least one 64-bit platform).

Definition at line 415 of file AABB.hpp.

◆ ClipList

using playrho::d2::ClipList = typedef ArrayList<ClipVertex, MaxManifoldPoints>

Clip list for ClipSegmentToLine.

See also: ClipSegmentToLine.

Note: This data structure is at least 24-bytes large.

Definition at line 77 of file Collision.hpp.

◆ DynamicTreeSizeCB

using playrho::d2::DynamicTreeSizeCB = typedef std::function<DynamicTreeOpcode(DynamicTree::Size)>

Query callback type.

Definition at line 744 of file DynamicTree.hpp.

◆ QueryFixtureCallback

using playrho::d2::QueryFixtureCallback = typedef std::function<bool(Fixture* fixture, ChildCounter child)>

Query AABB for fixtures callback function type.

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

Definition at line 753 of file DynamicTree.hpp.

◆ LengthIndices

using playrho::d2::LengthIndices = typedef detail::LengthIndices<2>

Length and vertex counter array of indices for 2-D space.

Definition at line 144 of file IndexPair.hpp.

◆ SeparationInfo

using playrho::d2::SeparationInfo = typedef detail::SeparationInfo<2>

Separation information alias for 2-D space.

Definition at line 147 of file IndexPair.hpp.

◆ MassData

using playrho::d2::MassData = typedef detail::MassData<2>

Mass data alias for 2-D objects.

Note: This data structure is 16-bytes large (on at least one 64-bit platform).

Definition at line 77 of file MassData.hpp.

◆ RayCastInput

using playrho::d2::RayCastInput = typedef playrho::detail::RayCastInput<2>

Ray cast input data for 2-dimensions.

Definition at line 52 of file RayCastInput.hpp.

◆ RayCastOutput

using playrho::d2::RayCastOutput = typedef Optional<RayCastHit>

Ray cast output.

This is a type alias for an optional RayCastHit instance.

See also: RayCast, Optional, RayCastHit

Definition at line 86 of file RayCastOutput.hpp.

◆ DynamicTreeRayCastCB

using playrho::d2::DynamicTreeRayCastCB = typedef std::function<Real(Fixture* fixture, ChildCounter child, const RayCastInput& input)>

Ray cast callback function.

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

Definition at line 91 of file RayCastOutput.hpp.

◆ FixtureRayCastCB

using playrho::d2::FixtureRayCastCB = typedef std::function<RayCastOpcode(Fixture* fixture, ChildCounter child, Length2 point, UnitVec normal)>

Ray cast callback function signature.

Definition at line 95 of file RayCastOutput.hpp.

◆ TypeInfoVisitor

using playrho::d2::TypeInfoVisitor = typedef std::function<void(const std::type_info& ti, const void* data)>

Visitor type alias for underlying shape configuration.

Definition at line 118 of file Shape.hpp.

◆ SimplexEdges

using playrho::d2::SimplexEdges = typedef ArrayList<SimplexEdge, MaxSimplexEdges, std::remove_const<decltype(MaxSimplexEdges)>::type>

Simplex edge collection.

Note: This data is 20 * 3 + 4 = 64-bytes large (on at least one 64-bit platform).

Definition at line 34 of file Simplex.hpp.

◆ VelocityPair

using playrho::d2::VelocityPair = typedef std::pair<Velocity, Velocity>

Velocity pair.

Definition at line 142 of file Velocity.hpp.

◆ ContactPtr

using playrho::d2::ContactPtr = typedef Contact*

Contact pointer type.

Definition at line 529 of file Contact.hpp.

◆ KeyedContactPtr

using playrho::d2::KeyedContactPtr = typedef std::pair<ContactKey, Contact*>

Keyed contact pointer.

Definition at line 118 of file ContactKey.hpp.

◆ BodyConstraintPtr

using playrho::d2::BodyConstraintPtr = typedef BodyConstraint*

A body constraint pointer alias.

Definition at line 49 of file Joint.hpp.

◆ BodyConstraintPair

using playrho::d2::BodyConstraintPair = typedef std::pair<const Body*, BodyConstraintPtr>

A body pointer and body constraint pointer pair alias.

Definition at line 52 of file Joint.hpp.

◆ BodyConstraintsMap

using playrho::d2::BodyConstraintsMap = typedef std::unordered_map<const Body*, BodyConstraint*>

A body constraints map alias.

Definition at line 61 of file Joint.hpp.

◆ BodyPtr

using playrho::d2::BodyPtr = typedef Body*

Body pointer alias.

Definition at line 97 of file World.cpp.

◆ BodyConstraintsPair

using playrho::d2::BodyConstraintsPair = typedef std::pair<const Body* const, BodyConstraint*>

A body pointer and body constraint pointer pair.

Definition at line 100 of file World.cpp.

◆ BodyConstraints

using playrho::d2::BodyConstraints = typedef std::vector<BodyConstraint>

Collection of body constraints.

Definition at line 103 of file World.cpp.

◆ PositionConstraints

using playrho::d2::PositionConstraints = typedef std::vector<PositionConstraint>

Collection of position constraints.

Definition at line 106 of file World.cpp.

◆ VelocityConstraints

using playrho::d2::VelocityConstraints = typedef std::vector<VelocityConstraint>

Collection of velocity constraints.

Definition at line 109 of file World.cpp.

Enumeration Type Documentation

◆ DynamicTreeOpcode

enum playrho::d2::DynamicTreeOpcode

strong

Opcodes for dynamic tree callbacks.

Enumerator
End
Continue

Definition at line 737 of file DynamicTree.hpp.

◆ JointType

enum playrho::d2::JointType : std::uint8_t

strong

Enumeration of joint types.

Enumerator
Unknown
Revolute
Prismatic
Distance
Pulley
Target
Gear
Wheel
Weld
Friction
Rope
Motor

Definition at line 33 of file JointType.hpp.

Function Documentation

◆ ComputeAABB() [1/5]

AABB 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.

Warning: Behavior is undefined if the given transformation is invalid.

Parameters

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

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

Definition at line 36 of file AABB.cpp.

◆ ComputeAABB() [2/5]

AABB 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.

Warning: Behavior is undefined if a given transformation is invalid.

Parameters

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

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

Definition at line 47 of file AABB.cpp.

◆ ComputeAABB() [3/5]

AABB ComputeAABB	(	const Shape &	shape,
		const Transformation &	xf
	)

noexcept

Computes the AABB for the given shape with the given transformation.

Definition at line 61 of file AABB.cpp.

◆ ComputeAABB() [4/5]

AABB ComputeAABB ( const Fixture & fixture )

noexcept

Computes the AABB for the given fixture.

This is the AABB of the entire shape of the given fixture at the body's location for the given fixture.

Definition at line 72 of file AABB.cpp.

◆ ComputeAABB() [5/5]

AABB ComputeAABB ( const Body & body )

Computes the AABB for the given body.

Definition at line 77 of file AABB.cpp.

◆ ComputeIntersectingAABB() [1/2]

AABB playrho::d2::ComputeIntersectingAABB	(	const Fixture &	fA,
		ChildCounter	iA,
		const Fixture &	fB,
		ChildCounter	iB
	)

noexcept

Computes the intersecting AABB for the given pair of fixtures and indexes.

The intersecting AABB for the given pair of fixtures is the intersection of the AABB for child A of the shape of fixture A with the AABB for child B of the shape of fixture B.

Definition at line 88 of file AABB.cpp.

◆ ComputeIntersectingAABB() [2/2]

AABB ComputeIntersectingAABB ( const Contact & contact )

Computes the intersecting AABB for the given contact.

Definition at line 100 of file AABB.cpp.

◆ GetAABB() [1/3]

AABB playrho::d2::GetAABB ( const playrho::detail::RayCastInput< 2 > & input )

noexcept

Gets the AABB for the given ray cast input data.

<2>

Definition at line 106 of file AABB.cpp.

◆ GetPerimeter()

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

inlinenoexcept

Gets the perimeter length of the 2-dimensional AABB.

Warning: Behavior is undefined for an invalid AABB.

Returns: Twice the sum of the width and height.

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

Definition at line 422 of file AABB.hpp.

◆ GetPointStates()

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

noexcept

Computes the point states given two manifolds.

Examples: World.cpp.

Definition at line 27 of file Collision.cpp.

◆ ClipSegmentToLine()

ClipList playrho::d2::ClipSegmentToLine	(	const ClipList &	vIn,
		const UnitVec &	normal,
		Length	offset,
		ContactFeature::Index	indexA
	)

Clipping for contact manifolds.

This returns an array of points from the given line that are inside of the plane as defined by a given normal and offset.

Parameters

vIn	Clip list of two points defining the line.
normal	Normal of the plane with which to determine intersection.
offset	Offset of the plane with which to determine intersection.
indexA	Index of vertex A.

Returns: List of zero one or two clip points.

Definition at line 68 of file Collision.cpp.

◆ GetDistanceConf()

DistanceConf playrho::d2::GetDistanceConf ( const ToiConf & conf )

noexcept

Gets the distance configuration for the given time of impact configuration.

Definition at line 75 of file Distance.cpp.

◆ GetWitnessPoints()

PairLength2 playrho::d2::GetWitnessPoints ( const Simplex & simplex )

noexcept

Gets the witness points of the given simplex.

Definition at line 82 of file Distance.cpp.

◆ Distance()

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

Determines the closest points between two shapes.

Note: Supports any combination of shapes.; On the first call, the Simplex::Cache.count should be set to 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 and the count of iterations it took to determine them. The iteration count will always be greater than zero unless DefaultMaxDistanceIters is zero.

Examples: World.cpp.

Definition at line 108 of file Distance.cpp.

◆ TestOverlap() [1/2]

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.

Definition at line 217 of file Distance.cpp.

◆ GetDelta()

PLAYRHO_CONSTEXPR Length2 playrho::d2::GetDelta ( PairLength2 arg )

inlinenoexcept

Gets the delta to go from the first element to the second.

Definition at line 43 of file Distance.hpp.

◆ operator==() [1/14]

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

noexcept

Determines with the two given distance proxies are equal.

Definition at line 28 of file DistanceProxy.cpp.

◆ FindLowestRightMostVertex()

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

Finds the lowest right most vertex in the given collection.

Definition at line 41 of file DistanceProxy.cpp.

◆ GetConvexHullAsVector()

std::vector< Length2 > playrho::d2::GetConvexHullAsVector ( Span< const Length2 > vertices )

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

Definition at line 61 of file DistanceProxy.cpp.

◆ operator!=() [1/14]

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

inlinenoexcept

Determines with the two given distance proxies are not equal.

Definition at line 199 of file DistanceProxy.hpp.

◆ GetVertexRadius() [1/11]

NonNegative<Length> playrho::d2::GetVertexRadius ( const DistanceProxy & arg )

inlinenoexcept

Gets the vertex radius property of a given distance proxy.

Examples: Body.cpp, and World.cpp.

Definition at line 205 of file DistanceProxy.hpp.

◆ GetSupportIndex()

template<class T >

VertexCounter GetSupportIndex	(	const DistanceProxy &	proxy,
		T	dir
	)

inlinenoexcept

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

This finds the vertex that's most significantly in the 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().

