Urho3D::PhysicsWorld Class Reference

Physics simulation world component. Should be added only to the root scene node. More...

#include <Urho3D/Physics/PhysicsWorld.h>

Inheritance diagram for Urho3D::PhysicsWorld:

Collaboration diagram for Urho3D::PhysicsWorld:

Public Member Functions
	PhysicsWorld (Context *scontext)
	Construct.
virtual	~PhysicsWorld ()
	Destruct.
virtual bool	isVisible (const btVector3 &aabbMin, const btVector3 &aabbMax)
	Check if an AABB is visible for debug drawing.
virtual void	drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &color)
	Draw a physics debug line.
virtual void	reportErrorWarning (const char *warningString)
	Log warning from the physics engine.
virtual void	drawContactPoint (const btVector3 &pointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color)
	Draw a physics debug contact point. Not implemented.
virtual void	draw3dText (const btVector3 &location, const char *textString)
	Draw physics debug 3D text. Not implemented.
virtual void	setDebugMode (int debugMode)
	Set debug draw flags.
virtual int	getDebugMode () const
	Return debug draw flags.
virtual void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
	Visualize the component as debug geometry.
void	Update (float timeStep)
	Step the simulation forward.
void	UpdateCollisions ()
	Refresh collisions only without updating dynamics.
void	SetFps (int fps)
	Set simulation substeps per second.
void	SetGravity (const Vector3 &gravity)
	Set gravity.
void	SetMaxSubSteps (int num)
	Set maximum number of physics substeps per frame. 0 (default) is unlimited. Positive values cap the amount. Use a negative value to enable an adaptive timestep. This may cause inconsistent physics behavior.
void	SetNumIterations (int num)
	Set number of constraint solver iterations.
void	SetUpdateEnabled (bool enable)
	Enable or disable automatic physics simulation during scene update. Enabled by default.
void	SetInterpolation (bool enable)
	Set whether to interpolate between simulation steps.
void	SetInternalEdge (bool enable)
	Set whether to use Bullet's internal edge utility for trimesh collisions. Disabled by default.
void	SetSplitImpulse (bool enable)
	Set split impulse collision mode. This is more accurate, but slower. Disabled by default.
void	SetMaxNetworkAngularVelocity (float velocity)
	Set maximum angular velocity for network replication.
void	Raycast (PODVector< PhysicsRaycastResult > &result, const Ray &ray, float maxDistance, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world raycast and return all hits.
void	RaycastSingle (PhysicsRaycastResult &result, const Ray &ray, float maxDistance, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world raycast and return the closest hit.
void	RaycastSingleSegmented (PhysicsRaycastResult &result, const Ray &ray, float maxDistance, float segmentDistance, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world segmented raycast and return the closest hit. Useful for big scenes with many bodies.
void	SphereCast (PhysicsRaycastResult &result, const Ray &ray, float radius, float maxDistance, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world swept sphere test and return the closest hit.
void	ConvexCast (PhysicsRaycastResult &result, CollisionShape *shape, const Vector3 &startPos, const Quaternion &startRot, const Vector3 &endPos, const Quaternion &endRot, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world swept convex test using a user-supplied collision shape and return the first hit.
void	ConvexCast (PhysicsRaycastResult &result, btCollisionShape *shape, const Vector3 &startPos, const Quaternion &startRot, const Vector3 &endPos, const Quaternion &endRot, unsigned collisionMask=M_MAX_UNSIGNED)
	Perform a physics world swept convex test using a user-supplied Bullet collision shape and return the first hit.
void	RemoveCachedGeometry (Model *model)
	Invalidate cached collision geometry for a model.
void	GetRigidBodies (PODVector< RigidBody * > &result, const Sphere &sphere, unsigned collisionMask=M_MAX_UNSIGNED)
	Return rigid bodies by a sphere query.
void	GetRigidBodies (PODVector< RigidBody * > &result, const BoundingBox &box, unsigned collisionMask=M_MAX_UNSIGNED)
	Return rigid bodies by a box query.
void	GetRigidBodies (PODVector< RigidBody * > &result, const RigidBody *body)
	Return rigid bodies by contact test with the specified body. It needs to be active to return all contacts reliably.
void	GetCollidingBodies (PODVector< RigidBody * > &result, const RigidBody *body)
	Return rigid bodies that have been in collision with the specified body on the last simulation step. Only returns collisions that were sent as events (depends on collision event mode) and excludes e.g. static-static collisions.
Vector3	GetGravity () const
	Return gravity.
int	GetMaxSubSteps () const
	Return maximum number of physics substeps per frame.
int	GetNumIterations () const
	Return number of constraint solver iterations.
bool	IsUpdateEnabled () const
	Return whether physics world will automatically simulate during scene update.
bool	GetInterpolation () const
	Return whether interpolation between simulation steps is enabled.
bool	GetInternalEdge () const
	Return whether Bullet's internal edge utility for trimesh collisions is enabled.
bool	GetSplitImpulse () const
	Return whether split impulse collision mode is enabled.
int	GetFps () const
	Return simulation steps per second.
float	GetMaxNetworkAngularVelocity () const
	Return maximum angular velocity for network replication.
void	AddRigidBody (RigidBody *body)
	Add a rigid body to keep track of. Called by RigidBody.
void	RemoveRigidBody (RigidBody *body)
