35#ifndef JPH_PLATFORM_DOXYGEN
58 inline bool IsActive()
const {
return mMotionProperties !=
nullptr && mMotionProperties->mIndexInActiveBodies != cInactiveIndex; }
77 inline void SetIsSensor(
bool inIsSensor) {
JPH_ASSERT(IsRigidBody());
if (inIsSensor) mFlags.fetch_or(
uint8(EFlags::IsSensor), memory_order_relaxed);
else mFlags.fetch_and(
uint8(~
uint8(EFlags::IsSensor)), memory_order_relaxed); }
80 inline bool IsSensor()
const {
return (mFlags.load(memory_order_relaxed) &
uint8(EFlags::IsSensor)) != 0; }
85 inline void SetCollideKinematicVsNonDynamic(
bool inCollide) {
JPH_ASSERT(IsRigidBody());
if (inCollide) mFlags.fetch_or(
uint8(EFlags::CollideKinematicVsNonDynamic), memory_order_relaxed);
else mFlags.fetch_and(
uint8(~
uint8(EFlags::CollideKinematicVsNonDynamic)), memory_order_relaxed); }
94 inline void SetUseManifoldReduction(
bool inUseReduction) {
JPH_ASSERT(IsRigidBody());
if (inUseReduction) mFlags.fetch_or(
uint8(EFlags::UseManifoldReduction), memory_order_relaxed);
else mFlags.fetch_and(
uint8(~
uint8(EFlags::UseManifoldReduction)), memory_order_relaxed); }
103 inline void SetApplyGyroscopicForce(
bool inApply) {
JPH_ASSERT(IsRigidBody());
if (inApply) mFlags.fetch_or(
uint8(EFlags::ApplyGyroscopicForce), memory_order_relaxed);
else mFlags.fetch_and(
uint8(~
uint8(EFlags::ApplyGyroscopicForce)), memory_order_relaxed); }
136 void SetAllowSleeping(
bool inAllow);
139 inline void ResetSleepTimer();
205 inline Mat44 GetInverseInertia()
const;
209 inline void AddImpulse(
Vec3Arg inImpulse);
217 inline void AddAngularImpulse(
Vec3Arg inAngularImpulse);
221 void MoveKinematic(
RVec3Arg inTargetPosition,
QuatArg inTargetRotation,
float inDeltaTime);
229 void GetSubmergedVolume(
RVec3Arg inSurfacePosition,
Vec3Arg inSurfaceNormal,
float &outTotalVolume,
float &outSubmergedVolume,
Vec3 &outRelativeCenterOfBuoyancy)
const;
242 bool ApplyBuoyancyImpulse(
RVec3Arg inSurfacePosition,
Vec3Arg inSurfaceNormal,
float inBuoyancy,
float inLinearDrag,
float inAngularDrag,
Vec3Arg inFluidVelocity,
Vec3Arg inGravity,
float inDeltaTime);
256 bool ApplyBuoyancyImpulse(
float inTotalVolume,
float inSubmergedVolume,
Vec3Arg inRelativeCenterOfBuoyancy,
float inBuoyancy,
float inLinearDrag,
float inAngularDrag,
Vec3Arg inFluidVelocity,
Vec3Arg inGravity,
float inDeltaTime);
259 inline bool IsInBroadPhase()
const {
return (mFlags.load(memory_order_relaxed) &
uint8(EFlags::IsInBroadPhase)) != 0; }
274 inline RMat44 GetWorldTransform()
const;
280 inline RMat44 GetCenterOfMassTransform()
const;
283 inline RMat44 GetInverseCenterOfMassTransform()
const;
320 static inline bool sFindCollidingPairsCanCollide(
const Body &inBody1,
const Body &inBody2);
327 inline void AddRotationStep(
Vec3Arg inAngularVelocityTimesDeltaTime);
328 inline void SubRotationStep(
Vec3Arg inAngularVelocityTimesDeltaTime);
331 inline void SetInBroadPhaseInternal(
bool inInBroadPhase) {
if (inInBroadPhase) mFlags.fetch_or(
uint8(EFlags::IsInBroadPhase), memory_order_relaxed);
else mFlags.fetch_and(
uint8(~
uint8(EFlags::IsInBroadPhase)), memory_order_relaxed); }
340 void CalculateWorldSpaceBoundsInternal();
343 void SetPositionAndRotationInternal(
RVec3Arg inPosition,
QuatArg inRotation,
bool inResetSleepTimer =
true);
348 void UpdateCenterOfMassInternal(
Vec3Arg inPreviousCenterOfMass,
bool inUpdateMassProperties);
353 void SetShapeInternal(
const Shape *inShape,
bool inUpdateMassProperties);
364 ECanSleep UpdateSleepStateInternal(
float inDeltaTime,
float inMaxMovement,
float inTimeBeforeSleep);
387 inline void GetSleepTestPoints(
RVec3 *outPoints)
const;
389 enum class EFlags :
uint8
392 CollideKinematicVsNonDynamic = 1 << 1,
394 InvalidateContactCache = 1 << 3,
395 UseManifoldReduction = 1 << 4,
396 ApplyGyroscopicForce = 1 << 5,
397 EnhancedInternalEdgeRemoval = 1 << 6,
423 atomic<uint8> mFlags = 0;
EBodyType
Type of body.