Definition at line 221 of file DistanceProxy.hpp.

◆ swap()

void playrho::d2::swap	(	DynamicTree &	lhs,
		DynamicTree &	rhs
	)

noexcept

Note: This satisfies the Swappable concept.

See also: http://en.cppreference.com/w/cpp/concept/Swappable

Definition at line 666 of file DynamicTree.cpp.

◆ 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.

Definition at line 677 of file DynamicTree.cpp.

◆ Query() [2/2]

void playrho::d2::Query	(	const DynamicTree &	tree,
		const AABB &	aabb,
		QueryFixtureCallback	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.

Definition at line 711 of file DynamicTree.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.

Definition at line 720 of file DynamicTree.cpp.

◆ 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.

Definition at line 734 of file DynamicTree.cpp.

◆ ComputeHeight() [1/2]

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

noexcept

Computes the height of the tree from a given node.

Warning: Behavior is undefined if the given index is not valid.

Parameters

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

Returns: 0 unless the given index is to a branch node.

Definition at line 746 of file DynamicTree.cpp.

◆ 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.

Definition at line 759 of file DynamicTree.cpp.

◆ 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.

Definition at line 777 of file DynamicTree.cpp.

◆ 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.

Definition at line 814 of file DynamicTree.cpp.

◆ operator==() [2/14]

PLAYRHO_CONSTEXPR bool operator==	(	const DynamicTree::LeafData &	lhs,
		const DynamicTree::LeafData &	rhs
	)

inlinenoexcept

Equality operator.

Definition at line 331 of file DynamicTree.hpp.

◆ operator!=() [2/14]

PLAYRHO_CONSTEXPR bool operator!=	(	const DynamicTree::LeafData &	lhs,
		const DynamicTree::LeafData &	rhs
	)

inlinenoexcept

Inequality operator.

Definition at line 339 of file DynamicTree.hpp.

◆ IsUnused()

PLAYRHO_CONSTEXPR bool IsUnused ( const DynamicTree::TreeNode & node )

inlinenoexcept

Is unused.

Whether this node is free (or allocated).

Determines whether the given dynamic tree node is an unused node.

Definition at line 631 of file DynamicTree.hpp.

◆ IsLeaf()

PLAYRHO_CONSTEXPR bool IsLeaf ( const DynamicTree::TreeNode & node )

inlinenoexcept

Is leaf.

Whether or not this node is a leaf node.

Determines whether the given dynamic tree node is a leaf node. Leaf nodes have a pointer to user data.

Note: This has constant complexity.

Returns: true if this is a leaf node, false otherwise.

Definition at line 640 of file DynamicTree.hpp.

◆ IsBranch()

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

inlinenoexcept

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.

Definition at line 648 of file DynamicTree.hpp.

◆ ReplaceChild()

PLAYRHO_CONSTEXPR DynamicTree::BranchData playrho::d2::ReplaceChild	(	DynamicTree::BranchData	bd,
		DynamicTree::Size	oldChild,
		DynamicTree::Size	newChild
	)

inline

Replaces the old child with the new child.

Definition at line 622 of file DynamicTree.hpp.

◆ GetAABB() [2/3]

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

inlinenoexcept

Gets the AABB of the given dynamic tree node.

Definition at line 655 of file DynamicTree.hpp.

◆ GetNext()

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

inlinenoexcept

Gets the next index of the given node.

Warning: Behavior is undefined if the given node is not an "unused" node.

Definition at line 664 of file DynamicTree.hpp.

◆ 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.

Definition at line 673 of file DynamicTree.hpp.

◆ GetAABB() [3/3]

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.

Definition at line 684 of file DynamicTree.hpp.

◆ TestOverlap() [2/2]

bool TestOverlap	(	const DynamicTree &	tree,
		DynamicTree::Size	leafIdA,
		DynamicTree::Size	leafIdB
	)

inlinenoexcept

Tests for overlap of the elements identified in the given dynamic tree.

Definition at line 692 of file DynamicTree.hpp.

◆ ComputeHeight() [2/2]

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

inlinenoexcept

Computes the height of the given dynamic tree.

Definition at line 716 of file DynamicTree.hpp.

◆ 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 concept's size method.

See also: DynamicTree::GetLeafCount(); http://en.cppreference.com/w/cpp/concept/Container

Definition at line 766 of file DynamicTree.hpp.

◆ GetManifold() [1/3]

Manifold playrho::d2::GetManifold	(	bool	flipped,
		const DistanceProxy &	shape0,
		const Transformation &	xf0,
		const VertexCounter	idx0,
		const DistanceProxy &	shape1,
		const Transformation &	xf1,
		const 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.
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.
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.

Definition at line 100 of file Manifold.cpp.

◆ GetManifold() [2/3]

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

Computes manifolds for face-to-point collision.

< Center of circle in frame of polygon.

Definition at line 274 of file Manifold.cpp.

◆ GetManifold() [3/3]

Manifold playrho::d2::GetManifold	(	Length2	locationA,
		const Transformation &	xfA,
		Length2	locationB,
		const Transformation &	xfB,
		Length	totalRadius
	)

noexcept

Gets a point-to-point based manifold.

Definition at line 371 of file Manifold.cpp.

◆ CollideShapes()

Manifold CollideShapes	(	const DistanceProxy &	shapeA,
		const Transformation &	xfA,
		const DistanceProxy &	shapeB,
		const Transformation &	xfB,
		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.

Definition at line 388 of file Manifold.cpp.

◆ GetName()

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

noexcept

Gets a unique name for the given manifold type.

Definition at line 774 of file Manifold.cpp.

◆ operator==() [3/14]

bool operator==	(	const Manifold::Point &	lhs,
		const Manifold::Point &	rhs
	)

noexcept

Determines whether the two given manifold points are equal.

Definition at line 787 of file Manifold.cpp.

◆ operator!=() [3/14]

bool operator!=	(	const Manifold::Point &	lhs,
		const Manifold::Point &	rhs
	)

noexcept

Determines whether the two given manifold points are not equal.

Definition at line 808 of file Manifold.cpp.

◆ operator==() [4/14]

bool 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.

Definition at line 813 of file Manifold.cpp.

◆ operator!=() [4/14]

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

noexcept

Manifold inequality operator.

Determines whether the two given manifolds are not equal.

Definition at line 890 of file Manifold.cpp.

◆ GetDefaultManifoldConf()

PLAYRHO_CONSTEXPR Manifold::Conf GetDefaultManifoldConf ( )

inlinenoexcept

Gets the default manifold configuration.

Definition at line 479 of file Manifold.hpp.

◆ GetMassData() [1/11]

MassData playrho::d2::GetMassData	(	Length	r,
		NonNegative< AreaDensity >	density,
		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.

Definition at line 32 of file MassData.cpp.

◆ GetMassData() [2/11]

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

Definition at line 55 of file MassData.cpp.

◆ GetMassData() [3/11]

MassData playrho::d2::GetMassData	(	Length	vertexRadius,
		NonNegative< AreaDensity >	density,
		Span< const Length2 >	vertices
	)

Gets the mass data for the given collection of vertices with the given properties.

Definition at line 89 of file MassData.cpp.

◆ GetMassData() [4/11]

MassData GetMassData ( const Fixture & f )

Computes the mass data for the given fixture.

The mass data is based on the density and the shape of the fixture. The rotational inertia is about the shape's origin.

Note: This operation may be expensive.

Parameters

f	Fixture to compute the mass data for.

Definition at line 182 of file MassData.cpp.

◆ ComputeMassData()

MassData ComputeMassData ( const Body & body )

noexcept

Computes the 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.

Definition at line 187 of file MassData.cpp.

◆ GetMassData() [5/11]

MassData GetMassData ( const Body & body )

noexcept

Gets the mass data of the body.

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

Definition at line 206 of file MassData.cpp.

◆ 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.

Warning: Behavior is undefined if given less than one index pair or more than three.

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.

Definition at line 106 of file SeparationScenario.cpp.

◆ FindMinSeparation()

LengthIndexPair playrho::d2::FindMinSeparation	(	const SeparationScenario &	scenario,
		const Transformation &	xfA,
		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.

Definition at line 173 of file SeparationScenario.cpp.

◆ Evaluate()

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

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

Parameters

scenario	Separation scenario to evaluate.
indexPair	Indexes of the proxy A and proxy B vertexes.
xfA	Transformation A.
xfB	Transformation B.

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

Definition at line 186 of file SeparationScenario.cpp.

◆ GetChainShapeConf() [1/3]

ChainShapeConf playrho::d2::GetChainShapeConf ( Length2 dimensions )

Gets an enclosing chain shape configuration for an axis aligned rectangle of the given dimensions (width and height).

Definition at line 173 of file ChainShapeConf.cpp.

◆ GetChainShapeConf() [2/3]

ChainShapeConf playrho::d2::GetChainShapeConf ( const AABB & arg )

Gets an enclosing chain shape configuration for the given axis aligned box.

Definition at line 194 of file ChainShapeConf.cpp.

◆ GetChildCount() [1/6]

ChildCounter playrho::d2::GetChildCount ( const ChainShapeConf & arg )

inlinenoexcept

Gets the child count for a given chain shape configuration.

Examples: World.cpp.

Definition at line 154 of file ChainShapeConf.hpp.

◆ GetChild() [1/6]

DistanceProxy playrho::d2::GetChild	(	const ChainShapeConf &	arg,
		ChildCounter	index
	)

inline

Gets the "child" shape for a given chain shape configuration.

Definition at line 160 of file ChainShapeConf.hpp.

◆ GetMassData() [6/11]

MassData playrho::d2::GetMassData ( const ChainShapeConf & arg )

inlinenoexcept

Gets the mass data for a given chain shape configuration.

Definition at line 166 of file ChainShapeConf.hpp.

◆ IsLooped()

bool playrho::d2::IsLooped ( const ChainShapeConf & shape )

inlinenoexcept

Determines whether the given shape is looped.

Definition at line 172 of file ChainShapeConf.hpp.

◆ GetNextIndex()

ChildCounter playrho::d2::GetNextIndex	(	const ChainShapeConf &	shape,
		ChildCounter	index
	)

inlinenoexcept

Gets the next index after the given index for the given shape.

Definition at line 179 of file ChainShapeConf.hpp.

◆ GetVertexRadius() [2/11]

NonNegative<Length> playrho::d2::GetVertexRadius ( const ChainShapeConf & arg )

inline

Gets the vertex radius of the given shape configuration.

Definition at line 185 of file ChainShapeConf.hpp.

◆ GetVertexRadius() [3/11]

NonNegative<Length> playrho::d2::GetVertexRadius	(	const ChainShapeConf &	arg,
		ChildCounter
	)

inline

Gets the vertex radius of the given shape configuration.

Definition at line 191 of file ChainShapeConf.hpp.

◆ Transform() [1/7]

void playrho::d2::Transform	(	ChainShapeConf &	arg,
		const Mat22 &	m
	)

inlinenoexcept

Transforms the given chain shape configuration's vertices by the given transformation matrix.

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

Definition at line 199 of file ChainShapeConf.hpp.