	Remove a rigid body. Called by RigidBody.
void	AddCollisionShape (CollisionShape *shape)
	Add a collision shape to keep track of. Called by CollisionShape.
void	RemoveCollisionShape (CollisionShape *shape)
	Remove a collision shape. Called by CollisionShape.
void	AddConstraint (Constraint *joint)
	Add a constraint to keep track of. Called by Constraint.
void	RemoveConstraint (Constraint *joint)
	Remove a constraint. Called by Constraint.
void	AddDelayedWorldTransform (const DelayedWorldTransform &transform)
	Add a delayed world transform assignment. Called by RigidBody.
void	DrawDebugGeometry (bool depthTest)
	Add debug geometry to the debug renderer.
void	SetDebugRenderer (DebugRenderer *debug)
	Set debug renderer to use. Called both by PhysicsWorld itself and physics components.
void	SetDebugDepthTest (bool enable)
	Set debug geometry depth test mode. Called both by PhysicsWorld itself and physics components.
btDiscreteDynamicsWorld *	GetWorld ()
	Return the Bullet physics world.
void	CleanupGeometryCache ()
	Clean up the geometry cache.
HashMap< Pair< Model *, unsigned >, SharedPtr < CollisionGeometryData > > &	GetTriMeshCache ()
	Return trimesh collision geometry cache.
HashMap< Pair< Model *, unsigned >, SharedPtr < CollisionGeometryData > > &	GetConvexCache ()
	Return convex collision geometry cache.
void	SetApplyingTransforms (bool enable)
	Set node dirtying to be disregarded.
bool	IsApplyingTransforms () const
	Return whether node dirtying should be disregarded.
bool	IsSimulating () const
	Return whether is currently inside the Bullet substep loop.
Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.
virtual	~Component ()
	Destruct.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.
virtual bool	Save (Serializer &dest) const
	Save as binary data. Return true if successful.
virtual bool	SaveXML (XMLElement &dest) const
	Save as XML data. Return true if successful.
virtual bool	SaveJSON (JSONValue &dest) const
	Save as JSON data. Return true if successful.
virtual void	MarkNetworkUpdate ()
	Mark for attribute check on the next network update.
virtual void	GetDependencyNodes (PODVector< Node * > &dest)
	Return the depended on nodes to order network updates.
void	SetEnabled (bool enable)
	Set enabled/disabled state.
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned	GetID () const
	Return ID.
Node *	GetNode () const
	Return scene node.
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
	Return whether is enabled.
bool	IsEnabledEffective () const
	Return whether is effectively enabled (node is also enabled.)
Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.
void	GetComponents (PODVector< Component * > &dest, StringHash type) const
	Return components in the same scene node by type.
template<class T >
T *	GetComponent () const
	Template version of returning a component in the same scene node by type.
template<class T >
void	GetComponents (PODVector< T * > &dest) const
	Template version of returning components in the same scene node by type.
void	AddReplicationState (ComponentReplicationState *state)
	Add a replication state that is tracking this component.
void	PrepareNetworkUpdate ()
	Prepare network update by comparing attributes and marking replication states dirty as necessary.
void	CleanupConnection (Connection *connection)
	Clean up all references to a network connection that is about to be removed.
Public Member Functions inherited from Urho3D::Animatable
	Animatable (Context *context)
	Construct.
virtual	~Animatable ()
	Destruct.
virtual bool	LoadXML (const XMLElement &source, bool setInstanceDefault=false)
	Load from XML data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool	LoadJSON (const JSONValue &source, bool setInstanceDefault=false)
	Load from JSON data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
void	SetAnimationEnabled (bool enable)
	Set automatic update of animation, default true.
void	SetAnimationTime (float time)
	Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
void	SetObjectAnimation (ObjectAnimation *objectAnimation)
	Set object animation.
void	SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
	Set attribute animation.
void	SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
	Set attribute animation wrap mode.
void	SetAttributeAnimationSpeed (const String &name, float speed)
	Set attribute animation speed.
void	SetAttributeAnimationTime (const String &name, float time)
	Set attribute animation time position manually. Automatic update should be disabled in this case.
void	RemoveObjectAnimation ()
	Remove object animation. Same as calling SetObjectAnimation with a null pointer.
void	RemoveAttributeAnimation (const String &name)
	Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
bool	GetAnimationEnabled () const
	Return animation enabled.
ObjectAnimation *	GetObjectAnimation () const
	Return object animation.
ValueAnimation *	GetAttributeAnimation (const String &name) const
	Return attribute animation.
WrapMode	GetAttributeAnimationWrapMode (const String &name) const
	Return attribute animation wrap mode.
float	GetAttributeAnimationSpeed (const String &name) const
	Return attribute animation speed.
float	GetAttributeAnimationTime (const String &name) const
	Return attribute animation time position.
void	SetObjectAnimationAttr (const ResourceRef &value)
	Set object animation attribute.
ResourceRef	GetObjectAnimationAttr () const
	Return object animation attribute.
Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.
virtual	~Serializable ()
	Destruct.
virtual void	OnSetAttribute (const AttributeInfo &attr, const Variant &src)
	Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.