Definition BodyType.h:11
@ RigidBody
Rigid body consisting of a rigid shape.
@ SoftBody
Soft body consisting of a deformable shape.
std::uint8_t uint8
Definition Core.h:486
std::uint64_t uint64
Definition Core.h:489
#define JPH_TSAN_NO_SANITIZE
Definition Core.h:629
#define JPH_NAMESPACE_END
Definition Core.h:418
std::uint32_t uint32
Definition Core.h:488
#define JPH_EXPORT_GCC_BUG_WORKAROUND
Definition Core.h:279
#define JPH_IF_SINGLE_PRECISION_ELSE(s, d)
Definition Core.h:563
#define JPH_NAMESPACE_BEGIN
Definition Core.h:412
#define JPH_IF_ENABLE_ASSERTS(...)
Definition IssueReporting.h:35
#define JPH_ASSERT(...)
Definition IssueReporting.h:33
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition Memory.h:31
ECanSleep
Enum that determines if an object can go to sleep.
Definition MotionProperties.h:22
EMotionType
Motion type of a physics body.
Definition MotionType.h:11
@ Kinematic
Movable using velocities only, does not respond to forces.
@ Dynamic
Responds to forces as a normal physics object.
uint16 ObjectLayer
Definition ObjectLayer.h:16
#define JPH_RVECTOR_ALIGNMENT
Definition Real.h:34
Axis aligned box.
Definition AABox.h:16
Settings for constructing a rigid body.
Definition BodyCreationSettings.h:31
Vec3 GetPointVelocity(RVec3Arg inPoint) const
Velocity of point inPoint (in world space, e.g. on the surface of the body) of the body (unit: m/s)
Definition Body.h:175
bool IsInBroadPhase() const
Check if this body has been added to the physics system.
Definition Body.h:259
const MotionProperties * GetMotionProperties() const
Access to the motion properties.
Definition Body.h:289
RVec3 GetCenterOfMassPosition() const
Gets the world space position of this body's center of mass.
Definition Body.h:277
EMotionType GetMotionType() const
Get the bodies motion type.
Definition Body.h:118
void SetAngularVelocity(Vec3Arg inAngularVelocity)
Definition Body.h:165
void SetCollisionGroup(const CollisionGroup &inGroup)
Definition Body.h:132
Vec3 GetPointVelocityCOM(Vec3Arg inPointRelativeToCOM) const
Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (uni...
Definition Body.h:172
bool IsDynamic() const
Check if this body is dynamic, which means that it moves and forces can act on it.
Definition Body.h:67
bool GetAllowSleeping() const
If this body can go to sleep. Note that disabling sleeping on a sleeping object will not wake it up.
Definition Body.h:135
bool IsSensor() const
Check if this body is a sensor.
Definition Body.h:80
bool GetEnhancedInternalEdgeRemovalWithBody(const Body &inBody2) const
Checks if the combination of this body and inBody2 should use enhanced internal edge removal.
Definition Body.h:115
const AABox & GetWorldSpaceBounds() const
Get world space bounding box.
