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:

Public Member Functions
	PhysicsWorld (Context *context)
	Construct.
	~PhysicsWorld () override
	Destruct.
bool	isVisible (const btVector3 &aabbMin, const btVector3 &aabbMax) override
	Check if an AABB is visible for debug drawing.
void	drawLine (const btVector3 &from, const btVector3 &to, const btVector3 &color) override
	Draw a physics debug line.
void	reportErrorWarning (const char *warningString) override
	Log warning from the physics engine.
void	drawContactPoint (const btVector3 &pointOnB, const btVector3 &normalOnB, btScalar distance, int lifeTime, const btVector3 &color) override
	Draw a physics debug contact point. Not implemented.
void	draw3dText (const btVector3 &location, const char *textString) override
	Draw physics debug 3D text. Not implemented.
void	setDebugMode (int debugMode) override
	Set debug draw flags.
int	getDebugMode () const override
	Return debug draw flags.
void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
	Visualize the component as debug geometry.
void	Update (float timeStep)
	Step the simulation forward.
void	CustomUpdate (unsigned numSteps, float fixedTimeStep, float overtime, ea::optional< SynchronizedPhysicsStep > sync)
	Custom simulation with explicit steps and extrapolation/interpolation time.
void	UpdateCollisions ()
	Refresh collisions only without updating dynamics.
void	SetFps (int fps)
void	SetGravity (const Vector3 &gravity)
void	SetMaxSubSteps (int num)
void	SetNumIterations (int num)
void	SetUpdateEnabled (bool enable)
void	SetInterpolation (bool enable)
void	SetInternalEdge (bool enable)
void	SetSplitImpulse (bool enable)
void	SetMaxNetworkAngularVelocity (float velocity)
	Set maximum angular velocity for network replication.
void	Raycast (ea::vector< 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, float overlapDistance=0.1f)
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 (ea::vector< RigidBody * > &result, const Sphere &sphere, unsigned collisionMask=M_MAX_UNSIGNED)
	Return rigid bodies by a sphere query.
void	GetRigidBodies (ea::vector< RigidBody * > &result, const BoundingBox &box, unsigned collisionMask=M_MAX_UNSIGNED)
	Return rigid bodies by a box query.
void	GetRigidBodies (ea::vector< 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 (ea::vector< 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
int	GetMaxSubSteps () const
int	GetNumIterations () const
bool	IsUpdateEnabled () const
bool	GetInterpolation () const
bool	GetInternalEdge () const
bool	GetSplitImpulse () const
int	GetFps () const
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 *constraint)
	Add a constraint to keep track of. Called by Constraint.
void	RemoveConstraint (Constraint *constraint)
	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 () const
	Return the Bullet physics world.
void	CleanupGeometryCache ()
	Clean up the geometry cache.
CollisionGeometryDataCache &	GetTriMeshCache ()
	Return trimesh collision geometry cache.
CollisionGeometryDataCache &	GetConvexCache ()
	Return convex collision geometry cache.
CollisionGeometryDataCache &	GetGImpactTrimeshCache ()
	Return GImpact trimesh 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.
	~Component () override
	Destruct.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.
AttributeScopeHint	GetEffectiveScopeHint () const
bool	Save (Serializer &dest) const override
	Save as binary data. Return true if successful.
bool	SaveXML (XMLElement &dest) const override
	Save as XML data. Return true if successful.
bool	SaveJSON (JSONValue &dest) const override
	Save as JSON data. Return true if successful.
virtual void	GetDependencyNodes (ea::vector< Node * > &dest)
	Return the depended on nodes to order network updates.
virtual bool	HasAuxiliaryData () const
virtual void	SerializeAuxiliaryData (Archive &archive)
	Serialize auxiliary data from/to the current block of the archive. May throw ArchiveException.
void	SetEnabled (bool enable)
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned	GetID () const
Node *	GetNode () const
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
bool	IsEnabledEffective () const
ea::string	GetFullNameDebug () const
	Return full component name for debugging. Unique for each component in the scene. Slow!
Component *	GetComponent (StringHash 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.
unsigned	GetIndexInParent () const
	Return index of this component in the node.
Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.
	~Serializable () override
	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 ObjectReflection *	GetReflection () const