virtual void	OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
	Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual const Vector < AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.
virtual const Vector < AttributeInfo > *	GetNetworkAttributes () const
	Return network replication attribute descriptions, or null if none defined.
virtual bool	Load (Deserializer &source, bool setInstanceDefault=false)
	Load from binary data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual bool	SaveDefaultAttributes () const
	Return whether should save default-valued attributes into XML. Default false.
bool	SetAttribute (unsigned index, const Variant &value)
	Set attribute by index. Return true if successfully set.
bool	SetAttribute (const String &name, const Variant &value)
	Set attribute by name. Return true if successfully set.
void	ResetToDefault ()
	Reset all editable attributes to their default values.
void	RemoveInstanceDefault ()
	Remove instance's default values if they are set previously.
void	SetTemporary (bool enable)
	Set temporary flag. Temporary objects will not be saved.
void	SetInterceptNetworkUpdate (const String &attributeName, bool enable)
	Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
void	AllocateNetworkState ()
	Allocate network attribute state.
void	WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
	Write initial delta network update.
void	WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
	Write a delta network update according to dirty attribute bits.
void	WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
	Write a latest data network update.
bool	ReadDeltaUpdate (Deserializer &source)
	Read and apply a network delta update. Return true if attributes were changed.
bool	ReadLatestDataUpdate (Deserializer &source)
	Read and apply a network latest data update. Return true if attributes were changed.
Variant	GetAttribute (unsigned index) const
	Return attribute value by index. Return empty if illegal index.
Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
	Return attribute default value by index. Return empty if illegal index.
Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
	Return number of attributes.
unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.
bool	IsTemporary () const
	Return whether is temporary.
bool	GetInterceptNetworkUpdate (const String &attributeName) const
	Return whether an attribute's network updates are being intercepted.
NetworkState *	GetNetworkState () const
	Return the network attribute state, if allocated.
Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.
virtual	~Object ()
	Destruct. Clean up self from event sender & receiver structures.
virtual StringHash	GetType () const =0
	Return type hash.
virtual const String &	GetTypeName () const =0
	Return type name.
virtual const TypeInfo *	GetTypeInfo () const =0
	Return type info.
virtual void	OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
	Handle event.
bool	IsInstanceOf (StringHash type) const
	Check current instance is type of specified type.
bool	IsInstanceOf (const TypeInfo *typeInfo) const
	Check current instance is type of specified type.
template<typename T >
bool	IsInstanceOf () const
	Check current instance is type of specified class.
void	SubscribeToEvent (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.
void	SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
	Subscribe to a specific sender's event.
void	UnsubscribeFromEvent (StringHash eventType)
	Unsubscribe from an event.
void	UnsubscribeFromEvent (Object *sender, StringHash eventType)
	Unsubscribe from a specific sender's event.
void	UnsubscribeFromEvents (Object *sender)
	Unsubscribe from a specific sender's events.
void	UnsubscribeFromAllEvents ()
	Unsubscribe from all events.
void	UnsubscribeFromAllEventsExcept (const PODVector< StringHash > &exceptions, bool onlyUserData)
	Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void	SendEvent (StringHash eventType)
	Send event to all subscribers.
void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers. More...
VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
	Return global variable based on key.
const VariantMap &	GetGlobalVars () const
	Return all global variables.
void	SetGlobalVar (StringHash key, const Variant &value)
	Set global variable with the respective key and value.
Object *	GetSubsystem (StringHash type) const
	Return subsystem by type.
Object *	GetEventSender () const
	Return active event sender. Null outside event handling.
EventHandler *	GetEventHandler () const
	Return active event handler. Null outside event handling.
bool	HasSubscribedToEvent (StringHash eventType) const
	Return whether has subscribed to an event without specific sender.
bool	HasSubscribedToEvent (Object *sender, StringHash eventType) const
	Return whether has subscribed to a specific sender's event.
bool	HasEventHandlers () const
	Return whether has subscribed to any event.
template<class T >
T *	GetSubsystem () const
	Template version of returning a subsystem.
const String &	GetCategory () const
	Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
Public Member Functions inherited from Urho3D::RefCounted
	RefCounted ()
	Construct. Allocate the reference count structure and set an initial self weak reference.
virtual	~RefCounted ()
	Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
void	AddRef ()
	Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void	ReleaseRef ()
	Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int	Refs () const
	Return reference count.
int	WeakRefs () const
	Return weak reference count.
RefCount *	RefCountPtr ()
	Return pointer to the reference count structure.

