Jolt Physics
A multi core friendly Game Physics Engine
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PhysicsSystem.h
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1// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
2// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
3// SPDX-License-Identifier: MIT
4
5#pragma once
6
16
18
19class JobSystem;
20class StateRecorder;
21class TempAllocator;
24class SimShapeFilter;
25
30{
31public:
33
35 PhysicsSystem() : mContactManager(mPhysicsSettings) JPH_IF_ENABLE_ASSERTS(, mConstraintManager(&mBodyManager)) { }
37
46 void Init(uint inMaxBodies, uint inNumBodyMutexes, uint inMaxBodyPairs, uint inMaxContactConstraints, const BroadPhaseLayerInterface &inBroadPhaseLayerInterface, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter);
47
49 void SetBodyActivationListener(BodyActivationListener *inListener) { mBodyManager.SetBodyActivationListener(inListener); }
50 BodyActivationListener * GetBodyActivationListener() const { return mBodyManager.GetBodyActivationListener(); }
51
54 void SetContactListener(ContactListener *inListener) { mContactManager.SetContactListener(inListener); }
55 ContactListener * GetContactListener() const { return mContactManager.GetContactListener(); }
56
58 void SetSoftBodyContactListener(SoftBodyContactListener *inListener) { mSoftBodyContactListener = inListener; }
59 SoftBodyContactListener * GetSoftBodyContactListener() const { return mSoftBodyContactListener; }
60
63 void SetCombineFriction(ContactConstraintManager::CombineFunction inCombineFriction) { mContactManager.SetCombineFriction(inCombineFriction); }
64 ContactConstraintManager::CombineFunction GetCombineFriction() const { return mContactManager.GetCombineFriction(); }
65
68 void SetCombineRestitution(ContactConstraintManager::CombineFunction inCombineRestitution) { mContactManager.SetCombineRestitution(inCombineRestitution); }
69 ContactConstraintManager::CombineFunction GetCombineRestitution() const { return mContactManager.GetCombineRestitution(); }
70
76 void SetSimShapeFilter(const SimShapeFilter *inShapeFilter) { mSimShapeFilter = inShapeFilter; }
77 const SimShapeFilter * GetSimShapeFilter() const { return mSimShapeFilter; }
78
87 using SimCollideBodyVsBody = void (*)(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
88
91 void SetSimCollideBodyVsBody(SimCollideBodyVsBody inBodyVsBody) { mSimCollideBodyVsBody = inBodyVsBody; }
92 SimCollideBodyVsBody GetSimCollideBodyVsBody() const { return mSimCollideBodyVsBody; }
93
95 static void sDefaultSimCollideBodyVsBody(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter);
96
98 void SetPhysicsSettings(const PhysicsSettings &inSettings) { mPhysicsSettings = inSettings; }
99 const PhysicsSettings & GetPhysicsSettings() const { return mPhysicsSettings; }
100
102 const BodyInterface & GetBodyInterface() const { return mBodyInterfaceLocking; }
103 BodyInterface & GetBodyInterface() { return mBodyInterfaceLocking; }
104 const BodyInterface & GetBodyInterfaceNoLock() const { return mBodyInterfaceNoLock; }
105 BodyInterface & GetBodyInterfaceNoLock() { return mBodyInterfaceNoLock; }
106
108 const BroadPhaseQuery & GetBroadPhaseQuery() const { return *mBroadPhase; }
109
111 const NarrowPhaseQuery & GetNarrowPhaseQuery() const { return mNarrowPhaseQueryLocking; }
112 const NarrowPhaseQuery & GetNarrowPhaseQueryNoLock() const { return mNarrowPhaseQueryNoLock; }
113
115 void AddConstraint(Constraint *inConstraint) { mConstraintManager.Add(&inConstraint, 1); }
116
118 void RemoveConstraint(Constraint *inConstraint) { mConstraintManager.Remove(&inConstraint, 1); }
119