	Return reflection used for serialization.
virtual const ea::vector< AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.
void	SerializeInBlock (Archive &archive) override
	Serialize content from/to archive. May throw ArchiveException.
void	SerializeInBlock (Archive &archive, bool serializeTemporary)
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 bool	LoadJSON (const JSONValue &source)
	Load from JSON data. Return true if successful.
virtual bool	Load (const ea::string &resourceName)
	Load from binary resource.
virtual bool	LoadXML (const ea::string &resourceName)
	Load from XML resource.
virtual bool	LoadJSON (const ea::string &resourceName)
	Load from JSON resource.
virtual bool	LoadFile (const ea::string &resourceName)
	Load from resource of automatically detected type.
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual bool	SaveDefaultAttributes (const AttributeInfo &attr) const
	Return whether should save default-valued attributes into XML. Default false.
bool	SetAttribute (unsigned index, const Variant &value)
bool	SetAttribute (const ea::string &name, const Variant &value)
	Set attribute by name. Return true if successfully set.
void	SetInstanceDefault (bool enable)
	(Internal use) Set instance-level default flag.
void	SetInstanceDefault (const ea::string &name, const Variant &defaultValue)
	(Internal use) Set instance-level default value. Allocate the internal data structure as necessary.
virtual Variant	GetInstanceDefault (const ea::string &name) const
	(Internal use) Get instance-level default value.
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)
Variant	GetAttribute (unsigned index) const
Variant	GetAttribute (const ea::string &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
Variant	GetAttributeDefault (const ea::string &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
void	CopyAttributes (const Serializable *source, bool resetToDefault=true)
	Copy all attributes from another serializable.
bool	IsTemporary () const
Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.
	~Object () override
	Destruct. Clean up self from event sender & receiver structures.
virtual StringHash	GetType () const =0
virtual const ea::string &	GetTypeName () const =0
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.
template<typename T >
T *	Cast ()
	Cast the object to specified most derived class.
template<typename T >
const T *	Cast () const
	Cast the object to specified most derived class.
void	SubscribeToEventManual (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.
void	SubscribeToEventManual (Object *sender, StringHash eventType, EventHandler *handler)
	Subscribe to a specific sender's event.
template<class T >
void	SubscribeToEvent (StringHash eventType, T handler)
	Subscribe to an event that can be sent by any sender.
template<class T >
void	SubscribeToEvent (Object *sender, StringHash eventType, T 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 ea::vector< StringHash > &exceptions)
	Unsubscribe from all events except those listed.
void	UnsubscribeFromAllEventsExcept (const ea::vector< Object * > &exceptions)
	Unsubscribe from all events except those with listed senders.
void	SendEvent (StringHash eventType)
	Send event to all subscribers.
void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers.
VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
template<typename... Args>
void	SendEvent (StringHash eventType, const Args &... args)
	Send event with variadic parameter pairs to all subscribers. The parameters are (paramID, paramValue) pairs.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
const VariantMap &	GetGlobalVars () const
void	SetGlobalVar (StringHash key, const Variant &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 ea::string &	GetCategory () const
void	SendEvent (StringHash eventType, const VariantMap &eventData)
	Send event with parameters to all subscribers.
void	SetBlockEvents (bool block)
	Block object from sending and receiving events.
bool	GetBlockEvents () const
	Return sending and receiving events blocking status.
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.
	RefCounted (const RefCounted &rhs)=delete
	Prevent copy construction.
RefCounted &	operator= (const RefCounted &rhs)=delete
	Prevent assignment.
int	AddRef ()
int	ReleaseRef ()
int	Refs () const
int	WeakRefs () const
RefCount *	RefCountPtr () const
	Return pointer to the reference count structure.
bool	HasScriptObject () const
	Return true if script runtime object wrapping this native object exists.
bool	IsScriptStrongRef () const
	Return true if script reference is strong.

