Urho3D
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Urho3D::PhysicsWorld Class Reference

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

#include <PhysicsWorld.h>

Inheritance diagram for Urho3D::PhysicsWorld:
Urho3D::Component Urho3D::Serializable Urho3D::Object Urho3D::RefCounted

List of all members.

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 steps per second.
void SetGravity (Vector3 gravity)
 Set gravity.
void SetInterpolation (bool enable)
 Set whether to interpolate between simulation steps.
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 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 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 that have been in collision with a specific body on the last simulation step.
Vector3 GetGravity () const
 Return gravity.
bool GetInterpolation () const
 Return whether interpolation between simulation steps 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< String, SharedPtr
< CollisionGeometryData > > & 
GetGeometryCache ()
 Return the collision geometry cache.
void SetApplyingTransforms (bool enable)
 Set node dirtying to be disregarded.
bool IsApplyingTransforms () const
 Return whether node dirtying should be disregarded.
- Public Member Functions inherited from Urho3D::Component
 Component (Context *context)
 Construct.
virtual ~Component ()
 Destruct.
virtual void OnSetAttribute (const AttributeInfo &attr, const Variant &src)
 Handle attribute write access.
virtual bool Save (Serializer &dest)
 Save as binary data. Return true if successful.
virtual bool SaveXML (XMLElement &dest)
 Save as XML data. Return true if successful.
virtual void GetDependencyNodes (PODVector< Node * > &dest)
 Return the depended on nodes to order network updates.
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned GetID () const
 Return ID.
NodeGetNode () const
 Return scene node.
SceneGetScene () const
 Return the scene the node belongs to.
void GetComponents (PODVector< Component * > &dest, ShortStringHash type) const
 Return components in the same scene node by type.
ComponentGetComponent (ShortStringHash type) const
 Return component in the same scene node by type. If there are several, returns the first.
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.
void MarkNetworkUpdate ()
 Mark for attribute check on the next network update.
- Public Member Functions inherited from Urho3D::Serializable
 Serializable (Context *context)
 Construct.
virtual ~Serializable ()
 Destruct.
virtual void OnGetAttribute (const AttributeInfo &attr, Variant &dest)
 Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual bool Load (Deserializer &source)
 Load from binary data. Return true if successful.
virtual bool LoadXML (const XMLElement &source)
 Load from XML data. Return true if successful.
virtual void ApplyAttributes ()
 Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
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 AllocateNetworkState ()
 Allocate network attribute state.
void WriteInitialDeltaUpdate (Serializer &dest)
 Write initial delta network update.
void WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits)
 Write a delta network update according to dirty attribute bits.
void WriteLatestDataUpdate (Serializer &dest)
 Write a latest data network update.
void ReadDeltaUpdate (Deserializer &source)
 Read and apply a network delta update.
void ReadLatestDataUpdate (Deserializer &source)
 Read and apply a network latest data update.
Variant GetAttribute (unsigned index)
 Return attribute value by index. Return empty if illegal index.
Variant GetAttribute (const String &name)
 Return attribute value by name. Return empty if not found.
unsigned GetNumAttributes () const
 Return number of attributes.
unsigned GetNumNetworkAttributes () const
 Return number of network replication attributes.
const Vector< AttributeInfo > * GetAttributes () const
 Return attribute descriptions, or null if none defined.
const Vector< AttributeInfo > * GetNetworkAttributes () const
 Return network replication attribute descriptions, or null if none defined.
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
 Construct.
virtual ~Object ()
 Destruct. Clean up self from event sender & receiver structures.
virtual ShortStringHash GetType () const =0
 Return type hash.
virtual const StringGetTypeName () const =0
 Return type name.
virtual void OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
 Handle event.
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.
ContextGetContext () const
 Return execution context.
ObjectGetSubsystem (ShortStringHash type) const
 Return subsystem by type.
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
EventHandlerGetEventHandler () 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.
template<class T >
T * GetSubsystem () const
 Template version of returning a subsystem.
- 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.
RefCountRefCountPtr ()
 Return pointer to the reference count structure.

Static Public Member Functions

static void RegisterObject (Context *context)
 Register object factory.

Protected Member Functions

virtual void OnNodeSet (Node *node)
 Handle node being assigned.
- Protected Member Functions inherited from Urho3D::Component
virtual void OnMarkedDirty (Node *node)
 Handle scene node transform dirtied.
void SetID (unsigned id)
 Set ID. Called by Scene.
void SetNode (Node *node)
 Set scene node. Called by Node when creating the component.

Private Member Functions

 OBJECT (PhysicsWorld)
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 ecah 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< Scenescene_
 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.
HashSet< Pair< RigidBody
*, RigidBody * > > 
currentCollisions_
 Collision pairs on this frame.
HashSet< Pair< RigidBody
*, RigidBody * > > 
previousCollisions_
 Collision pairs on the previous frame. Used to check if a collision is "new.".
HashMap< RigidBody
*, DelayedWorldTransform
delayedWorldTransforms_
 Delayed (parented) world transform assignments.
HashMap< String, SharedPtr
< CollisionGeometryData > > 
geometryCache_
 Cache for collision geometry data.
unsigned fps_
 Simulation steps per second.
float timeAcc_
 Time accumulator for non-interpolated mode.
float maxNetworkAngularVelocity_
 Maximum angular velocity for network replication.
bool interpolation_
 Interpolation flag.
bool applyingTransforms_
 Applying transforms flag.
DebugRendererdebugRenderer_
 Debug renderer.
int debugMode_
 Debug draw flags.
bool debugDepthTest_
 Debug draw depth test mode.

Friends

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

Additional Inherited Members

- Protected Attributes inherited from Urho3D::Component
Nodenode_
 Scene node.
unsigned id_
 Unique ID within the scene.
bool networkUpdate_
 Network update queued flag.
- Protected Attributes inherited from Urho3D::Serializable
NetworkStatenetworkState_
 Network attribute state.
- Protected Attributes inherited from Urho3D::Object
Contextcontext_
 Execution context.

Detailed Description

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


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