#include <PhysicsSystem.h>

Inheritance diagram for PhysicsSystem:

Classes
class	BodiesToSleep

Public Types
using	BodyStats = BodyManager::BodyStats
	Helper struct that counts the number of bodies of each type.

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	PhysicsSystem ()
	Constructor / Destructor.

	~PhysicsSystem ()

void	Init (uint inMaxBodies, uint inNumBodyMutexes, uint inMaxBodyPairs, uint inMaxContactConstraints, const BroadPhaseLayerInterface &inBroadPhaseLayerInterface, const ObjectVsBroadPhaseLayerFilter &inObjectVsBroadPhaseLayerFilter, const ObjectLayerPairFilter &inObjectLayerPairFilter)

void	SetBodyActivationListener (BodyActivationListener *inListener)
	Listener that is notified whenever a body is activated/deactivated.

BodyActivationListener *	GetBodyActivationListener () const

void	SetContactListener (ContactListener *inListener)

ContactListener *	GetContactListener () const

void	SetSoftBodyContactListener (SoftBodyContactListener *inListener)
	Listener that is notified whenever a contact point between a soft body and another body.

SoftBodyContactListener *	GetSoftBodyContactListener () const

void	SetCombineFriction (ContactConstraintManager::CombineFunction inCombineFriction)

ContactConstraintManager::CombineFunction	GetCombineFriction () const

void	SetCombineRestitution (ContactConstraintManager::CombineFunction inCombineRestitution)

ContactConstraintManager::CombineFunction	GetCombineRestitution () const

void	SetSimShapeFilter (const SimShapeFilter *inShapeFilter)

const SimShapeFilter *	GetSimShapeFilter () const

void	SetPhysicsSettings (const PhysicsSettings &inSettings)
	Control the main constants of the physics simulation.

const PhysicsSettings &	GetPhysicsSettings () const

const BodyInterface &	GetBodyInterface () const
	Access to the body interface. This interface allows to to create / remove bodies and to change their properties.

BodyInterface &	GetBodyInterface ()

const BodyInterface &	GetBodyInterfaceNoLock () const
	Version that does not lock the bodies, use with great care!

BodyInterface &	GetBodyInterfaceNoLock ()
	Version that does not lock the bodies, use with great care!

const BroadPhaseQuery &	GetBroadPhaseQuery () const
	Access to the broadphase interface that allows coarse collision queries.

const NarrowPhaseQuery &	GetNarrowPhaseQuery () const
	Interface that allows fine collision queries against first the broad phase and then the narrow phase.

const NarrowPhaseQuery &	GetNarrowPhaseQueryNoLock () const
	Version that does not lock the bodies, use with great care!

void	AddConstraint (Constraint *inConstraint)
	Add constraint to the world.

void	RemoveConstraint (Constraint *inConstraint)
	Remove constraint from the world.

void	AddConstraints (Constraint **inConstraints, int inNumber)
	Batch add constraints.

void	RemoveConstraints (Constraint **inConstraints, int inNumber)
	Batch remove constraints.

Constraints	GetConstraints () const
	Get a list of all constraints.

void	OptimizeBroadPhase ()

void	AddStepListener (PhysicsStepListener *inListener)
	Adds a new step listener.

void	RemoveStepListener (PhysicsStepListener *inListener)
	Removes a step listener.