121 void AddConstraints(Constraint **inConstraints, int inNumber) { mConstraintManager.Add(inConstraints, inNumber); }
122
124 void RemoveConstraints(Constraint **inConstraints, int inNumber) { mConstraintManager.Remove(inConstraints, inNumber); }
125
127 Constraints GetConstraints() const { return mConstraintManager.GetConstraints(); }
128
135 void OptimizeBroadPhase();
136
138 void AddStepListener(PhysicsStepListener *inListener);
139
141 void RemoveStepListener(PhysicsStepListener *inListener);
142
149 EPhysicsUpdateError Update(float inDeltaTime, int inCollisionSteps, TempAllocator *inTempAllocator, JobSystem *inJobSystem);
150
152 void SaveState(StateRecorder &inStream, EStateRecorderState inState = EStateRecorderState::All, const StateRecorderFilter *inFilter = nullptr) const;
153
155 bool RestoreState(StateRecorder &inStream, const StateRecorderFilter *inFilter = nullptr);
156
158 void SaveBodyState(const Body &inBody, StateRecorder &inStream) const;
159
161 void RestoreBodyState(Body &ioBody, StateRecorder &inStream);
162
163#ifdef JPH_DEBUG_RENDERER
164 // Drawing properties
166
168 void DrawBodies(const BodyManager::DrawSettings &inSettings, DebugRenderer *inRenderer, const BodyDrawFilter *inBodyFilter = nullptr) { mBodyManager.Draw(inSettings, mPhysicsSettings, inRenderer, inBodyFilter); }
169
171 void DrawConstraints(DebugRenderer *inRenderer) { mConstraintManager.DrawConstraints(inRenderer); }
172
174 void DrawConstraintLimits(DebugRenderer *inRenderer) { mConstraintManager.DrawConstraintLimits(inRenderer); }
175
177 void DrawConstraintReferenceFrame(DebugRenderer *inRenderer) { mConstraintManager.DrawConstraintReferenceFrame(inRenderer); }
178#endif // JPH_DEBUG_RENDERER
179
181 void SetGravity(Vec3Arg inGravity) { mGravity = inGravity; }
182 Vec3 GetGravity() const { return mGravity; }
183
185 inline const BodyLockInterfaceNoLock & GetBodyLockInterfaceNoLock() const { return mBodyLockInterfaceNoLock; }
186
188 inline const BodyLockInterfaceLocking & GetBodyLockInterface() const { return mBodyLockInterfaceLocking; }
189
191 DefaultBroadPhaseLayerFilter GetDefaultBroadPhaseLayerFilter(ObjectLayer inLayer) const { return DefaultBroadPhaseLayerFilter(*mObjectVsBroadPhaseLayerFilter, inLayer); }
192
194 DefaultObjectLayerFilter GetDefaultLayerFilter(ObjectLayer inLayer) const { return DefaultObjectLayerFilter(*mObjectLayerPairFilter, inLayer); }
195
197 uint GetNumBodies() const { return mBodyManager.GetNumBodies(); }
198
200 uint32 GetNumActiveBodies(EBodyType inType) const { return mBodyManager.GetNumActiveBodies(inType); }
201
203 uint GetMaxBodies() const { return mBodyManager.GetMaxBodies(); }
204
207
209 BodyStats GetBodyStats() const { return mBodyManager.GetBodyStats(); }
210
213 void GetBodies(BodyIDVector &outBodyIDs) const { return mBodyManager.GetBodyIDs(outBodyIDs); }
214
218 void GetActiveBodies(EBodyType inType, BodyIDVector &outBodyIDs) const { return mBodyManager.GetActiveBodies(inType, outBodyIDs); }
219
222 const BodyID * GetActiveBodiesUnsafe(EBodyType inType) const { return mBodyManager.GetActiveBodiesUnsafe(inType); }
223
229 bool WereBodiesInContact(const BodyID &inBody1ID, const BodyID &inBody2ID) const { return mContactManager.WereBodiesInContact(inBody1ID, inBody2ID); }
230
232 AABox GetBounds() const { return mBroadPhase->GetBounds(); }
233
234#ifdef JPH_TRACK_BROADPHASE_STATS
236 void ReportBroadphaseStats() { mBroadPhase->ReportStats(); }
237#endif // JPH_TRACK_BROADPHASE_STATS
238
239private:
241
242 // Various job entry points
243 void JobStepListeners(PhysicsUpdateContext::Step *ioStep);
244 void JobDetermineActiveConstraints(PhysicsUpdateContext::Step *ioStep) const;