◆ GetChainShapeConf() [3/3]

ChainShapeConf playrho::d2::GetChainShapeConf ( Length dimension )

inline

Gets an enclosing chain shape configuration for an axis aligned square of the given dimension.

Definition at line 210 of file ChainShapeConf.hpp.

◆ operator==() [5/14]

bool playrho::d2::operator==	(	const DiskShapeConf &	lhs,
		const DiskShapeConf &	rhs
	)

inlinenoexcept

Equality operator.

Definition at line 111 of file DiskShapeConf.hpp.

◆ operator!=() [5/14]

bool playrho::d2::operator!=	(	const DiskShapeConf &	lhs,
		const DiskShapeConf &	rhs
	)

inlinenoexcept

Inequality operator.

Definition at line 119 of file DiskShapeConf.hpp.

◆ GetChildCount() [2/6]

PLAYRHO_CONSTEXPR ChildCounter playrho::d2::GetChildCount ( const DiskShapeConf & )

inlinenoexcept

Gets the "child" count of the given disk shape configuration.

Definition at line 125 of file DiskShapeConf.hpp.

◆ GetChild() [2/6]

DistanceProxy playrho::d2::GetChild	(	const DiskShapeConf &	arg,
		ChildCounter	index
	)

inline

Gets the "child" of the given disk shape configuration.

Definition at line 131 of file DiskShapeConf.hpp.

◆ GetVertexRadius() [4/11]

PLAYRHO_CONSTEXPR NonNegative<Length> playrho::d2::GetVertexRadius ( const DiskShapeConf & arg )

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 141 of file DiskShapeConf.hpp.

◆ GetVertexRadius() [5/11]

PLAYRHO_CONSTEXPR NonNegative<Length> playrho::d2::GetVertexRadius	(	const DiskShapeConf &	arg,
		ChildCounter
	)

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 147 of file DiskShapeConf.hpp.

◆ GetMassData() [7/11]

MassData playrho::d2::GetMassData ( const DiskShapeConf & arg )

inlinenoexcept

Gets the mass data of the given disk shape configuration.

Definition at line 154 of file DiskShapeConf.hpp.

◆ Transform() [2/7]

void playrho::d2::Transform	(	DiskShapeConf &	arg,
		const Mat22 &	m
	)

inlinenoexcept

Transforms the given shape configuration's vertices by the given transformation matrix.

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

Definition at line 162 of file DiskShapeConf.hpp.

◆ operator==() [6/14]

bool playrho::d2::operator==	(	const EdgeShapeConf &	lhs,
		const EdgeShapeConf &	rhs
	)

inlinenoexcept

Equality operator.

Definition at line 116 of file EdgeShapeConf.hpp.

◆ operator!=() [6/14]

bool playrho::d2::operator!=	(	const EdgeShapeConf &	lhs,
		const EdgeShapeConf &	rhs
	)

inlinenoexcept

Inequality operator.

Definition at line 124 of file EdgeShapeConf.hpp.

◆ GetChildCount() [3/6]

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

inlinenoexcept

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

Returns: 1.

Definition at line 131 of file EdgeShapeConf.hpp.

◆ GetChild() [3/6]

DistanceProxy playrho::d2::GetChild	(	const EdgeShapeConf &	arg,
		ChildCounter	index
	)

inline

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

Definition at line 137 of file EdgeShapeConf.hpp.

◆ GetVertexRadius() [6/11]

NonNegative<Length> playrho::d2::GetVertexRadius ( const EdgeShapeConf & arg )

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 147 of file EdgeShapeConf.hpp.

◆ GetVertexRadius() [7/11]

NonNegative<Length> playrho::d2::GetVertexRadius	(	const EdgeShapeConf &	arg,
		ChildCounter
	)

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 153 of file EdgeShapeConf.hpp.

◆ GetMassData() [8/11]

MassData playrho::d2::GetMassData ( const EdgeShapeConf & arg )

inlinenoexcept

Gets the mass data for the given shape configuration.

Definition at line 159 of file EdgeShapeConf.hpp.

◆ Transform() [3/7]

void playrho::d2::Transform	(	EdgeShapeConf &	arg,
		const Mat22 &	m
	)

inlinenoexcept

Transforms the given shape configuration's vertices by the given transformation matrix.

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

Definition at line 167 of file EdgeShapeConf.hpp.

◆ GetMassData() [9/11]

MassData playrho::d2::GetMassData ( const MultiShapeConf & arg )

noexcept

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.

Definition at line 32 of file MultiShapeConf.cpp.

◆ operator==() [7/14]

bool playrho::d2::operator==	(	const MultiShapeConf &	lhs,
		const MultiShapeConf &	rhs
	)

inlinenoexcept

Equality operator.

Definition at line 149 of file MultiShapeConf.hpp.

◆ operator!=() [7/14]

bool playrho::d2::operator!=	(	const MultiShapeConf &	lhs,
		const MultiShapeConf &	rhs
	)

inlinenoexcept

Inequality operator.

Definition at line 156 of file MultiShapeConf.hpp.

◆ GetChildCount() [4/6]

ChildCounter playrho::d2::GetChildCount ( const MultiShapeConf & arg )

inlinenoexcept

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

Definition at line 162 of file MultiShapeConf.hpp.

◆ GetChild() [4/6]

DistanceProxy playrho::d2::GetChild	(	const MultiShapeConf &	arg,
		ChildCounter	index
	)

inline

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

Definition at line 168 of file MultiShapeConf.hpp.

◆ GetVertexRadius() [8/11]

NonNegative<Length> playrho::d2::GetVertexRadius	(	const MultiShapeConf &	arg,
		ChildCounter	index
	)

inline

Gets the vertex radius of the given shape configuration.

Definition at line 181 of file MultiShapeConf.hpp.

◆ Transform() [4/7]

void playrho::d2::Transform	(	MultiShapeConf &	arg,
		const Mat22 &	m
	)

inlinenoexcept

Transforms the given multi shape configuration by the given transformation matrix.

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

Definition at line 193 of file MultiShapeConf.hpp.

◆ GetEdge()

Length2 GetEdge	(	const PolygonShapeConf &	shape,
		VertexCounter	index
	)

Gets the identified edge of the given polygon shape.

Note: This must not be called for shapes with less than 2 vertices.

Warning: Behavior is undefined if called for a shape with less than 2 vertices.

Definition at line 157 of file PolygonShapeConf.cpp.

◆ 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.

Definition at line 166 of file PolygonShapeConf.cpp.

◆ GetChildCount() [5/6]

PLAYRHO_CONSTEXPR ChildCounter playrho::d2::GetChildCount ( const PolygonShapeConf & )

inlinenoexcept

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

Returns: 1.

Definition at line 201 of file PolygonShapeConf.hpp.

◆ GetChild() [5/6]

DistanceProxy playrho::d2::GetChild	(	const PolygonShapeConf &	arg,
		ChildCounter	index
	)

inline

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

Definition at line 207 of file PolygonShapeConf.hpp.

◆ GetVertexRadius() [9/11]

NonNegative<Length> playrho::d2::GetVertexRadius ( const PolygonShapeConf & arg )

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 218 of file PolygonShapeConf.hpp.

◆ GetVertexRadius() [10/11]

NonNegative<Length> playrho::d2::GetVertexRadius	(	const PolygonShapeConf &	arg,
		ChildCounter
	)

inlinenoexcept

Gets the vertex radius of the given shape configuration.

Definition at line 224 of file PolygonShapeConf.hpp.

◆ GetMassData() [10/11]

MassData playrho::d2::GetMassData ( const PolygonShapeConf & arg )

inlinenoexcept

Gets the mass data for the given shape configuration.

Definition at line 230 of file PolygonShapeConf.hpp.

◆ Transform() [5/7]

void playrho::d2::Transform	(	PolygonShapeConf &	arg,
		const Mat22 &	m
	)

inlinenoexcept

Transforms the given polygon configuration's vertices by the given transformation matrix.

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

Definition at line 244 of file PolygonShapeConf.hpp.

◆ GetChildCount() [6/6]

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

noexcept

Gets the number of child primitives of the shape.

Returns: Non-negative count.

Definition at line 199 of file Shape.hpp.

◆ GetChild() [6/6]

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.

Note: 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

Definition at line 204 of file Shape.hpp.

◆ GetMassData() [11/11]

MassData playrho::d2::GetMassData ( const Shape & shape )

noexcept

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

Returns: Mass data for this shape.

Definition at line 209 of file Shape.hpp.

◆ GetFriction() [1/2]

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

noexcept

Gets the coefficient of friction.

Returns: Value of 0 or higher.

Examples: Contact.cpp.

Definition at line 219 of file Shape.hpp.

◆ GetRestitution() [1/2]

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

noexcept

Gets the coefficient of restitution value of the given shape.

Examples: Contact.cpp.

Definition at line 224 of file Shape.hpp.

◆ 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).

Definition at line 229 of file Shape.hpp.

◆ GetVertexRadius() [11/11]

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.

Note: This must be a non-negative value.

See also: UseVertexRadius

Exceptions

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

Definition at line 214 of file Shape.hpp.

◆ Transform() [6/7]

void playrho::d2::Transform	(	Shape &	shape,
		const Mat22 &	m
	)

Transforms all of the given shape's vertices by the given transformation matrix.

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

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.

Definition at line 234 of file Shape.hpp.

◆ Visit()

bool playrho::d2::Visit	(	const Shape &	shape,
		void *	userData
	)

Visits the given shape with the potentially non-null user data pointer.

See also: https://en.wikipedia.org/wiki/Visitor_pattern

Definition at line 241 of file Shape.hpp.

◆ GetData()

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

noexcept

Gets a pointer to the underlying data.

Note: Provided for introspective purposes like visitation.; Generally speaking, try to avoid using this method unless there's no other way to access the underlying data.

Examples: Body.cpp.

Definition at line 246 of file Shape.hpp.

◆ GetUseTypeInfo()

const std::type_info& playrho::d2::GetUseTypeInfo ( const Shape & shape )

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

Note: This is not the same as calling typeid(Shape).

Returns: Type info of the underlying value's type.

Definition at line 251 of file Shape.hpp.

◆ Accept()

void playrho::d2::Accept	(	const Shape &	shape,
		const TypeInfoVisitor &	visitor
	)

Accepts a visitor.

This is the "accept" method definition of a "visitor design pattern" for doing shape configuration specific types of processing for a constant shape.

See also: https://en.wikipedia.org/wiki/Visitor_pattern

Definition at line 256 of file Shape.hpp.

◆ operator==() [8/14]

bool playrho::d2::operator==	(	const Shape &	lhs,
		const Shape &	rhs
	)

noexcept

Equality operator for shape to shape comparisons.

Definition at line 262 of file Shape.hpp.

◆ operator!=() [8/14]

bool playrho::d2::operator!=	(	const Shape &	lhs,
		const Shape &	rhs
	)

noexcept

Inequality operator for shape to shape comparisons.

Definition at line 267 of file Shape.hpp.