EPhysicsUpdateError	Update (float inDeltaTime, int inCollisionSteps, TempAllocator inTempAllocator, JobSystem inJobSystem)

void	SaveState (StateRecorder &inStream, EStateRecorderState inState=EStateRecorderState::All, const StateRecorderFilter *inFilter=nullptr) const
	Saving state for replay.

bool	RestoreState (StateRecorder &inStream, const StateRecorderFilter *inFilter=nullptr)
	Restoring state for replay. Returns false if failed.

void	SaveBodyState (const Body &inBody, StateRecorder &inStream) const
	Saving state of a single body.

void	RestoreBodyState (Body &ioBody, StateRecorder &inStream)
	Restoring state of a single body.

void	DrawBodies (const BodyManager::DrawSettings &inSettings, DebugRenderer inRenderer, const BodyDrawFilter inBodyFilter=nullptr)
	Draw the state of the bodies (debugging purposes)

void	DrawConstraints (DebugRenderer *inRenderer)
	Draw the constraints only (debugging purposes)

void	DrawConstraintLimits (DebugRenderer *inRenderer)
	Draw the constraint limits only (debugging purposes)

void	DrawConstraintReferenceFrame (DebugRenderer *inRenderer)
	Draw the constraint reference frames only (debugging purposes)

void	SetGravity (Vec3Arg inGravity)
	Set gravity value.

Vec3	GetGravity () const

const BodyLockInterfaceNoLock &	GetBodyLockInterfaceNoLock () const
	Returns a locking interface that won't actually lock the body. Use with great care!

const BodyLockInterfaceLocking &	GetBodyLockInterface () const
	Returns a locking interface that locks the body so other threads cannot modify it.

DefaultBroadPhaseLayerFilter	GetDefaultBroadPhaseLayerFilter (ObjectLayer inLayer) const
	Get an broadphase layer filter that uses the default pair filter and a specified object layer to determine if broadphase layers collide.

DefaultObjectLayerFilter	GetDefaultLayerFilter (ObjectLayer inLayer) const
	Get an object layer filter that uses the default pair filter and a specified layer to determine if layers collide.

uint	GetNumBodies () const
	Gets the current amount of bodies that are in the body manager.

uint32	GetNumActiveBodies (EBodyType inType) const
	Gets the current amount of active bodies that are in the body manager.

uint	GetMaxBodies () const
	Get the maximum amount of bodies that this physics system supports.

BodyStats	GetBodyStats () const
	Get stats about the bodies in the body manager (slow, iterates through all bodies)

void	GetBodies (BodyIDVector &outBodyIDs) const

void	GetActiveBodies (EBodyType inType, BodyIDVector &outBodyIDs) const

const BodyID *	GetActiveBodiesUnsafe (EBodyType inType) const

bool	WereBodiesInContact (const BodyID &inBody1ID, const BodyID &inBody2ID) const

AABox	GetBounds () const
	Get the bounding box of all bodies in the physics system.

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Static Public Attributes
static bool	sDrawMotionQualityLinearCast = false
	Draw debug info for objects that perform continuous collision detection through the linear cast motion quality.

Detailed Description

The main class for the physics system. It contains all rigid bodies and simulates them.

The main simulation is performed by the Update() call on multiple threads (if the JobSystem is configured to use them). Please refer to the general architecture overview in the Docs folder for more information.

Member Typedef Documentation

◆ BodyStats

using PhysicsSystem::BodyStats = BodyManager::BodyStats

Helper struct that counts the number of bodies of each type.

Constructor & Destructor Documentation

◆ PhysicsSystem()

JPH_OVERRIDE_NEW_DELETE PhysicsSystem::PhysicsSystem ( )

inline

Constructor / Destructor.

◆ ~PhysicsSystem()

PhysicsSystem::~PhysicsSystem ( )

Member Function Documentation

◆ AddConstraint()

void PhysicsSystem::AddConstraint ( Constraint * inConstraint )

inline

Add constraint to the world.

◆ AddConstraints()

void PhysicsSystem::AddConstraints	(	Constraint **	inConstraints,
		int	inNumber
	)

inline

Batch add constraints.

◆ AddStepListener()

void PhysicsSystem::AddStepListener ( PhysicsStepListener * inListener )

Adds a new step listener.