245 void JobApplyGravity(const PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
246 void JobSetupVelocityConstraints(float inDeltaTime, PhysicsUpdateContext::Step *ioStep) const;
247 void JobBuildIslandsFromConstraints(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
248 void JobFindCollisions(PhysicsUpdateContext::Step *ioStep, int inJobIndex);
249 void JobFinalizeIslands(PhysicsUpdateContext *ioContext);
250 void JobBodySetIslandIndex();
251 void JobSolveVelocityConstraints(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
252 void JobPreIntegrateVelocity(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
253 void JobIntegrateVelocity(const PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
254 void JobPostIntegrateVelocity(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep) const;
255 void JobFindCCDContacts(const PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
256 void JobResolveCCDContacts(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
257 void JobContactRemovedCallbacks(const PhysicsUpdateContext::Step *ioStep);
258 void JobSolvePositionConstraints(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
259 void JobSoftBodyPrepare(PhysicsUpdateContext *ioContext, PhysicsUpdateContext::Step *ioStep);
260 void JobSoftBodyCollide(PhysicsUpdateContext *ioContext) const;
261 void JobSoftBodySimulate(PhysicsUpdateContext *ioContext, uint inThreadIndex) const;
262 void JobSoftBodyFinalize(PhysicsUpdateContext *ioContext);
263
265 void TrySpawnJobFindCollisions(PhysicsUpdateContext::Step *ioStep) const;
266
267 using ContactAllocator = ContactConstraintManager::ContactAllocator;
268
270 void ProcessBodyPair(ContactAllocator &ioContactAllocator, const BodyPair &inBodyPair);
271
273 class BodiesToSleep;
274
276 void CheckSleepAndUpdateBounds(uint32 inIslandIndex, const PhysicsUpdateContext *ioContext, const PhysicsUpdateContext::Step *ioStep, BodiesToSleep &ioBodiesToSleep);
277
279 static constexpr int cDetermineActiveConstraintsBatchSize = 64;
280
282 static constexpr int cSetupVelocityConstraintsBatchSize = 256;
283
285 static constexpr int cApplyGravityBatchSize = 64;
286
288 static constexpr int cActiveBodiesBatchSize = 16;
289
291 static constexpr int cIntegrateVelocityBatchSize = 64;
292
294 static constexpr int cNarrowPhaseBatchSize = 16;
295
297 static constexpr int cNumCCDBodiesPerJob = 4;
298
300 const ObjectVsBroadPhaseLayerFilter *mObjectVsBroadPhaseLayerFilter = nullptr;
301
303 const ObjectLayerPairFilter *mObjectLayerPairFilter = nullptr;
304
306 BodyManager mBodyManager;
307
309 BodyLockInterfaceNoLock mBodyLockInterfaceNoLock { mBodyManager };
310 BodyLockInterfaceLocking mBodyLockInterfaceLocking { mBodyManager };
311
313 BodyInterface mBodyInterfaceNoLock;
314 BodyInterface mBodyInterfaceLocking;
315
317 NarrowPhaseQuery mNarrowPhaseQueryNoLock;
318 NarrowPhaseQuery mNarrowPhaseQueryLocking;
319
321 BroadPhase * mBroadPhase = nullptr;
322
324 SoftBodyContactListener * mSoftBodyContactListener = nullptr;
325
327 const SimShapeFilter * mSimShapeFilter = nullptr;
328
330 SimCollideBodyVsBody mSimCollideBodyVsBody = &sDefaultSimCollideBodyVsBody;
331
333 PhysicsSettings mPhysicsSettings;
334
336 ContactConstraintManager mContactManager;
337
339 ConstraintManager mConstraintManager;
340
342 IslandBuilder mIslandBuilder;
343
345 LargeIslandSplitter mLargeIslandSplitter;
346
348 Mutex mStepListenersMutex;
349
351 using StepListeners = Array<PhysicsStepListener *>;
352 StepListeners mStepListeners;
353
355 Vec3 mGravity = Vec3(0, -9.81f, 0);
356
358 float mPreviousStepDeltaTime = 0.0f;
359};
360
EBodyType
Type of body.