◆ GetDensity() [2/2]

PLAYRHO_CONSTEXPR NonNegative<AreaDensity> playrho::d2::GetDensity ( const BaseShapeConf & arg )

inlinenoexcept

Gets the density of the given shape configuration.

Definition at line 126 of file ShapeConf.hpp.

◆ GetRestitution() [2/2]

PLAYRHO_CONSTEXPR Finite<Real> playrho::d2::GetRestitution ( const BaseShapeConf & arg )

inlinenoexcept

Gets the restitution of the given shape configuration.

Definition at line 132 of file ShapeConf.hpp.

◆ GetFriction() [2/2]

PLAYRHO_CONSTEXPR NonNegative<Real> playrho::d2::GetFriction ( const BaseShapeConf & arg )

inlinenoexcept

Gets the friction of the given shape configuration.

Definition at line 138 of file ShapeConf.hpp.

◆ GetMaxSeparation4x4()

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

Definition at line 69 of file ShapeSeparation.cpp.

◆ GetMaxSeparation() [1/3]

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

Definition at line 111 of file ShapeSeparation.cpp.

◆ GetMaxSeparation() [2/3]

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

Definition at line 137 of file ShapeSeparation.cpp.

◆ GetMaxSeparation() [3/3]

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.

Definition at line 167 of file ShapeSeparation.cpp.

◆ GetIndexPairs()

IndexPair3 playrho::d2::GetIndexPairs ( const SimplexEdges & collection )

noexcept

Gets index pairs for the given edges collection.

Definition at line 25 of file Simplex.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 undefined if the given edge list has zero edges.

Returns: "search direction" vector.

Definition at line 37 of file Simplex.cpp.

◆ GetScaledDelta()

Length2 playrho::d2::GetScaledDelta	(	const Simplex &	simplex,
		Simplex::size_type	index
	)

inline

Gets the scaled delta for the given indexed element of the given simplex.

Definition at line 201 of file Simplex.hpp.

◆ GetClosestPoint()

PLAYRHO_CONSTEXPR Length2 playrho::d2::GetClosestPoint ( const Simplex & simplex )

inline

Gets the "closest point".

Definition at line 207 of file Simplex.hpp.

◆ GetPointDelta()

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

inlinenoexcept

Gets "w".

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

Definition at line 83 of file SimplexEdge.hpp.

◆ operator==() [9/14]

PLAYRHO_CONSTEXPR bool playrho::d2::operator==	(	const SimplexEdge &	lhs,
		const SimplexEdge &	rhs
	)

inlinenoexcept

Equality operator for SimplexEdge.

Definition at line 89 of file SimplexEdge.hpp.

◆ operator!=() [9/14]

PLAYRHO_CONSTEXPR bool playrho::d2::operator!=	(	const SimplexEdge &	lhs,
		const SimplexEdge &	rhs
	)

inlinenoexcept

Inequality operator for SimplexEdge.

Definition at line 97 of file SimplexEdge.hpp.

◆ GetToiViaSat()

TOIOutput playrho::d2::GetToiViaSat	(	const DistanceProxy &	proxyA,
		const Sweep &	sweepA,
		const DistanceProxy &	proxyB,
		const Sweep &	sweepB,
		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,tMax]. 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 undefined if sweeps are not at the same alpha-0.; Behavior is undefined if the configuration's tMax is not between 0 and 1 inclusive.

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}?

Definition at line 66 of file TimeOfImpact.cpp.

◆ GetWorldManifold() [1/2]

WorldManifold GetWorldManifold	(	const Manifold &	manifold,
		Transformation	xfA,
		Length	radiusA,
		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.

Definition at line 105 of file WorldManifold.cpp.

◆ GetWorldManifold() [2/2]

WorldManifold GetWorldManifold ( const Contact & contact )

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

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.

◆ operator==() [10/14]

PLAYRHO_CONSTEXPR bool operator==	(	const Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Equality operator.

Definition at line 41 of file Acceleration.hpp.

◆ operator!=() [10/14]

PLAYRHO_CONSTEXPR bool operator!=	(	const Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Inequality operator.

Definition at line 48 of file Acceleration.hpp.

◆ operator*=() [1/2]

PLAYRHO_CONSTEXPR Acceleration & operator*=	(	Acceleration &	lhs,
		const Real	rhs
	)

inline

Multiplication assignment operator.

Definition at line 55 of file Acceleration.hpp.

◆ operator/=() [1/2]

PLAYRHO_CONSTEXPR Acceleration & operator/=	(	Acceleration &	lhs,
		const Real	rhs
	)

inline

Division assignment operator.

Definition at line 64 of file Acceleration.hpp.

◆ operator+=() [1/3]

PLAYRHO_CONSTEXPR Acceleration & operator+=	(	Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Addition assignment operator.

Definition at line 73 of file Acceleration.hpp.

◆ operator+() [1/7]

PLAYRHO_CONSTEXPR Acceleration operator+	(	const Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Addition operator.

Definition at line 82 of file Acceleration.hpp.

◆ operator-=() [1/3]

PLAYRHO_CONSTEXPR Acceleration & operator-=	(	Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Subtraction assignment operator.

Definition at line 89 of file Acceleration.hpp.

◆ operator-() [1/7]

PLAYRHO_CONSTEXPR Acceleration operator-	(	const Acceleration &	lhs,
		const Acceleration &	rhs
	)

inline

Subtraction operator.

Definition at line 98 of file Acceleration.hpp.

◆ operator-() [2/7]

PLAYRHO_CONSTEXPR Acceleration operator- ( const Acceleration & value )

inline

Negation operator.

Definition at line 105 of file Acceleration.hpp.

◆ operator+() [2/7]

PLAYRHO_CONSTEXPR Acceleration operator+ ( const Acceleration & value )

inline

Positive operator.

Definition at line 112 of file Acceleration.hpp.

◆ operator*() [1/10]

PLAYRHO_CONSTEXPR Acceleration operator*	(	const Acceleration &	lhs,
		const Real	rhs
	)

inline

Multiplication operator.

Definition at line 119 of file Acceleration.hpp.

◆ operator*() [2/10]

PLAYRHO_CONSTEXPR Acceleration operator*	(	const Real	lhs,
		const Acceleration &	rhs
	)

inline

Multiplication operator.

Definition at line 126 of file Acceleration.hpp.

◆ operator/() [1/3]

PLAYRHO_CONSTEXPR Acceleration operator/	(	const Acceleration &	lhs,
		const Real	rhs
	)

inline

Division operator.

Definition at line 133 of file Acceleration.hpp.

◆ Dump() [1/15]

void playrho::d2::Dump ( const World & world )

Dump the world into the log file.

Warning: this should be called outside of a time step.

Definition at line 64 of file CodeDumper.cpp.

◆ Dump() [2/15]

void playrho::d2::Dump	(	const Body &	body,
		std::size_t	bodyIndex
	)

Dump body to a log file.

Definition at line 93 of file CodeDumper.cpp.

◆ Dump() [3/15]

void playrho::d2::Dump	(	const Joint &	joint,
		std::size_t	index
	)

Dump joint to the log file.

Definition at line 127 of file CodeDumper.cpp.

◆ Dump() [4/15]

void playrho::d2::Dump	(	const Fixture &	fixture,
		std::size_t	bodyIndex
	)

Dump fixture to log file.

Definition at line 170 of file CodeDumper.cpp.

◆ Dump() [5/15]

void playrho::d2::Dump	(	const DistanceJoint &	joint,
		std::size_t	index
	)

Dump joint to log file.

Definition at line 196 of file CodeDumper.cpp.

◆ Dump() [6/15]

void playrho::d2::Dump	(	const FrictionJoint &	joint,
		std::size_t	index
	)

Dump joint to the log file.

Definition at line 216 of file CodeDumper.cpp.

◆ Dump() [7/15]

void playrho::d2::Dump	(	const GearJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 235 of file CodeDumper.cpp.

◆ Dump() [8/15]

void playrho::d2::Dump	(	const MotorJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 247 of file CodeDumper.cpp.

◆ Dump() [9/15]

void playrho::d2::Dump	(	const TargetJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 266 of file CodeDumper.cpp.

◆ Dump() [10/15]

void playrho::d2::Dump	(	const PrismaticJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 283 of file CodeDumper.cpp.

◆ Dump() [11/15]

void playrho::d2::Dump	(	const PulleyJoint &	joint,
		std::size_t	index
	)

Dump joint to log file.

Definition at line 312 of file CodeDumper.cpp.

◆ Dump() [12/15]

void playrho::d2::Dump	(	const RevoluteJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 338 of file CodeDumper.cpp.

◆ Dump() [13/15]

void playrho::d2::Dump	(	const RopeJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 365 of file CodeDumper.cpp.

◆ Dump() [14/15]

void playrho::d2::Dump	(	const WeldJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 382 of file CodeDumper.cpp.

◆ Dump() [15/15]

void playrho::d2::Dump	(	const WheelJoint &	joint,
		std::size_t	index
	)

Dumps the joint to the log file.

Definition at line 402 of file CodeDumper.cpp.

◆ 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.

Definition at line 173 of file Math.cpp.

◆ GetVec2()

PLAYRHO_CONSTEXPR Vec2 playrho::d2::GetVec2 ( const UnitVec value )

inline

Gets a Vec2 representation of the given value.

Examples: World.cpp.

Definition at line 697 of file Math.hpp.

◆ GetAngle() [1/2]

Angle playrho::d2::GetAngle ( const UnitVec value )

inline

Gets the angle of the given unit vector.

Definition at line 703 of file Math.hpp.

◆ operator*() [3/10]

template<class T , LoValueCheck lo, HiValueCheck hi>

PLAYRHO_CONSTEXPR Vector2<T> playrho::d2::operator*	(	BoundedValue< T, lo, hi >	s,
		UnitVec	u
	)

inlinenoexcept

Multiplication operator.

Definition at line 710 of file Math.hpp.

◆ operator*() [4/10]

template<class T >

PLAYRHO_CONSTEXPR Vector2<T> playrho::d2::operator*	(	const T	s,
		const UnitVec	u
	)

inlinenoexcept

Multiplication operator.

Definition at line 717 of file Math.hpp.

◆ operator*() [5/10]

template<class T , LoValueCheck lo, HiValueCheck hi>

PLAYRHO_CONSTEXPR Vector2<T> playrho::d2::operator*	(	UnitVec	u,
		BoundedValue< T, lo, hi >	s
	)

inlinenoexcept

Multiplication operator.

Definition at line 724 of file Math.hpp.

◆ operator*() [6/10]

template<class T >

PLAYRHO_CONSTEXPR Vector2<T> playrho::d2::operator*	(	const UnitVec	u,
		const T	s
	)

inlinenoexcept

Multiplication operator.

Definition at line 731 of file Math.hpp.

◆ operator/() [2/3]

PLAYRHO_CONSTEXPR Vec2 playrho::d2::operator/	(	const UnitVec	u,
		const UnitVec::value_type	s
	)

inlinenoexcept

Division operator.

Definition at line 737 of file Math.hpp.

◆ Rotate() [1/2]

template<class T >

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

inlinenoexcept

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.

Definition at line 749 of file Math.hpp.