Static Public Member Functions
static void	RegisterObject (Context *context)
	Register object factory.

Static Public Attributes
static struct PhysicsWorldConfig	config
	Overrides of the internal configuration.

Protected Member Functions
virtual void	OnSceneSet (Scene *scene)
	Handle scene being assigned.
Protected Member Functions inherited from Urho3D::Component
virtual void	OnAttributeAnimationAdded ()
	Handle attribute animation added.
virtual void	OnAttributeAnimationRemoved ()
	Handle attribute animation removed.
virtual void	OnNodeSet (Node *node)
	Handle scene node being assigned at creation.
virtual void	OnMarkedDirty (Node *node)
	Handle scene node transform dirtied.
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing.
void	SetID (unsigned id)
	Set ID. Called by Scene.
void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.
void	HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
	Handle scene attribute animation update event.
Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
Protected Member Functions inherited from Urho3D::Animatable
virtual Animatable *	FindAttributeAnimationTarget (const String &name, String &outName)
	Find target of an attribute animation from object hierarchy by name.
void	SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
	Set object attribute animation internal.
void	OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
	Handle object animation added.
void	OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
	Handle object animation removed.
void	UpdateAttributeAnimations (float timeStep)
	Update attribute animations.
bool	IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
	Is animated network attribute.
AttributeAnimationInfo *	GetAttributeAnimationInfo (const String &name) const
	Return attribute animation info.
void	HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
	Handle attribute animation added.
void	HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
	Handle attribute animation removed.