◆ DrawBodies()

void PhysicsSystem::DrawBodies	(	const BodyManager::DrawSettings &	inSettings,
		DebugRenderer *	inRenderer,
		const BodyDrawFilter *	inBodyFilter = `nullptr`
	)

inline

Draw the state of the bodies (debugging purposes)

◆ DrawConstraintLimits()

void PhysicsSystem::DrawConstraintLimits ( DebugRenderer * inRenderer )

inline

Draw the constraint limits only (debugging purposes)

◆ DrawConstraintReferenceFrame()

void PhysicsSystem::DrawConstraintReferenceFrame ( DebugRenderer * inRenderer )

inline

Draw the constraint reference frames only (debugging purposes)

◆ DrawConstraints()

void PhysicsSystem::DrawConstraints ( DebugRenderer * inRenderer )

inline

Draw the constraints only (debugging purposes)

◆ GetActiveBodies()

void PhysicsSystem::GetActiveBodies	(	EBodyType	inType,
		BodyIDVector &	outBodyIDs
	)		const

inline

Get copy of the list of active bodies under protection of a lock.

Parameters

inType	The type of bodies to get
outBodyIDs	On return, this will contain the list of BodyIDs

◆ GetActiveBodiesUnsafe()

const BodyID * PhysicsSystem::GetActiveBodiesUnsafe ( EBodyType inType ) const

inline

Get the list of active bodies, use GetNumActiveBodies() to find out how long the list is. Note: Not thread safe. The active bodies list can change at any moment when other threads are doing work. Use GetActiveBodies() if you need a thread safe version.

◆ GetBodies()

void PhysicsSystem::GetBodies ( BodyIDVector & outBodyIDs ) const

inline

Get copy of the list of all bodies under protection of a lock.

Parameters

outBodyIDs On return, this will contain the list of BodyIDs

◆ GetBodyActivationListener()

BodyActivationListener * PhysicsSystem::GetBodyActivationListener ( ) const

inline

◆ GetBodyInterface() [1/2]

BodyInterface & PhysicsSystem::GetBodyInterface ( )

inline

◆ GetBodyInterface() [2/2]

const BodyInterface & PhysicsSystem::GetBodyInterface ( ) const

inline

Access to the body interface. This interface allows to to create / remove bodies and to change their properties.

◆ GetBodyInterfaceNoLock() [1/2]

BodyInterface & PhysicsSystem::GetBodyInterfaceNoLock ( )

inline

Version that does not lock the bodies, use with great care!

◆ GetBodyInterfaceNoLock() [2/2]

const BodyInterface & PhysicsSystem::GetBodyInterfaceNoLock ( ) const

inline

Version that does not lock the bodies, use with great care!

◆ GetBodyLockInterface()

const BodyLockInterfaceLocking & PhysicsSystem::GetBodyLockInterface ( ) const

inline

Returns a locking interface that locks the body so other threads cannot modify it.

◆ GetBodyLockInterfaceNoLock()

const BodyLockInterfaceNoLock & PhysicsSystem::GetBodyLockInterfaceNoLock ( ) const

inline

Returns a locking interface that won't actually lock the body. Use with great care!

◆ GetBodyStats()

BodyStats PhysicsSystem::GetBodyStats ( ) const

inline

Get stats about the bodies in the body manager (slow, iterates through all bodies)

◆ GetBounds()

AABox PhysicsSystem::GetBounds ( ) const

inline

Get the bounding box of all bodies in the physics system.

◆ GetBroadPhaseQuery()

const BroadPhaseQuery & PhysicsSystem::GetBroadPhaseQuery ( ) const

inline

Access to the broadphase interface that allows coarse collision queries.

◆ GetCombineFriction()

ContactConstraintManager::CombineFunction PhysicsSystem::GetCombineFriction ( ) const

inline

◆ GetCombineRestitution()

ContactConstraintManager::CombineFunction PhysicsSystem::GetCombineRestitution ( ) const

inline

◆ GetConstraints()

Constraints PhysicsSystem::GetConstraints ( ) const

inline

Get a list of all constraints.