Definition Body.h:286
void SubPositionStep(Vec3Arg inLinearVelocityTimesDeltaTime)
Definition Body.h:324
void SetUserData(uint64 inUserData)
Definition Body.h:298
bool IsSoftBody() const
Check if this body is a soft body.
Definition Body.h:53
const Shape * GetShape() const
Get the shape of this body.
Definition Body.h:265
bool InvalidateContactCacheInternal()
Invalidate the contact cache (should only be called by the BodyManager), will be reset the next simul...
Definition Body.h:334
uint64 GetUserData() const
Access to the user data, can be used for anything by the application.
Definition Body.h:297
BroadPhaseLayer GetBroadPhaseLayer() const
Get broadphase layer, this determines in which broad phase sub-tree the object is placed.
Definition Body.h:124
float GetRestitution() const
Restitution (dimensionless number, usually between 0 and 1, 0 = completely inelastic collision respon...
Definition Body.h:146
const CollisionGroup & GetCollisionGroup() const
Collision group and sub-group ID, determines which other objects it collides with.
Definition Body.h:130
void SetIsSensor(bool inIsSensor)
Definition Body.h:77
void SetLinearVelocityClamped(Vec3Arg inLinearVelocity)
Definition Body.h:158
JPH_TSAN_NO_SANITIZE uint32 GetIndexInActiveBodiesInternal() const
Access to the index in the BodyManager::mActiveBodies list.
Definition Body.h:361
bool GetUseManifoldReductionWithBody(const Body &inBody2) const
Checks if the combination of this body and inBody2 should use manifold reduction.
Definition Body.h:100
void SetLinearVelocity(Vec3Arg inLinearVelocity)
Definition Body.h:154
Vec3 GetLinearVelocity() const
Get world space linear velocity of the center of mass (unit: m/s)
Definition Body.h:150
ObjectLayer GetObjectLayer() const
Get object layer, this determines which other objects it collides with.
Definition Body.h:127
void SetRestitution(float inRestitution)
Definition Body.h:147
bool IsCollisionCacheInvalid() const
Check if this body has been changed in such a way that the collision cache should be considered inval...
Definition Body.h:262
bool IsRigidBody() const
Check if this body is a rigid body.
Definition Body.h:50
bool IsStatic() const
Check if this body is static (not movable)
Definition Body.h:61
EBodyType GetBodyType() const
Get the type of body (rigid or soft)
Definition Body.h:47
void SetEnhancedInternalEdgeRemoval(bool inApply)
Set to indicate that extra effort should be made to try to remove ghost contacts (collisions with int...
Definition Body.h:109
bool GetCollideKinematicVsNonDynamic() const
Check if kinematic objects can generate contact points against other kinematic or static objects.
Definition Body.h:88
void SetUseManifoldReduction(bool inUseReduction)
Definition Body.h:94
static Body sFixedToWorld
A dummy body that can be used by constraints to attach a constraint to the world instead of another b...
Definition Body.h:313
void SetAngularVelocityClamped(Vec3Arg inAngularVelocity)
Definition Body.h:169
JPH_INLINE void ResetForce()
Definition Body.h:196
Vec3 GetAccumulatedTorque() const
Definition Body.h:193
bool CanBeKinematicOrDynamic() const
Check if a body could be made kinematic or dynamic (if it was created dynamic or with mAllowDynamicOr...
Definition Body.h:70
bool GetEnhancedInternalEdgeRemoval() const
Check if enhanced internal edge removal is turned on.
Definition Body.h:112
JPH_TSAN_NO_SANITIZE bool IsActive() const
If this body is currently actively simulating (true) or sleeping (false)
Definition Body.h:58
void SetInBroadPhaseInternal(bool inInBroadPhase)
Flag if body is in the broadphase (should only be called by the BroadPhase)
Definition Body.h:331
MotionProperties * GetMotionProperties()
Definition Body.h:290
Quat GetRotation() const
World space rotation of the body.
Definition Body.h:271
TransformedShape GetTransformedShape() const
Get the transformed shape of this body, which can be used to do collision detection outside of a body...
Definition Body.h:304
JPH_INLINE void ResetTorque()
Definition Body.h:199
bool IsKinematic() const
Check if this body is kinematic (keyframed), which means that it will move according to its current v...
Definition Body.h:64
float GetFriction() const
Friction (dimensionless number, usually between 0 and 1, 0 = no friction, 1 = friction force equals f...
