#include <World.h>
| bl7::rigidbodies2::World::World | ( | void | ) |
Default constructor.
| bl7::rigidbodies2::World::~World | ( | void | ) |
Destructor.
| void bl7::rigidbodies2::World::add_body | ( | RigidBody * | body | ) |
Adds a given rigid body to this world. It it is already present, the function has no effect.
| void bl7::rigidbodies2::World::add_contact_generator | ( | ContactGenerator * | generator | ) |
Adds a given contact generator to this world. It it is already present, the function has no effect.
| void bl7::rigidbodies2::World::add_global_force_generator | ( | ForceGenerator * | generator | ) |
Adds a given force generator globally to this world. It it is already present, the function has no effect.
| void bl7::rigidbodies2::World::add_permanent_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) |
Adds a given pair of rigid body and force generator permanently to this world. It it is already present, the function has no effect.
| void bl7::rigidbodies2::World::add_temporary_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) |
Adds a given pair of rigid body and force generator temporarily to this world. It it is already present, the function has no effect.
| void bl7::rigidbodies2::World::clear_bodies | ( | ) | [inline] |
Removes all rigid bodies form the world.
| void bl7::rigidbodies2::World::clear_contact_generators | ( | ) | [inline] |
Removes all contact generators form this world.
| void bl7::rigidbodies2::World::clear_global_force_generators | ( | ) | [inline] |
Removes all global force generators form this world.
| void bl7::rigidbodies2::World::clear_permanent_force_generators | ( | ) | [inline] |
Removes all permanent pairs of rigid bodies and force generators form this world.
| void bl7::rigidbodies2::World::clear_temporary_force_generators | ( | ) | [inline] |
Removes all temporary pairs of rigid bodies and force generators form this world.
| bool bl7::rigidbodies2::World::contains_body | ( | RigidBody * | body | ) | const [inline] |
Checks whether a given rigid body is housed in this world.
| bool bl7::rigidbodies2::World::contains_contact_generator | ( | ContactGenerator * | generator | ) | const [inline] |
Checks whether a given contact generator is contained in this world.
| bool bl7::rigidbodies2::World::contains_global_force_generator | ( | ForceGenerator * | generator | ) | const [inline] |
Checks whether a given force generator is contained globally in this world.
| bool bl7::rigidbodies2::World::contains_permanent_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) | const [inline] |
Checks whether a given pair of rigid body and force generator is contained permanently in this world.
| bool bl7::rigidbodies2::World::contains_temporary_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) | const [inline] |
Checks whether a given pair of rigid body and force generator is contained temporarily in this world.
| const ContactRegistry* bl7::rigidbodies2::World::get_contact_registry | ( | ) | const [inline] |
| float bl7::rigidbodies2::World::get_default_kinetic_friction | ( | ) | const |
Returns the default kinetic friction.
| float bl7::rigidbodies2::World::get_default_restitution | ( | ) | const |
Returns the default coefficient of restitution.
| float bl7::rigidbodies2::World::get_default_static_friction | ( | ) | const |
Returns the default static friction.
| unsigned bl7::rigidbodies2::World::get_max_contacts | ( | ) | const |
Returns the maximum number of rigid body contacts allowed. The default value is 1000.
| unsigned bl7::rigidbodies2::World::get_max_position_iterations | ( | ) | const |
Returns the number of iterations used to resolve the rigid body contacts due to interpenetration. If it is set to 0 (it is by default), a default value of twice the number of generated rigid body contacts is taken.
| unsigned bl7::rigidbodies2::World::get_max_velocity_iterations | ( | ) | const |
Returns the number of iterations used to resolve the rigid body contacts due to closing velocity. If it is set to 0 (it is by default), a default value of twice the number of generated rigid body contacts is taken.
| float bl7::rigidbodies2::World::get_motion_epsilon | ( | ) | const |
Returns the lower bound of motion a rigid body can have without getting tired.
| float bl7::rigidbodies2::World::get_position_epsilon | ( | ) | const |
Returns the epsilon value of minimum interpenetration depth.
| float bl7::rigidbodies2::World::get_tiredness_limit | ( | ) | const |
Returns the limit of tiredness to be reached before a rigid body falls asleep.
| float bl7::rigidbodies2::World::get_velocity_epsilon | ( | ) | const |
Returns the epsilon value of minimum closing speed.
| void bl7::rigidbodies2::World::remove_body | ( | RigidBody * | body | ) |
Removes a given rigid body from this world. It it is not present, the function has no effect.
| void bl7::rigidbodies2::World::remove_contact_generator | ( | ContactGenerator * | generator | ) |
Removes a given contact generator from this world. It it is not present, the function has no effect.
| void bl7::rigidbodies2::World::remove_global_force_generator | ( | ForceGenerator * | generator | ) |
Removes a given global force generator from this world. It it is not present, the function has no effect.
| void bl7::rigidbodies2::World::remove_permanent_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) |
Removes a given permanent pair of rigid body and force generator from this world. It it is not present, the function has no effect.
| void bl7::rigidbodies2::World::remove_temporary_force_generator | ( | RigidBody * | body, | |
| ForceGenerator * | generator | |||
| ) |
Removes a given temporary pair of rigid body and force generator from this world. It it is not present, the function has no effect.
| void bl7::rigidbodies2::World::set_default_kinetic_friction | ( | const float | fk | ) |
Sets the default kinetic friction.
| void bl7::rigidbodies2::World::set_default_restitution | ( | const float | e | ) |
Sets the default coefficient of restitution.
| void bl7::rigidbodies2::World::set_default_static_friction | ( | const float | fs | ) |
Sets the default static friction.
| void bl7::rigidbodies2::World::set_max_contacts | ( | const unsigned | max_contacts | ) |
Sets the maximum number of rigid body contacts allowed. The default value is 1000.
| void bl7::rigidbodies2::World::set_max_position_iterations | ( | const unsigned | iterations | ) |
Sets the number of iterations used to resolve the rigid body contacts due to interpenetration. If it is set to 0 (it is by default), a default value of twice the number of generated rigid body contacts is taken.
| void bl7::rigidbodies2::World::set_max_velocity_iterations | ( | const unsigned | iterations | ) |
Sets the number of iterations used to resolve the rigid body contacts due to closing velocity. If it is set to 0 (it is by default), a default value of twice the number of generated rigid body contacts is taken.
| void bl7::rigidbodies2::World::set_motion_epsilon | ( | const float | motion_epsilon | ) |
Sets the lower bound of motion a rigid body can have without getting tired.
| void bl7::rigidbodies2::World::set_position_epsilon | ( | const float | epsilon | ) |
Returns the epsilon value of minimum interpenetration depth.
| void bl7::rigidbodies2::World::set_tiredness_limit | ( | const float | tiredness_limit | ) |
Sets the limit of tiredness to be reached before a rigid body falls asleep.
| void bl7::rigidbodies2::World::set_velocity_epsilon | ( | const float | epsilon | ) |
Returns the epsilon value of minimum closing speed.
| void bl7::rigidbodies2::World::step | ( | const float | time | ) |
Performs a simulation step. Therefore, this function firstly clears all force accumulators. Then, based on the new forces applied by the generators, it performs the integration resulting in updated velocity and position of the rigid bodies. Finally, it resolves possibly found contacts between objects updating the velocity -- and position due to interpenetration -- once again.
1.7.1