Definition BodyType.h:11
#define JPH_EXPORT
Definition Core.h:275
unsigned int uint
Definition Core.h:485
#define JPH_NAMESPACE_END
Definition Core.h:418
std::uint32_t uint32
Definition Core.h:488
#define JPH_NAMESPACE_BEGIN
Definition Core.h:412
EPhysicsUpdateError
Enum used by PhysicsSystem to report error conditions during the PhysicsSystem::Update call....
Definition EPhysicsUpdateError.h:11
#define JPH_IF_ENABLE_ASSERTS(...)
Definition IssueReporting.h:35
#define JPH_OVERRIDE_NEW_DELETE
Macro to override the new and delete functions.
Definition Memory.h:31
uint16 ObjectLayer
Definition ObjectLayer.h:16
EStateRecorderState
A bit field that determines which aspects of the simulation to save.
Definition StateRecorder.h:21
@ All
Save all state.
Axis aligned box.
Definition AABox.h:16
Definition BodyActivationListener.h:14
Class function to filter out bodies for debug rendering, returns true if body should be rendered.
Definition BodyFilter.h:117
Definition Body.h:39
ID of a body. This is a way of reasoning about bodies in a multithreaded simulation while avoiding ra...
Definition BodyID.h:13
Definition BodyInterface.h:35
Implementation that uses the body manager to lock the correct mutex for a body.
Definition BodyLockInterface.h:78
Implementation that performs no locking (assumes the lock has already been taken)
Definition BodyLockInterface.h:58
Class that contains all bodies.
Definition BodyManager.h:44
Used to do coarse collision detection operations to quickly prune out bodies that will not collide.
Definition BroadPhase.h:26
Interface that the application should implement to allow mapping object layers to broadphase layers.
Definition BroadPhaseLayer.h:61
Definition BroadPhaseQuery.h:29
Settings to be passed with a collision query.
Definition CollideShape.h:94
Virtual interface that allows collecting multiple collision results.
Definition CollisionCollector.h:45
Base class for all physics constraints. A constraint removes one or more degrees of freedom for a rig...
Definition Constraint.h:103
A constraint manager manages all constraints of the same type.
Definition ConstraintManager.h:25
Contacts are allocated in a lock free hash map.
Definition ContactConstraintManager.h:80
Definition ContactConstraintManager.h:28
float(*)(const Body &inBody1, const SubShapeID &inSubShapeID1, const Body &inBody2, const SubShapeID &inSubShapeID2) CombineFunction
Definition ContactConstraintManager.h:48
Definition ContactListener.h:69
Definition DebugRenderer.h:47
Default filter class that uses the pair filter in combination with a specified layer to filter layers...
Definition BroadPhaseLayer.h:108
Default filter class that uses the pair filter in combination with a specified layer to filter layers...
Definition ObjectLayer.h:64
Keeps track of connected bodies and builds islands for multithreaded velocity/position update.
Definition IslandBuilder.h:19
Definition JobSystem.h:70
Definition LargeIslandSplitter.h:25
Holds a 4x4 matrix of floats, but supports also operations on the 3x3 upper left part of the matrix.
Definition Mat44.h:13
Definition Mutex.h:122
Definition NarrowPhaseQuery.h:23
Class that makes another class non-copyable. Usage: Inherit from NonCopyable.
Definition NonCopyable.h:11
Filter class to test if two objects can collide based on their object layer. Used while finding colli...
Definition ObjectLayer.h:50
Class to test if an object can collide with a broadphase layer. Used while finding collision pairs.
Definition BroadPhaseLayer.h:80
A listener class that receives a callback before every physics simulation step.