Definition Body.h:142
const MotionProperties * GetMotionPropertiesUnchecked() const
Access to the motion properties (version that does not check if the object is kinematic or dynamic)
Definition Body.h:293
CollisionGroup & GetCollisionGroup()
Definition Body.h:131
void SetApplyGyroscopicForce(bool inApply)
Set to indicate that the gyroscopic force should be applied to this body (aka Dzhanibekov effect,...
Definition Body.h:103
JPH_OVERRIDE_NEW_DELETE const BodyID & GetID() const
Get the id of this body.
Definition Body.h:44
MotionProperties * GetMotionPropertiesUnchecked()
Definition Body.h:294
Vec3 GetAccumulatedForce() const
Definition Body.h:190
Vec3 GetAngularVelocity() const
Get world space angular velocity of the center of mass (unit: rad/s)
Definition Body.h:161
RVec3 GetPosition() const
World space position of the body.
Definition Body.h:268
void AddForce(Vec3Arg inForce)
Definition Body.h:179
void SetCollideKinematicVsNonDynamic(bool inCollide)
Definition Body.h:85
bool GetUseManifoldReduction() const
Check if this body can use manifold reduction.
Definition Body.h:97
JPH_INLINE void ResetMotion()
Definition Body.h:202
void AddTorque(Vec3Arg inTorque)
Definition Body.h:187
void ValidateContactCacheInternal()
Reset the collision cache invalid flag (should only be called by the BodyManager).
Definition Body.h:337
void SetFriction(float inFriction)
Definition Body.h:143
bool GetApplyGyroscopicForce() const
Check if the gyroscopic force is being applied for this body.
Definition Body.h:106
void AddPositionStep(Vec3Arg inLinearVelocityTimesDeltaTime)
Update position using an Euler step (used during position integrate & constraint solving)
Definition Body.h:323
ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...
Definition BodyID.h:13
Class that contains all bodies.
Definition BodyManager.h:44
Definition BodyManager.cpp:52
Definition BroadPhaseLayer.h:18
Definition CollisionGroup.h:20
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition Mat44.h:13
The Body class only keeps track of state for static bodies, the MotionProperties class keeps the addi...
Definition MotionProperties.h:29
static constexpr uint32 cInactiveIndex
Constant indicating that body is not active.
Definition MotionProperties.h:233
Class that makes another class non-copyable. Usage: Inherit from NonCopyable.
Definition NonCopyable.h:11
Definition Reference.h:163
Base class for all shapes (collision volume of a body). Defines a virtual interface for collision det...
Definition Shape.h:186
Definition SoftBodyCreationSettings.h:18
float mFriction
Friction coefficient when colliding.
Definition SoftBodyCreationSettings.h:65
Quat mRotation
Initial rotation of the soft body.
Definition SoftBodyCreationSettings.h:52
RVec3 mPosition
Initial position of the soft body.
Definition SoftBodyCreationSettings.h:51
float mRestitution
Restitution when colliding.
Definition SoftBodyCreationSettings.h:64
uint64 mUserData
User data value (can be used by application)
Definition SoftBodyCreationSettings.h:55
CollisionGroup mCollisionGroup
The collision group this body belongs to (determines if two objects can collide)
Definition SoftBodyCreationSettings.h:59
ObjectLayer mObjectLayer
The collision layer this body belongs to (determines if two objects can collide)
Definition SoftBodyCreationSettings.h:58
Definition BodyManager.cpp:61
SoftBodyShape mShape
Definition BodyManager.cpp:69
SoftBodyMotionProperties mMotionProperties
Definition BodyManager.cpp:68
Definition StateRecorder.h:110
A sub shape id contains a path to an element (usually a triangle or other primitive type) of a compou...
Definition SubShapeID.h:23
static JPH_INLINE Vec3 sZero()
Vector with all zeros.
Definition Vec3.inl:103
JPH_INLINE bool IsNaN() const
Test if vector contains NaN elements.
Definition Vec3.inl:757
static JPH_INLINE Vec3 sLoadFloat3Unsafe(const Float3 &inV)
Load 3 floats from memory (reads 32 bits extra which it doesn't use)
Definition Vec3.inl:135