◆ InverseRotate() [1/2]

template<class T >

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

inlinenoexcept

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.

Definition at line 764 of file Math.hpp.

◆ GetUnitVector()

template<class T >

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

inline

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.

See also: AlmostEqual.

Definition at line 778 of file Math.hpp.

◆ 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.

Definition at line 786 of file Math.hpp.

◆ 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.

Definition at line 796 of file Math.hpp.

◆ Transform() [7/7]

PLAYRHO_CONSTEXPR Length2 playrho::d2::Transform	(	const Length2	v,
		const Transformation	xfm
	)

inlinenoexcept

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.

Definition at line 816 of file Math.hpp.

◆ InverseTransform()

PLAYRHO_CONSTEXPR Length2 playrho::d2::InverseTransform	(	const Length2	v,
		const Transformation	T
	)

inlinenoexcept

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).
T	Transformation (a translation and rotation) to inversely apply to the given vector.

Returns: Inverse transformed vector.

Definition at line 831 of file Math.hpp.

◆ Mul()

PLAYRHO_CONSTEXPR Transformation playrho::d2::Mul	(	const Transformation &	A,
		const Transformation &	B
	)

inlinenoexcept

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

Definition at line 840 of file Math.hpp.

◆ MulT()

PLAYRHO_CONSTEXPR Transformation playrho::d2::MulT	(	const Transformation &	A,
		const Transformation &	B
	)

inlinenoexcept

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)

Definition at line 848 of file Math.hpp.

◆ GetTransformation() [1/5]

PLAYRHO_CONSTEXPR Transformation playrho::d2::GetTransformation	(	const Length2	ctr,
		const UnitVec	rot,
		const Length2	localCtr
	)

inlinenoexcept

Gets the transformation for the given values.

Definition at line 855 of file Math.hpp.

◆ GetTransformation() [2/5]

Transformation playrho::d2::GetTransformation	(	const Position	pos,
		const Length2	local_ctr
	)

inlinenoexcept

Gets the transformation for the given values.

Definition at line 863 of file Math.hpp.

◆ GetTransformation() [3/5]

Transformation playrho::d2::GetTransformation	(	const Sweep &	sweep,
		const 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.

Definition at line 874 of file Math.hpp.

◆ 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.

Definition at line 886 of file Math.hpp.

◆ 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.

Definition at line 896 of file Math.hpp.

◆ IsUnderActive()

bool playrho::d2::IsUnderActive	(	Velocity	velocity,
		LinearVelocity	linSleepTol,
		AngularVelocity	angSleepTol
	)

inlinenoexcept

Gets whether the given velocity is "under active" based on the given tolerances.

Definition at line 908 of file Math.hpp.

◆ GetReflectionMatrix()

PLAYRHO_CONSTEXPR auto playrho::d2::GetReflectionMatrix ( UnitVec axis )

inline

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

Definition at line 919 of file Math.hpp.

◆ operator==() [11/14]

PLAYRHO_CONSTEXPR bool operator==	(	const Position &	lhs,
		const Position &	rhs
	)

inline

Equality operator.

Definition at line 44 of file Position.hpp.

◆ operator!=() [11/14]

PLAYRHO_CONSTEXPR bool operator!=	(	const Position &	lhs,
		const Position &	rhs
	)

inline

Inequality operator.

Definition at line 51 of file Position.hpp.

◆ operator-() [3/7]

PLAYRHO_CONSTEXPR Position operator- ( const Position & value )

inline

Negation operator.

Definition at line 58 of file Position.hpp.

◆ operator+() [3/7]

PLAYRHO_CONSTEXPR Position operator+ ( const Position & value )

inline

Positive operator.

Definition at line 65 of file Position.hpp.

◆ operator+=() [2/3]

PLAYRHO_CONSTEXPR Position & operator+=	(	Position &	lhs,
		const Position &	rhs
	)

inline

Addition assignment operator.

Definition at line 72 of file Position.hpp.

◆ operator+() [4/7]

PLAYRHO_CONSTEXPR Position operator+	(	const Position &	lhs,
		const Position &	rhs
	)

inline

Addition operator.

Definition at line 81 of file Position.hpp.

◆ operator-=() [2/3]

PLAYRHO_CONSTEXPR Position & operator-=	(	Position &	lhs,
		const Position &	rhs
	)

inline

Subtraction assignment operator.

Definition at line 88 of file Position.hpp.

◆ operator-() [4/7]

PLAYRHO_CONSTEXPR Position operator-	(	const Position &	lhs,
		const Position &	rhs
	)

inline

Subtraction operator.

Definition at line 97 of file Position.hpp.

◆ operator*() [7/10]

PLAYRHO_CONSTEXPR Position playrho::d2::operator*	(	const Position &	pos,
		const Real	scalar
	)

inline

Multiplication operator.

Definition at line 103 of file Position.hpp.

◆ operator*() [8/10]

PLAYRHO_CONSTEXPR Position operator*	(	const Real	scalar,
		const Position &	pos
	)

inline

Multiplication operator.

Definition at line 110 of file Position.hpp.

◆ GetPosition() [1/2]

PLAYRHO_CONSTEXPR Position GetPosition	(	const Position	pos0,
		const Position	pos1,
		const Real	beta
	)

inlinenoexcept

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	Unit interval (value between 0 and 1) 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.

Definition at line 137 of file Position.hpp.

◆ operator==() [12/14]

PLAYRHO_CONSTEXPR bool operator==	(	Transformation	lhs,
		Transformation	rhs
	)

inlinenoexcept

Equality operator.

Definition at line 54 of file Transformation.hpp.

◆ operator!=() [12/14]

PLAYRHO_CONSTEXPR bool operator!=	(	Transformation	lhs,
		Transformation	rhs
	)

inlinenoexcept

Inequality operator.

Definition at line 61 of file Transformation.hpp.

◆ GetXAxis()

PLAYRHO_CONSTEXPR UnitVec playrho::d2::GetXAxis ( UnitVec rot )

inlinenoexcept

Gets the "X-axis".

Definition at line 306 of file UnitVec.hpp.

◆ GetYAxis()

PLAYRHO_CONSTEXPR UnitVec playrho::d2::GetYAxis ( UnitVec rot )

inlinenoexcept

Gets the "Y-axis".

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

Definition at line 310 of file UnitVec.hpp.

◆ operator==() [13/14]

PLAYRHO_CONSTEXPR bool playrho::d2::operator==	(	const UnitVec	a,
		const UnitVec	b
	)

inlinenoexcept

Equality operator.

Definition at line 313 of file UnitVec.hpp.

◆ operator!=() [13/14]

PLAYRHO_CONSTEXPR bool playrho::d2::operator!=	(	const UnitVec	a,
		const UnitVec	b
	)

inlinenoexcept

Inequality operator.

Definition at line 319 of file UnitVec.hpp.

◆ GetRevPerpendicular()

PLAYRHO_CONSTEXPR UnitVec playrho::d2::GetRevPerpendicular ( const UnitVec vector )

inlinenoexcept

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.

Definition at line 330 of file UnitVec.hpp.

◆ GetFwdPerpendicular()

PLAYRHO_CONSTEXPR UnitVec playrho::d2::GetFwdPerpendicular ( const UnitVec vector )

inlinenoexcept

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.

Definition at line 340 of file UnitVec.hpp.

◆ Rotate() [2/2]

PLAYRHO_CONSTEXPR UnitVec playrho::d2::Rotate	(	const UnitVec	vector,
		const UnitVec &	angle
	)

inlinenoexcept

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.

Definition at line 348 of file UnitVec.hpp.

◆ InverseRotate() [2/2]

PLAYRHO_CONSTEXPR UnitVec playrho::d2::InverseRotate	(	const UnitVec	vector,
		const UnitVec &	angle
	)

inlinenoexcept

Inverse rotates a vector.

Definition at line 354 of file UnitVec.hpp.

◆ get()

template<std::size_t I>

PLAYRHO_CONSTEXPR UnitVec::value_type playrho::d2::get ( UnitVec v )

inlinenoexcept

Gets the specified element of the given collection.

Definition at line 361 of file UnitVec.hpp.

◆ get< 0 >()

template<>

PLAYRHO_CONSTEXPR UnitVec::value_type playrho::d2::get< 0 > ( UnitVec v )

inlinenoexcept

Gets element 0 of the given collection.

Definition at line 373 of file UnitVec.hpp.

◆ get< 1 >()

template<>

PLAYRHO_CONSTEXPR UnitVec::value_type playrho::d2::get< 1 > ( UnitVec v )

inlinenoexcept

Gets element 1 of the given collection.

Definition at line 380 of file UnitVec.hpp.

◆ operator<<()

inline ::std::ostream& playrho::d2::operator<<	(	::std::ostream &	os,
		const UnitVec &	value
	)

Output stream operator.

Definition at line 386 of file UnitVec.hpp.

◆ CalcWarmStartVelocityDeltas()

VelocityPair playrho::d2::CalcWarmStartVelocityDeltas ( const VelocityConstraint & vc )

Calculates the "warm start" velocity deltas for the given velocity constraint.

Definition at line 28 of file Velocity.cpp.

◆ operator==() [14/14]

PLAYRHO_CONSTEXPR bool operator==	(	const Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Equality operator.

Definition at line 43 of file Velocity.hpp.

◆ operator!=() [14/14]

PLAYRHO_CONSTEXPR bool operator!=	(	const Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Inequality operator.

Definition at line 50 of file Velocity.hpp.

◆ operator*=() [2/2]

PLAYRHO_CONSTEXPR Velocity & operator*=	(	Velocity &	lhs,
		const Real	rhs
	)

inline

Multiplication assignment operator.

Definition at line 57 of file Velocity.hpp.

◆ operator/=() [2/2]

PLAYRHO_CONSTEXPR Velocity & operator/=	(	Velocity &	lhs,
		const Real	rhs
	)

inline

Division assignment operator.

Definition at line 66 of file Velocity.hpp.

◆ operator+=() [3/3]

PLAYRHO_CONSTEXPR Velocity & operator+=	(	Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Addition assignment operator.

Definition at line 75 of file Velocity.hpp.

◆ operator+() [5/7]

PLAYRHO_CONSTEXPR Velocity operator+	(	const Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Addition operator.

Definition at line 84 of file Velocity.hpp.

◆ operator-=() [3/3]

PLAYRHO_CONSTEXPR Velocity & operator-=	(	Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Subtraction assignment operator.

Definition at line 91 of file Velocity.hpp.

◆ operator-() [5/7]

PLAYRHO_CONSTEXPR Velocity operator-	(	const Velocity &	lhs,
		const Velocity &	rhs
	)

inline

Subtraction operator.

Definition at line 100 of file Velocity.hpp.

◆ operator-() [6/7]

PLAYRHO_CONSTEXPR Velocity operator- ( const Velocity & value )

inline

Negation operator.

Definition at line 107 of file Velocity.hpp.

◆ operator+() [6/7]

PLAYRHO_CONSTEXPR Velocity operator+ ( const Velocity & value )

inline

Positive operator.

Definition at line 114 of file Velocity.hpp.