Definition PhysicsStepListener.h:23
Definition PhysicsSystem.h:30
void GetBodies(BodyIDVector &outBodyIDs) const
Definition PhysicsSystem.h:213
void DrawConstraintReferenceFrame(DebugRenderer *inRenderer)
Draw the constraint reference frames only (debugging purposes)
Definition PhysicsSystem.h:177
const SimShapeFilter * GetSimShapeFilter() const
Definition PhysicsSystem.h:77
void(*)(const Body &inBody1, const Body &inBody2, Mat44Arg inCenterOfMassTransform1, Mat44Arg inCenterOfMassTransform2, CollideShapeSettings &ioCollideShapeSettings, CollideShapeCollector &ioCollector, const ShapeFilter &inShapeFilter) SimCollideBodyVsBody
Definition PhysicsSystem.h:87
void SetCombineRestitution(ContactConstraintManager::CombineFunction inCombineRestitution)
Definition PhysicsSystem.h:68
const NarrowPhaseQuery & GetNarrowPhaseQuery() const
Interface that allows fine collision queries against first the broad phase and then the narrow phase.
Definition PhysicsSystem.h:111
void RemoveConstraints(Constraint **inConstraints, int inNumber)
Batch remove constraints.
Definition PhysicsSystem.h:124
uint GetNumBodies() const
Gets the current amount of bodies that are in the body manager.
Definition PhysicsSystem.h:197
uint32 GetNumActiveBodies(EBodyType inType) const
Gets the current amount of active bodies that are in the body manager.
Definition PhysicsSystem.h:200
void SetPhysicsSettings(const PhysicsSettings &inSettings)
Control the main constants of the physics simulation.
Definition PhysicsSystem.h:98
void SetSoftBodyContactListener(SoftBodyContactListener *inListener)
Listener that is notified whenever a contact point between a soft body and another body.
Definition PhysicsSystem.h:58
const BodyInterface & GetBodyInterface() const
Access to the body interface. This interface allows to to create / remove bodies and to change their ...
Definition PhysicsSystem.h:102
const BroadPhaseQuery & GetBroadPhaseQuery() const
Access to the broadphase interface that allows coarse collision queries.
Definition PhysicsSystem.h:108
const BodyLockInterfaceLocking & GetBodyLockInterface() const
Returns a locking interface that locks the body so other threads cannot modify it.
Definition PhysicsSystem.h:188
const NarrowPhaseQuery & GetNarrowPhaseQueryNoLock() const
Version that does not lock the bodies, use with great care!
Definition PhysicsSystem.h:112
void DrawConstraints(DebugRenderer *inRenderer)
Draw the constraints only (debugging purposes)
Definition PhysicsSystem.h:171
const PhysicsSettings & GetPhysicsSettings() const
Definition PhysicsSystem.h:99
const BodyInterface & GetBodyInterfaceNoLock() const
Version that does not lock the bodies, use with great care!
Definition PhysicsSystem.h:104
BodyInterface & GetBodyInterface()
Definition PhysicsSystem.h:103
void DrawConstraintLimits(DebugRenderer *inRenderer)
Draw the constraint limits only (debugging purposes)
Definition PhysicsSystem.h:174
void SetSimCollideBodyVsBody(SimCollideBodyVsBody inBodyVsBody)
Definition PhysicsSystem.h:91
Constraints GetConstraints() const
Get a list of all constraints.
Definition PhysicsSystem.h:127
void AddConstraint(Constraint *inConstraint)
Add constraint to the world.
Definition PhysicsSystem.h:115
Vec3 GetGravity() const
Definition PhysicsSystem.h:182
uint GetMaxBodies() const
Get the maximum amount of bodies that this physics system supports.
Definition PhysicsSystem.h:203
void RemoveConstraint(Constraint *inConstraint)
Remove constraint from the world.
Definition PhysicsSystem.h:118
AABox GetBounds() const
Get the bounding box of all bodies in the physics system.