Private Member Functions
	URHO3D_OBJECT (PhysicsWorld, Component)
void	HandleSceneSubsystemUpdate (StringHash eventType, VariantMap &eventData)
	Handle the scene subsystem update event, step simulation here.
void	PreStep (float timeStep)
	Trigger update before each physics simulation step.
void	PostStep (float timeStep)
	Trigger update after each physics simulation step.
void	SendCollisionEvents ()
	Send accumulated collision events.

Private Attributes
btCollisionConfiguration *	collisionConfiguration_
	Bullet collision configuration.
btDispatcher *	collisionDispatcher_
	Bullet collision dispatcher.
btBroadphaseInterface *	broadphase_
	Bullet collision broadphase.
btConstraintSolver *	solver_
	Bullet constraint solver.
btDiscreteDynamicsWorld *	world_
	Bullet physics world.
WeakPtr< Scene >	scene_
	Extra weak pointer to scene to allow for cleanup in case the world is destroyed before other components.
PODVector< RigidBody * >	rigidBodies_
	Rigid bodies in the world.
PODVector< CollisionShape * >	collisionShapes_
	Collision shapes in the world.
PODVector< Constraint * >	constraints_
	Constraints in the world.
HashMap< Pair< WeakPtr < RigidBody >, WeakPtr < RigidBody > >, btPersistentManifold * >	currentCollisions_
	Collision pairs on this frame.
HashMap< Pair< WeakPtr < RigidBody >, WeakPtr < RigidBody > >, btPersistentManifold * >	previousCollisions_
	Collision pairs on the previous frame. Used to check if a collision is "new." Manifolds are not guaranteed to exist anymore.
HashMap< RigidBody *, DelayedWorldTransform >	delayedWorldTransforms_
	Delayed (parented) world transform assignments.
HashMap< Pair< Model *, unsigned >, SharedPtr < CollisionGeometryData > >	triMeshCache_
	Cache for trimesh geometry data by model and LOD level.
HashMap< Pair< Model *, unsigned >, SharedPtr < CollisionGeometryData > >	convexCache_
	Cache for convex geometry data by model and LOD level.
VariantMap	physicsCollisionData_
	Preallocated event data map for physics collision events.
VariantMap	nodeCollisionData_
	Preallocated event data map for node collision events.
VectorBuffer	contacts_
	Preallocated buffer for physics collision contact data.
unsigned	fps_
	Simulation substeps per second.
int	maxSubSteps_
	Maximum number of simulation substeps per frame. 0 (default) unlimited, or negative values for adaptive timestep.
float	timeAcc_
	Time accumulator for non-interpolated mode.
float	maxNetworkAngularVelocity_
	Maximum angular velocity for network replication.
bool	updateEnabled_
	Automatic simulation update enabled flag.
bool	interpolation_
	Interpolation flag.
bool	internalEdge_
	Use internal edge utility flag.
bool	applyingTransforms_
	Applying transforms flag.
bool	simulating_
	Simulating flag.
bool	debugDepthTest_
	Debug draw depth test mode.
DebugRenderer *	debugRenderer_
	Debug renderer.
int	debugMode_
	Debug draw flags.

Friends
void	InternalPreTickCallback (btDynamicsWorld *world, btScalar timeStep)
void	InternalTickCallback (btDynamicsWorld *world, btScalar timeStep)

Additional Inherited Members
Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.
unsigned	id_
	Unique ID within the scene.
bool	networkUpdate_
	Network update queued flag.
bool	enabled_
	Enabled flag.

Detailed Description

Physics simulation world component. Should be added only to the root scene node.

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

• Source/Urho3D/Physics/PhysicsWorld.h
• Source/Urho3D/Physics/PhysicsWorld.cpp