◆ operator*() [9/10]

PLAYRHO_CONSTEXPR Velocity operator*	(	const Velocity &	lhs,
		const Real	rhs
	)

inline

Multiplication operator.

Definition at line 121 of file Velocity.hpp.

◆ operator*() [10/10]

PLAYRHO_CONSTEXPR Velocity operator*	(	const Real	lhs,
		const Velocity &	rhs
	)

inline

Multiplication operator.

Definition at line 128 of file Velocity.hpp.

◆ operator/() [3/3]

PLAYRHO_CONSTEXPR Velocity operator/	(	const Velocity &	lhs,
		const Real	rhs
	)

inline

Division operator.

Definition at line 135 of file Velocity.hpp.

◆ ShouldCollide() [1/2]

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

noexcept

Should collide.

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.

◆ GetWorldIndex() [1/2]

BodyCounter GetWorldIndex ( const Body * body )

noexcept

Gets the world index for the given body.

Definition at line 440 of file Body.cpp.

◆ GetVelocity()

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.

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.

◆ Cap()

Velocity Cap	(	Velocity	velocity,
		Time	h,
		MovementConf	conf
	)

noexcept

Caps velocity.

Enforces maximums on the given velocity.

Parameters

velocity	Velocity to cap. Behavior is undefined if this value is invalid.
h	Time elapsed to get velocity for. Behavior is undefined if this value is invalid.
conf	Movement configuration. This defines caps on linear and angular speeds.

Definition at line 482 of file Body.cpp.

◆ GetFixtureCount() [1/2]

std::size_t GetFixtureCount ( const Body & body )

noexcept

Gets the fixture count of the given body.

Examples: Body.cpp.

Definition at line 504 of file Body.cpp.

◆ RotateAboutWorldPoint()

void RotateAboutWorldPoint	(	Body &	body,
		Angle	amount,
		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

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

Definition at line 510 of file Body.cpp.

◆ RotateAboutLocalPoint()

void RotateAboutLocalPoint	(	Body &	body,
		Angle	amount,
		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

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

Definition at line 523 of file Body.cpp.

◆ GetCentripetalForce()

Force2 GetCentripetalForce	(	const Body &	body,
		Length2	axis
	)

Gets the centripetal force necessary to put the body into an orbit having the given radius.

Definition at line 528 of file Body.cpp.

◆ CalcGravitationalAcceleration()

Acceleration CalcGravitationalAcceleration ( const Body & body )

noexcept

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.

Definition at line 544 of file Body.cpp.

◆ GetAcceleration()

Acceleration GetAcceleration ( const Body & body )

inlinenoexcept

Gets the given body's acceleration.

Parameters

body	Body whose acceleration should be returned.

Definition at line 892 of file Body.hpp.

◆ SetAcceleration()

void SetAcceleration	(	Body &	body,
		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.

Definition at line 903 of file Body.hpp.

◆ Awaken() [1/2]

bool Awaken ( Body & body )

inlinenoexcept

Awakens the body if it's asleep.

Examples: Body.cpp.

Definition at line 917 of file Body.hpp.

◆ Unawaken()

bool Unawaken ( Body & body )

inlinenoexcept

Puts the body to sleep if it's awake.

Definition at line 929 of file Body.hpp.

◆ GetPosition1()

Position GetPosition1 ( const Body & body )

inlinenoexcept

Gets the "position 1" Position information for the given body.

Definition at line 947 of file Body.hpp.

◆ GetMass()

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, SetMassData

Definition at line 957 of file Body.hpp.

◆ SetLinearAcceleration()

void SetLinearAcceleration	(	Body &	body,
		LinearAcceleration2	value
	)

inlinenoexcept

Sets the given linear acceleration of the given body.

Definition at line 965 of file Body.hpp.

◆ SetAngularAcceleration()

void SetAngularAcceleration	(	Body &	body,
		AngularAcceleration	value
	)

inlinenoexcept

Sets the given angular acceleration of the given body.

Definition at line 972 of file Body.hpp.

◆ ApplyLinearAcceleration()

void ApplyLinearAcceleration	(	Body &	body,
		LinearAcceleration2	amount
	)

inline

Applies the given linear acceleration to the given body.

Definition at line 979 of file Body.hpp.

◆ SetForce()

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

inlinenoexcept

Sets the given amount of force at the given point to the given body.

Definition at line 986 of file Body.hpp.

◆ ApplyForce()

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

inlinenoexcept

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

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
	)

inlinenoexcept

Apply a force to the center of mass.

Note: Non-zero forces wakes up the body.

Parameters

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

Definition at line 1022 of file Body.hpp.

◆ SetTorque()

void SetTorque	(	Body &	body,
		Torque	torque
	)

inlinenoexcept

Sets the given amount of torque to the given body.

Definition at line 1031 of file Body.hpp.

◆ ApplyTorque()

void ApplyTorque	(	Body &	body,
		Torque	torque
	)

inlinenoexcept

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

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
	)

inlinenoexcept

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.

Definition at line 1063 of file Body.hpp.

◆ ApplyAngularImpulse()

void ApplyAngularImpulse	(	Body &	body,
		AngularMomentum	impulse
	)

inlinenoexcept

Applies an angular impulse.

Parameters

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

Definition at line 1077 of file Body.hpp.

◆ GetRotInertia()

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.

Definition at line 1094 of file Body.hpp.

◆ GetLocalRotInertia()

RotInertia GetLocalRotInertia ( const Body & body )

inlinenoexcept

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

Returns: the rotational inertia.

Definition at line 1102 of file Body.hpp.

◆ GetLinearVelocity() [1/2]

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.

Definition at line 1112 of file Body.hpp.

◆ GetAngularVelocity() [1/3]

AngularVelocity GetAngularVelocity ( const Body & body )

inlinenoexcept

Gets the angular velocity.

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
	)

inlinenoexcept

Sets the linear velocity of the center of mass.

Parameters

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

Definition at line 1130 of file Body.hpp.

◆ SetAngularVelocity()

void SetAngularVelocity	(	Body &	body,
		AngularVelocity	omega
	)

inlinenoexcept

Sets the angular velocity.

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
	)

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.

Definition at line 1149 of file Body.hpp.

◆ 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.

Definition at line 1159 of file Body.hpp.

◆ GetWorldVector() [2/2]

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

inlinenoexcept

Gets the world vector for the given local vector from the given body's transformation.

Definition at line 1166 of file Body.hpp.

◆ GetLocalPoint()

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.

Definition at line 1176 of file Body.hpp.

◆ GetLocalVector()

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.

Definition at line 1186 of file Body.hpp.

◆ 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.

Definition at line 1196 of file Body.hpp.

◆ 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.

Definition at line 1211 of file Body.hpp.

◆ GetForce()

Force2 GetForce ( const Body & body )

inlinenoexcept

Gets the net force that the given body is currently experiencing.

Definition at line 1219 of file Body.hpp.

◆ GetTorque()

Torque GetTorque ( const Body & body )

inlinenoexcept

Gets the net torque that the given body is currently experiencing.

Definition at line 1226 of file Body.hpp.

◆ GetLocation()

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:

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.

Definition at line 1287 of file Body.hpp.

◆ GetAngle() [2/2]

Angle GetAngle ( const Body & body )

inlinenoexcept

Gets the body's angle.

Returns: Body's angle relative to its World.

Definition at line 1295 of file Body.hpp.

◆ GetTransformation() [4/5]

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

inlinenoexcept

Gets the body's transformation.

Definition at line 1301 of file Body.hpp.

◆ SetTransformation()

void playrho::d2::SetTransformation	(	Body &	body,
		const Transformation &	xfm
	)

inlinenoexcept

Sets the body's transformation.

Note: This operation isn't exact. I.e. don't expect that GetTransformation will return exactly the transformation that had been set.

Examples: Body.cpp.

Definition at line 1309 of file Body.hpp.

◆ GetPosition() [2/2]

Position playrho::d2::GetPosition ( const Body & body )

inlinenoexcept

Gets the body's position.

Definition at line 1315 of file Body.hpp.

◆ SetLocation()

void SetLocation	(	Body &	body,
		Length2	value
	)

inlinenoexcept

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

See also: Body::SetTransform

Definition at line 1328 of file Body.hpp.

◆ SetAngle()

void SetAngle	(	Body &	body,
		Angle	value
	)

inlinenoexcept

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

See also: Body::SetTransform

Definition at line 1341 of file Body.hpp.

◆ GetBodyConf()

BodyConf GetBodyConf ( const Body & body )

noexcept

Gets the body definition for the given body.

Parameters

body	Body to get the `BodyConf` for.

Definition at line 28 of file BodyConf.cpp.

◆ GetDefaultBodyConf()

PLAYRHO_CONSTEXPR BodyConf GetDefaultBodyConf ( )

inlinenoexcept

Gets the default body definition.

Definition at line 283 of file BodyConf.hpp.

◆ GetContactImpulses()

ContactImpulsesList playrho::d2::GetContactImpulses ( const VelocityConstraint & vc )

Gets the contact impulses for the given velocity constraint.

Definition at line 28 of file ContactImpulsesList.cpp.

◆ GetMaxNormalImpulse()

Momentum GetMaxNormalImpulse ( const ContactImpulsesList & impulses )

inlinenoexcept

Gets the maximum normal impulse from the given contact impulses list.

Definition at line 70 of file ContactImpulsesList.hpp.

◆ GetBodyConstraint()

BodyConstraint playrho::d2::GetBodyConstraint	(	const Body &	body,
		Time	time,
		MovementConf	conf
	)

inlinenoexcept

Gets the BodyConstraint based on the given parameters.

Definition at line 140 of file BodyConstraint.hpp.

◆ GetBodyA()

Body * GetBodyA ( const Contact & contact )

noexcept

Gets the body A associated with the given contact.

Definition at line 227 of file Contact.cpp.

◆ GetBodyB()

Body * GetBodyB ( const Contact & contact )

noexcept

Gets the body B associated with the given contact.

Definition at line 232 of file Contact.cpp.

◆ HasSensor()

bool HasSensor ( const Contact & contact )

noexcept

Whether the given contact has a sensor.

Definition at line 237 of file Contact.cpp.

◆ IsImpenetrable()

bool IsImpenetrable ( const Contact & contact )

noexcept

Whether the given contact is "impenetrable".

Definition at line 242 of file Contact.cpp.

◆ IsActive()

bool IsActive ( const Contact & contact )

noexcept

Determines whether the given contact is "active".

Definition at line 249 of file Contact.cpp.

◆ SetAwake() [1/3]

void SetAwake ( const Contact & c )

noexcept

Sets awake the fixtures of the given contact.

Examples: Contact.cpp.

Definition at line 264 of file Contact.cpp.

◆ ResetFriction()

void ResetFriction ( Contact & contact )

Resets the friction mixture to the default value.

Examples: Contact.cpp.

Definition at line 271 of file Contact.cpp.

◆ ResetRestitution()

void ResetRestitution ( Contact & contact )

noexcept

Reset the restitution to the default value.

Examples: Contact.cpp.

Definition at line 277 of file Contact.cpp.

◆ CalcToi()

TOIOutput CalcToi	(	const Contact &	contact,
		ToiConf	conf
	)

Calculates the Time Of Impact for the given contact with the given configuration.