Static Public Member Functions
static void	RegisterObject (Context *context)
Static Public Member Functions inherited from Urho3D::Object
static const TypeInfo *	GetTypeInfoStatic ()
	Return type info static.

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

Protected Member Functions
void	OnSceneSet (Scene *scene) override
	Handle scene being assigned.
Protected Member Functions inherited from Urho3D::Component
virtual void	OnNodeSet (Node *previousNode, Node *currentNode)
	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)
void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.
Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
void	DoAutoRemove (AutoRemoveMode mode)
	Perform autoremove. Called by subclasses. Caller should keep a weak pointer to itself to check whether was actually removed, and return immediately without further member operations in that case.

Private Member Functions
	URHO3D_OBJECT (PhysicsWorld, Component)
void	HandleSceneSubsystemUpdate (StringHash eventType, VariantMap &eventData)
	Handle the scene subsystem update event, step simulation here.
void	PreUpdate (float timeStep)
	Trigger before physics update, before any of simulation steps.
void	PostUpdate (float timeStep, float overtime)
	Trigger after physics update, after all of simulation steps.
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.
void	ApplyDelayedWorldTransforms ()

Private Attributes
btCollisionConfiguration *	collisionConfiguration_ {}
	Bullet collision configuration.
ea::unique_ptr< btDispatcher >	collisionDispatcher_
	Bullet collision dispatcher.
ea::unique_ptr< btBroadphaseInterface >	broadphase_
	Bullet collision broadphase.
ea::unique_ptr< btConstraintSolver >	solver_
	Bullet constraint solver.
ea::unique_ptr< btCustomDiscreteDynamicsWorld >	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.
ea::vector< RigidBody * >	rigidBodies_
	Rigid bodies in the world.
ea::vector< CollisionShape * >	collisionShapes_
	Collision shapes in the world.
ea::vector< Constraint * >	constraints_
	Constraints in the world.
ea::unordered_map< ea::pair< WeakPtr< RigidBody >, WeakPtr< RigidBody > >, ManifoldPair >	currentCollisions_
	Collision pairs on this frame.
ea::unordered_map< ea::pair< WeakPtr< RigidBody >, WeakPtr< RigidBody > >, ManifoldPair >	previousCollisions_
	Collision pairs on the previous frame. Used to check if a collision is "new." Manifolds are not guaranteed to exist anymore.
ea::unordered_map< RigidBody *, DelayedWorldTransform >	delayedWorldTransforms_
	Delayed (parented) world transform assignments.
CollisionGeometryDataCache	triMeshCache_
	Cache for trimesh geometry data by model and LOD level.
CollisionGeometryDataCache	convexCache_
	Cache for convex geometry data by model and LOD level.
CollisionGeometryDataCache	gimpactTrimeshCache_
	Cache for GImpact trimesh 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_ {DEFAULT_FPS}
	Simulation substeps per second.
int	maxSubSteps_ {}
	Maximum number of simulation substeps per frame. 0 (default) unlimited, or negative values for adaptive timestep.
ea::optional< SynchronizedPhysicsStep >	synchronizedStep_
	Indicates which physical step is synchronized with network frame.
float	timeAcc_ {}
	Time accumulator for non-interpolated mode.
float	maxNetworkAngularVelocity_ {DEFAULT_MAX_NETWORK_ANGULAR_VELOCITY}
	Maximum angular velocity for network replication.
bool	updateEnabled_ {true}
	Automatic simulation update enabled flag.
bool	interpolation_ {true}
	Interpolation flag.
bool	internalEdge_ {true}
	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.
btGhostPairCallback *	ghostPairCallback_ {nullptr}
	GhostPair Callback.

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.
Protected Attributes inherited from Urho3D::Serializable
ea::unique_ptr< VariantMap >	instanceDefaultValues_
	Attribute default value at each instance level.
bool	setInstanceDefault_
	When true, store the attribute value as instance's default value (internal use only).
bool	temporary_
	Temporary flag.
Protected Attributes inherited from Urho3D::Object
WeakPtr< Context >	context_
	Execution context.

Detailed Description

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

Member Function Documentation

GetFps()

int Urho3D::PhysicsWorld::GetFps ( ) const

inline

Return simulation steps per second.

GetGravity()

Vector3 Urho3D::PhysicsWorld::GetGravity

(

)

const

Return gravity.

GetInternalEdge()

bool Urho3D::PhysicsWorld::GetInternalEdge ( ) const

inline

Return whether Bullet's internal edge utility for trimesh collisions is enabled.

GetInterpolation()

bool Urho3D::PhysicsWorld::GetInterpolation ( ) const

inline

Return whether interpolation between simulation steps is enabled.

GetMaxSubSteps()

int Urho3D::PhysicsWorld::GetMaxSubSteps ( ) const

inline

Return maximum number of physics substeps per frame.

GetNumIterations()

int Urho3D::PhysicsWorld::GetNumIterations

(

)

const

Return number of constraint solver iterations.

GetSplitImpulse()

bool Urho3D::PhysicsWorld::GetSplitImpulse

(

)

const

Return whether split impulse collision mode is enabled.

IsUpdateEnabled()

bool Urho3D::PhysicsWorld::IsUpdateEnabled ( ) const

inline

Return whether physics world will automatically simulate during scene update.

RaycastSingleSegmented()

void Urho3D::PhysicsWorld::RaycastSingleSegmented	(	PhysicsRaycastResult &	result,
		const Ray &	ray,
		float	maxDistance,
		float	segmentDistance,
		unsigned	collisionMask = M_MAX_UNSIGNED,
		float	overlapDistance = 0.1f
	)

Perform a physics world segmented raycast and return the closest hit. Useful for big scenes with many bodies. overlapDistance is used to make sure there are no gap between segments, and must be smaller than segmentDistance.

RegisterObject()

void Urho3D::PhysicsWorld::RegisterObject ( Context *  context )

static

Register object factory.

SetFps()

void Urho3D::PhysicsWorld::SetFps

(

int

fps

)

Set simulation substeps per second.

SetGravity()

void Urho3D::PhysicsWorld::SetGravity

(

const Vector3 &

gravity

)

Set gravity.

SetInternalEdge()

void Urho3D::PhysicsWorld::SetInternalEdge

(

bool

enable

)

Set whether to use Bullet's internal edge utility for trimesh collisions. Disabled by default.

SetInterpolation()

void Urho3D::PhysicsWorld::SetInterpolation

(

bool

enable

)

Set whether to interpolate between simulation steps.

SetMaxSubSteps()

void Urho3D::PhysicsWorld::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.

SetNumIterations()

void Urho3D::PhysicsWorld::SetNumIterations

(

int

num

)

Set number of constraint solver iterations.

SetSplitImpulse()

void Urho3D::PhysicsWorld::SetSplitImpulse

(

bool

enable

)

Set split impulse collision mode. This is more accurate, but slower. Disabled by default.

SetUpdateEnabled()

void Urho3D::PhysicsWorld::SetUpdateEnabled

(

bool

enable

)

Enable or disable automatic physics simulation during scene update. Enabled by default.

---

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

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