Definition PhysicsSystem.h:232
void DrawBodies(const BodyManager::DrawSettings &inSettings, DebugRenderer *inRenderer, const BodyDrawFilter *inBodyFilter=nullptr)
Draw the state of the bodies (debugging purposes)
Definition PhysicsSystem.h:168
BodyActivationListener * GetBodyActivationListener() const
Definition PhysicsSystem.h:50
DefaultBroadPhaseLayerFilter GetDefaultBroadPhaseLayerFilter(ObjectLayer inLayer) const
Get an broadphase layer filter that uses the default pair filter and a specified object layer to dete...
Definition PhysicsSystem.h:191
BodyInterface & GetBodyInterfaceNoLock()
Version that does not lock the bodies, use with great care!
Definition PhysicsSystem.h:105
void SetSimShapeFilter(const SimShapeFilter *inShapeFilter)
Definition PhysicsSystem.h:76
void GetActiveBodies(EBodyType inType, BodyIDVector &outBodyIDs) const
Definition PhysicsSystem.h:218
ContactConstraintManager::CombineFunction GetCombineRestitution() const
Definition PhysicsSystem.h:69
JPH_OVERRIDE_NEW_DELETE PhysicsSystem()
Constructor / Destructor.
Definition PhysicsSystem.h:35
static bool sDrawMotionQualityLinearCast
Draw debug info for objects that perform continuous collision detection through the linear cast motio...
Definition PhysicsSystem.h:165
SimCollideBodyVsBody GetSimCollideBodyVsBody() const
Definition PhysicsSystem.h:92
void SetGravity(Vec3Arg inGravity)
Set gravity value.
Definition PhysicsSystem.h:181
const BodyLockInterfaceNoLock & GetBodyLockInterfaceNoLock() const
Returns a locking interface that won't actually lock the body. Use with great care!
Definition PhysicsSystem.h:185
BodyStats GetBodyStats() const
Get stats about the bodies in the body manager (slow, iterates through all bodies)
Definition PhysicsSystem.h:209
void AddConstraints(Constraint **inConstraints, int inNumber)
Batch add constraints.
Definition PhysicsSystem.h:121
bool WereBodiesInContact(const BodyID &inBody1ID, const BodyID &inBody2ID) const
Definition PhysicsSystem.h:229
DefaultObjectLayerFilter GetDefaultLayerFilter(ObjectLayer inLayer) const
Get an object layer filter that uses the default pair filter and a specified layer to determine if la...
Definition PhysicsSystem.h:194
void SetContactListener(ContactListener *inListener)
Definition PhysicsSystem.h:54
SoftBodyContactListener * GetSoftBodyContactListener() const
Definition PhysicsSystem.h:59
ContactConstraintManager::CombineFunction GetCombineFriction() const
Definition PhysicsSystem.h:64
void SetCombineFriction(ContactConstraintManager::CombineFunction inCombineFriction)
Definition PhysicsSystem.h:63
const BodyID * GetActiveBodiesUnsafe(EBodyType inType) const
Definition PhysicsSystem.h:222
void SetBodyActivationListener(BodyActivationListener *inListener)
Listener that is notified whenever a body is activated/deactivated.
Definition PhysicsSystem.h:49
ContactListener * GetContactListener() const
Definition PhysicsSystem.h:55
Information used during the Update call.
Definition PhysicsUpdateContext.h:24
Filter class.
Definition ShapeFilter.h:17
Filter class used during the simulation (PhysicsSystem::Update) to filter out collisions at shape lev...
Definition SimShapeFilter.h:17
Definition SoftBodyContactListener.h:33
User callbacks that allow determining which parts of the simulation should be saved by a StateRecorde...
Definition StateRecorder.h:79
Definition StateRecorder.h:110
Definition TempAllocator.h:16
Definition Vec3.h:17
Helper struct that counts the number of bodies of each type.
Definition BodyManager.h:62
Draw settings.
Definition BodyManager.h:231
Structure that holds a body pair.
Definition BodyPair.h:14
Definition PhysicsSettings.h:28
Contains the information needed to cast a body through the scene to do continuous collision detection...
Definition PhysicsUpdateContext.h:97
Structure that contains data needed for each collision step.
Definition PhysicsUpdateContext.h:52