Definition at line 284 of file Contact.cpp.

◆ GetFixtureA()

Fixture * GetFixtureA ( const Contact & contact )

inlinenoexcept

Gets the fixture A associated with the given contact.

Definition at line 541 of file Contact.hpp.

◆ GetFixtureB()

Fixture * GetFixtureB ( const Contact & contact )

inlinenoexcept

Gets the fixture B associated with the given contact.

Definition at line 548 of file Contact.hpp.

◆ GetChildIndexA()

ChildCounter GetChildIndexA ( const Contact & contact )

inlinenoexcept

Gets the child index A of the given contact.

Definition at line 555 of file Contact.hpp.

◆ GetChildIndexB()

ChildCounter GetChildIndexB ( const Contact & contact )

inlinenoexcept

Gets the child index B of the given contact.

Definition at line 562 of file Contact.hpp.

◆ GetContactKey() [1/2]

ContactKey playrho::d2::GetContactKey	(	const Fixture &	fixtureA,
		ChildCounter	childIndexA,
		const Fixture &	fixtureB,
		ChildCounter	childIndexB
	)

noexcept

Gets the ContactKey for the given parameters.

Definition at line 31 of file ContactKey.cpp.

◆ GetContactKey() [2/2]

ContactKey playrho::d2::GetContactKey ( const Contact & contact )

noexcept

Gets the ContactKey for the given contact.

Definition at line 38 of file ContactKey.cpp.

◆ GetContactPtr()

Contact* playrho::d2::GetContactPtr ( KeyedContactPtr value )

inline

Gets the contact pointer for the given value.

Definition at line 128 of file ContactKey.hpp.

◆ operator+() [7/7]

PositionSolution playrho::d2::operator+	(	PositionSolution	lhs,
		PositionSolution	rhs
	)

inline

Addition operator.

Definition at line 44 of file ContactSolver.hpp.

◆ operator-() [7/7]

PositionSolution playrho::d2::operator-	(	PositionSolution	lhs,
		PositionSolution	rhs
	)

inline

Subtraction operator.

Definition at line 54 of file ContactSolver.hpp.

◆ 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.

Definition at line 87 of file PositionSolverManifold.cpp.

◆ GetRegVelocityConstraintConf()

VelocityConstraint::Conf playrho::d2::GetRegVelocityConstraintConf ( const StepConf & conf )

noexcept

Gets the regular phase velocity constraint configuration from the given step configuration.

Definition at line 187 of file VelocityConstraint.cpp.

◆ GetToiVelocityConstraintConf()

VelocityConstraint::Conf playrho::d2::GetToiVelocityConstraintConf ( const StepConf & conf )

noexcept

Gets the TOI phase velocity constraint configuration from the given step configuration.

Definition at line 196 of file VelocityConstraint.cpp.

◆ 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 method.

Returns: Contact normal (in world coordinates) if previously set, an invalid value otherwise.

Definition at line 376 of file VelocityConstraint.hpp.

◆ GetTangent()

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

inlinenoexcept

Gets the tangent from the given velocity constraint data.

Definition at line 382 of file VelocityConstraint.hpp.

◆ GetInvMass()

InvMass playrho::d2::GetInvMass ( const VelocityConstraint & vc )

inlinenoexcept

Gets the inverse mass from the given velocity constraint data.

Definition at line 388 of file VelocityConstraint.hpp.

◆ GetPointRelPosA()

Length2 playrho::d2::GetPointRelPosA	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the point relative position A data.

Definition at line 394 of file VelocityConstraint.hpp.

◆ GetPointRelPosB()

Length2 playrho::d2::GetPointRelPosB	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the point relative position B data.

Definition at line 401 of file VelocityConstraint.hpp.

◆ GetVelocityBiasAtPoint()

LinearVelocity playrho::d2::GetVelocityBiasAtPoint	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the velocity bias at the given point from the given velocity constraint.

Definition at line 408 of file VelocityConstraint.hpp.

◆ GetNormalMassAtPoint()

Mass playrho::d2::GetNormalMassAtPoint	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the normal mass at the given point from the given velocity constraint.

Definition at line 414 of file VelocityConstraint.hpp.

◆ GetTangentMassAtPoint()

Mass playrho::d2::GetTangentMassAtPoint	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the tangent mass at the given point from the given velocity constraint.

Definition at line 421 of file VelocityConstraint.hpp.

◆ GetNormalImpulseAtPoint()

Momentum playrho::d2::GetNormalImpulseAtPoint	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the normal impulse at the given point from the given velocity constraint.

Definition at line 428 of file VelocityConstraint.hpp.

◆ GetTangentImpulseAtPoint()

Momentum playrho::d2::GetTangentImpulseAtPoint	(	const VelocityConstraint &	vc,
		VelocityConstraint::size_type	index
	)

inline

Gets the tangent impulse at the given point from the given velocity constraint.

Definition at line 435 of file VelocityConstraint.hpp.

◆ GetNormalImpulses()

Momentum2 playrho::d2::GetNormalImpulses ( const VelocityConstraint & vc )

inline

Gets the normal impulses of the given velocity constraint.

Definition at line 442 of file VelocityConstraint.hpp.

◆ GetTangentImpulses()

Momentum2 playrho::d2::GetTangentImpulses ( const VelocityConstraint & vc )

inline

Gets the tangent impulses of the given velocity constraint.

Definition at line 448 of file VelocityConstraint.hpp.

◆ SetNormalImpulseAtPoint()

void playrho::d2::SetNormalImpulseAtPoint	(	VelocityConstraint &	vc,
		VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

Sets the normal impulse at the given point of the given velocity constraint.

Definition at line 454 of file VelocityConstraint.hpp.

◆ SetTangentImpulseAtPoint()

void playrho::d2::SetTangentImpulseAtPoint	(	VelocityConstraint &	vc,
		VelocityConstraint::size_type	index,
		Momentum	value
	)

inline

Sets the tangent impulse at the given point of the given velocity constraint.

Definition at line 460 of file VelocityConstraint.hpp.

◆ SetNormalImpulses()

void playrho::d2::SetNormalImpulses	(	VelocityConstraint &	vc,
		const Momentum2	impulses
	)

inline

Sets the normal impulses of the given velocity constraint.

Definition at line 466 of file VelocityConstraint.hpp.

◆ SetTangentImpulses()

void playrho::d2::SetTangentImpulses	(	VelocityConstraint &	vc,
		const Momentum2	impulses
	)

inline

Sets the tangent impulses of the given velocity constraint.

Definition at line 473 of file VelocityConstraint.hpp.

◆ SetAwake() [2/3]

void SetAwake ( const Fixture & f )

noexcept

Sets the associated body's sleep status to awake.

Note: This is a convenience function that simply looks up the fixture's body and calls that body' SetAwake method.

Parameters

f	Fixture whose body should be awoken.

Definition at line 85 of file Fixture.cpp.

◆ GetTransformation() [5/5]

Transformation GetTransformation ( const Fixture & f )

noexcept

Gets the transformation associated with the given fixture.

Warning: Behavior is undefined if the fixture doesn't have an associated body - i.e. behavior is undefined if the fixture has nullptr as its associated body.

Definition at line 90 of file Fixture.cpp.

◆ ShouldCollide() [2/2]

bool ShouldCollide	(	const Fixture &	fixtureA,
		const Fixture &	fixtureB
	)

inlinenoexcept

Whether contact calculations should be performed between the two fixtures.

Returns: true if contact calculations should be performed between these two fixtures; false otherwise.

Definition at line 319 of file Fixture.hpp.

◆ GetFixtureConf()

FixtureConf GetFixtureConf ( const Fixture & fixture )

noexcept

Gets the fixture definition for the given fixture.

Parameters

fixture Fixture to get the definition for.

Definition at line 28 of file FixtureConf.cpp.

◆ GetDefaultFixtureConf()

PLAYRHO_CONSTEXPR FixtureConf GetDefaultFixtureConf ( )

inlinenoexcept

Gets the default fixture definition.

Definition at line 83 of file FixtureConf.hpp.

◆ Count() [1/3]

std::size_t Count	(	const Island &	island,
		const Body *	entry
	)

Counts the number of occurrences of the given entry in the given island.

Definition at line 138 of file Island.cpp.

◆ Count() [2/3]

std::size_t Count	(	const Island &	island,
		const Contact *	entry
	)

Counts the number of occurrences of the given entry in the given island.

Definition at line 143 of file Island.cpp.

◆ Count() [3/3]

std::size_t Count	(	const Island &	island,
		const Joint *	entry
	)

Counts the number of occurrences of the given entry in the given island.

Definition at line 148 of file Island.cpp.

◆ IsFullOfBodies()

bool IsFullOfBodies ( const Island & island )

inline

Determines whether the given island is full of bodies.

Definition at line 74 of file Island.hpp.

◆ IsFullOfContacts()

bool IsFullOfContacts ( const Island & island )

inline

Determines whether the given island is full of contacts.

Definition at line 81 of file Island.hpp.

◆ GetDistanceJointConf()

DistanceJointConf GetDistanceJointConf ( const DistanceJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 39 of file DistanceJointConf.cpp.

◆ GetFrictionJointConf()

FrictionJointConf GetFrictionJointConf ( const FrictionJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 36 of file FrictionJointConf.cpp.

◆ GetGearJointConf()

GearJointConf GetGearJointConf ( const GearJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 35 of file GearJointConf.cpp.

◆ IsEnabled()

bool IsEnabled ( const Joint & j )

noexcept

Short-cut function to determine if both bodies are enabled.

Definition at line 105 of file Joint.cpp.

◆ SetAwake() [3/3]

void SetAwake ( Joint & j )

noexcept

Wakes up the joined bodies.

Definition at line 112 of file Joint.cpp.

◆ GetWorldIndex() [2/2]

JointCounter GetWorldIndex ( const Joint * joint )

Gets the world index of the given joint.

Definition at line 126 of file Joint.cpp.

◆ At()

BodyConstraintPtr & playrho::d2::At	(	std::unordered_map< const Body , BodyConstraint > &	container,
		const Body *	key
	)

Provides referenced access to the identified element of the given container.

Definition at line 166 of file Joint.cpp.

◆ ToString() [1/2]

const char * playrho::d2::ToString ( Joint::LimitState val )

noexcept

Provides a human readable C-style string uniquely identifying the given limit state.

Definition at line 172 of file Joint.cpp.

◆ IncMotorSpeed()

template<class T >

void playrho::d2::IncMotorSpeed	(	T &	j,
		AngularVelocity	delta
	)

inline

Increment motor speed.

Template function for incrementally changing the motor speed of a joint that has the SetMotorSpeed and GetMotorSpeed methods.

Definition at line 295 of file Joint.hpp.

◆ Set()

void Set	(	JointConf &	def,
		const Joint &	joint
	)

noexcept

Sets the joint definition data for the given joint.

Definition at line 28 of file JointConf.cpp.

◆ GetJointKey()

JointKey playrho::d2::GetJointKey ( const Joint & joint )

noexcept

Gets the JointKey for the given joint.

Definition at line 27 of file JointKey.cpp.

◆ Compare()

PLAYRHO_CONSTEXPR int playrho::d2::Compare	(	const JointKey &	lhs,
		const JointKey &	rhs
	)

inlinenoexcept

Compares the given joint keys.

Definition at line 81 of file JointKey.hpp.

◆ IsFor()

PLAYRHO_CONSTEXPR bool IsFor	(	const JointKey	key,
		const Body *	body
	)

inlinenoexcept

Determines whether the given key is for the given body.

Definition at line 104 of file JointKey.hpp.

◆ GetJointPtr()

Joint* playrho::d2::GetJointPtr ( std::pair< JointKey, Joint * > value )

inline

Gets the joint pointer from the given value.

Definition at line 110 of file JointKey.hpp.

◆ GetType()

JointType GetType ( const Joint & joint )

noexcept

Gets the type of the given joint.

Examples: World.cpp.

Definition at line 28 of file JointType.cpp.

◆ ToString() [2/2]

const char * playrho::d2::ToString ( JointType type )

noexcept

Provides a C-style (null-terminated) string name for given joint type.

Returns: C-style English-language human-readable string uniquely identifying the joint type.

Definition at line 35 of file JointType.cpp.

◆ GetMotorJointConf()

MotorJointConf GetMotorJointConf ( const MotorJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 37 of file MotorJointConf.cpp.

◆ GetJointTranslation() [1/2]

Length GetJointTranslation ( const PrismaticJoint & joint )

noexcept

Get the current joint translation.

Definition at line 608 of file PrismaticJoint.cpp.

◆ GetLinearVelocity() [2/2]

LinearVelocity GetLinearVelocity ( const PrismaticJoint & joint )

noexcept

Get the current joint translation speed.

Definition at line 615 of file PrismaticJoint.cpp.

◆ GetMotorForce()

Force GetMotorForce	(	const PrismaticJoint &	joint,
		Frequency	inv_dt
	)

inlinenoexcept

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

Definition at line 192 of file PrismaticJoint.hpp.

◆ GetPrismaticJointConf()

PrismaticJointConf GetPrismaticJointConf ( const PrismaticJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 40 of file PrismaticJointConf.cpp.

◆ GetCurrentLengthA()

Length GetCurrentLengthA ( const PulleyJoint & joint )

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

Definition at line 245 of file PulleyJoint.cpp.

◆ GetCurrentLengthB()

Length GetCurrentLengthB ( const PulleyJoint & joint )

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

Definition at line 251 of file PulleyJoint.cpp.

◆ GetPulleyJointConf()

PulleyJointConf GetPulleyJointConf ( const PulleyJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 43 of file PulleyJointConf.cpp.

◆ GetJointAngle()

Angle GetJointAngle ( const RevoluteJoint & joint )

Gets the current joint angle.

Definition at line 537 of file RevoluteJoint.cpp.

◆ GetAngularVelocity() [2/3]

AngularVelocity GetAngularVelocity ( const RevoluteJoint & joint )

Gets the current joint angle speed.

Definition at line 542 of file RevoluteJoint.cpp.

◆ GetMotorTorque() [1/2]

Torque GetMotorTorque	(	const RevoluteJoint &	joint,
		Frequency	inv_dt
	)

inlinenoexcept

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

Definition at line 214 of file RevoluteJoint.hpp.

◆ GetRevoluteJointConf()

RevoluteJointConf GetRevoluteJointConf ( const RevoluteJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 39 of file RevoluteJointConf.cpp.

◆ GetRopeJointConf()

RopeJointConf GetRopeJointConf ( const RopeJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 29 of file RopeJointConf.cpp.

◆ GetTargetJointConf()

TargetJointConf GetTargetJointConf ( const TargetJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 28 of file TargetJointConf.cpp.

◆ GetWeldJointConf()

WeldJointConf GetWeldJointConf ( const WeldJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 38 of file WeldJointConf.cpp.

◆ GetJointTranslation() [2/2]

Length GetJointTranslation ( const WheelJoint & joint )

noexcept

Get the current joint translation.

Definition at line 365 of file WheelJoint.cpp.

◆ GetAngularVelocity() [3/3]

AngularVelocity GetAngularVelocity ( const WheelJoint & joint )

noexcept

Get the current joint translation speed.

Definition at line 374 of file WheelJoint.cpp.

◆ GetMotorTorque() [2/2]

Torque playrho::d2::GetMotorTorque	(	const WheelJoint &	joint,
		Frequency	inv_dt
	)

inlinenoexcept

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

Definition at line 194 of file WheelJoint.hpp.

◆ GetWheelJointConf()

WheelJointConf GetWheelJointConf ( const WheelJoint & joint )

noexcept

Gets the definition data for the given joint.

Definition at line 39 of file WheelJointConf.cpp.

◆ Step()

StepStats Step	(	World &	world,
		Time	delta,
		TimestepIters	velocityIterations = `8`,
		TimestepIters	positionIterations = `3`
	)

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 method 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.

Definition at line 2589 of file World.cpp.

◆ GetTouchingCount()

ContactCounter GetTouchingCount ( const World & world )

noexcept

Gets the touching count for the given world.

Definition at line 2605 of file World.cpp.

◆ GetFixtureCount() [2/2]

std::size_t GetFixtureCount ( const World & world )

noexcept

Gets the count of fixtures in the given world.

Definition at line 2614 of file World.cpp.

◆ GetShapeCount()

std::size_t GetShapeCount ( const World & world )

noexcept

Gets the count of unique shapes in the given world.

Definition at line 2625 of file World.cpp.

◆ GetAwakeCount()

BodyCounter GetAwakeCount ( const World & world )

noexcept

Gets the count of awake bodies in the given world.

Examples: World.cpp.

Definition at line 2638 of file World.cpp.

◆ Awaken() [2/2]

BodyCounter Awaken ( World & world )

noexcept

Awakens all of the bodies in the given world.

Calls all of the world's bodies' SetAwake method.

Returns: Sum total of calls to bodies' SetAwake method that returned true.

See also: Body::SetAwake.

Definition at line 2646 of file World.cpp.

◆ SetAccelerations() [1/3]

void SetAccelerations	(	World &	world,
		Acceleration	acceleration
	)

noexcept

Sets the accelerations of all the world's bodies to the given value.

Definition at line 2660 of file World.cpp.

◆ SetAccelerations() [2/3]

void SetAccelerations	(	World &	world,
		LinearAcceleration2	acceleration
	)

noexcept

Sets the accelerations of all the world's bodies to the given value.

Note: This will leave the angular acceleration alone.

Examples: World.cpp.

Definition at line 2668 of file World.cpp.

◆ FindClosestBody()

Body * FindClosestBody	(	const World &	world,
		Length2	location
	)

noexcept

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

Definition at line 2676 of file World.cpp.

◆ GetBodyCount()

BodyCounter GetBodyCount ( const World & world )

inlinenoexcept

Gets the body count in the given world.

Returns: 0 or higher.

Examples: World.cpp.

Definition at line 1036 of file World.hpp.

◆ GetJointCount()

JointCounter GetJointCount ( const World & world )

inlinenoexcept

Gets the count of joints in the given world.

Returns: 0 or higher.

Examples: World.cpp.

Definition at line 1044 of file World.hpp.

◆ 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.

Definition at line 1054 of file World.hpp.

◆ SetAccelerations() [3/3]

template<class F >

void SetAccelerations	(	World &	world,
		F	fn
	)

noexcept

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)(const Body& body)`.

Definition at line 1123 of file World.hpp.

◆ ClearForces()

void ClearForces ( World & world )

inlinenoexcept

Clears forces.

Manually clear the force buffer on all bodies.

Definition at line 1143 of file World.hpp.

◆ GetDefaultWorldConf()

PLAYRHO_CONSTEXPR WorldConf GetDefaultWorldConf ( )

inlinenoexcept

Gets the default definitions value.

Note: This method exists as a work-around for providing the World constructor a default value without otherwise getting a compiler error such as: "cannot use defaulted constructor of '<code>Conf</code>' within '<code>World</code>' outside of member functions because 'gravity' has an initializer"

Examples: World.cpp.

Definition at line 92 of file WorldConf.hpp.

Variable Documentation

◆ Transform_identity

const PLAYRHO_CONSTEXPR auto playrho::d2::Transform_identity

Initial value:

= Transformation{
    Length2{0_m, 0_m}, UnitVec::GetRight()
}

Identity transformation value.

Definition at line 48 of file Transformation.hpp.

◆ EarthlyGravity

const PLAYRHO_CONSTEXPR auto playrho::d2::EarthlyGravity

Initial value:

= LinearAcceleration2{

0_mps2, EarthlyLinearAcceleration}

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, and World.cpp.

Definition at line 154 of file Vector2.hpp.

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ AABB

◆ ClipList

◆ DynamicTreeSizeCB

◆ QueryFixtureCallback

◆ LengthIndices

◆ SeparationInfo

◆ MassData

◆ RayCastInput

◆ RayCastOutput

◆ DynamicTreeRayCastCB

◆ FixtureRayCastCB

◆ TypeInfoVisitor

◆ SimplexEdges

◆ VelocityPair

◆ ContactPtr

◆ KeyedContactPtr

◆ BodyConstraintPtr

◆ BodyConstraintPair

◆ BodyConstraintsMap

◆ BodyPtr

◆ BodyConstraintsPair

◆ BodyConstraints

◆ PositionConstraints

◆ VelocityConstraints

Enumeration Type Documentation

◆ DynamicTreeOpcode

◆ JointType

Function Documentation

◆ ComputeAABB() [1/5]

◆ ComputeAABB() [2/5]

◆ ComputeAABB() [3/5]

◆ ComputeAABB() [4/5]

◆ ComputeAABB() [5/5]

◆ ComputeIntersectingAABB() [1/2]

◆ ComputeIntersectingAABB() [2/2]

◆ GetAABB() [1/3]

◆ GetPerimeter()

◆ GetPointStates()

◆ ClipSegmentToLine()

◆ GetDistanceConf()

◆ GetWitnessPoints()

◆ Distance()

◆ TestOverlap() [1/2]

◆ GetDelta()

◆ operator==() [1/14]

◆ FindLowestRightMostVertex()

◆ GetConvexHullAsVector()

◆ operator!=() [1/14]

◆ GetVertexRadius() [1/11]

◆ GetSupportIndex()

◆ swap()

◆ Query() [1/2]

◆ Query() [2/2]

◆ ComputeTotalPerimeter()

◆ ComputePerimeterRatio()

◆ ComputeHeight() [1/2]

◆ GetMaxImbalance()

◆ ValidateStructure()

◆ ValidateMetrics()

◆ operator==() [2/14]

◆ operator!=() [2/14]

◆ IsUnused()

◆ IsLeaf()

◆ IsBranch()

◆ ReplaceChild()

◆ GetAABB() [2/3]

◆ GetNext()

◆ GetHeight()

◆ GetAABB() [3/3]

◆ TestOverlap() [2/2]

◆ ComputeHeight() [2/2]

◆ size()

◆ GetManifold() [1/3]