◆ GetContactListener()

ContactListener * PhysicsSystem::GetContactListener ( ) const

inline

◆ GetDefaultBroadPhaseLayerFilter()

DefaultBroadPhaseLayerFilter PhysicsSystem::GetDefaultBroadPhaseLayerFilter ( ObjectLayer inLayer ) const

inline

Get an broadphase layer filter that uses the default pair filter and a specified object layer to determine if broadphase layers collide.

◆ GetDefaultLayerFilter()

DefaultObjectLayerFilter PhysicsSystem::GetDefaultLayerFilter ( ObjectLayer inLayer ) const

inline

Get an object layer filter that uses the default pair filter and a specified layer to determine if layers collide.

◆ GetGravity()

Vec3 PhysicsSystem::GetGravity ( ) const

inline

◆ GetMaxBodies()

uint PhysicsSystem::GetMaxBodies ( ) const

inline

Get the maximum amount of bodies that this physics system supports.

◆ GetNarrowPhaseQuery()

const NarrowPhaseQuery & PhysicsSystem::GetNarrowPhaseQuery ( ) const

inline

Interface that allows fine collision queries against first the broad phase and then the narrow phase.

◆ GetNarrowPhaseQueryNoLock()

const NarrowPhaseQuery & PhysicsSystem::GetNarrowPhaseQueryNoLock ( ) const

inline

Version that does not lock the bodies, use with great care!

◆ GetNumActiveBodies()

uint32 PhysicsSystem::GetNumActiveBodies ( EBodyType inType ) const

inline

Gets the current amount of active bodies that are in the body manager.

◆ GetNumBodies()

uint PhysicsSystem::GetNumBodies ( ) const

inline

Gets the current amount of bodies that are in the body manager.

◆ GetPhysicsSettings()

const PhysicsSettings & PhysicsSystem::GetPhysicsSettings ( ) const

inline

◆ GetSimShapeFilter()

const SimShapeFilter * PhysicsSystem::GetSimShapeFilter ( ) const

inline

◆ GetSoftBodyContactListener()

SoftBodyContactListener * PhysicsSystem::GetSoftBodyContactListener ( ) const

inline

◆ Init()

void PhysicsSystem::Init	(	uint	inMaxBodies,
		uint	inNumBodyMutexes,
		uint	inMaxBodyPairs,
		uint	inMaxContactConstraints,
		const BroadPhaseLayerInterface &	inBroadPhaseLayerInterface,
		const ObjectVsBroadPhaseLayerFilter &	inObjectVsBroadPhaseLayerFilter,
		const ObjectLayerPairFilter &	inObjectLayerPairFilter
	)

Initialize the system.

Parameters

inMaxBodies	Maximum number of bodies to support.
inNumBodyMutexes	Number of body mutexes to use. Should be a power of 2 in the range [1, 64], use 0 to auto detect.
inMaxBodyPairs	Maximum amount of body pairs to process (anything else will fall through the world), this number should generally be much higher than the max amount of contact points as there will be lots of bodies close that are not actually touching.
inMaxContactConstraints	Maximum amount of contact constraints to process (anything else will fall through the world).
inBroadPhaseLayerInterface	Information on the mapping of object layers to broad phase layers. Since this is a virtual interface, the instance needs to stay alive during the lifetime of the PhysicsSystem.
inObjectVsBroadPhaseLayerFilter	Filter callback function that is used to determine if an object layer collides with a broad phase layer. Since this is a virtual interface, the instance needs to stay alive during the lifetime of the PhysicsSystem.
inObjectLayerPairFilter	Filter callback function that is used to determine if two object layers collide. Since this is a virtual interface, the instance needs to stay alive during the lifetime of the PhysicsSystem.

◆ OptimizeBroadPhase()

void PhysicsSystem::OptimizeBroadPhase ( )

Optimize the broadphase, needed only if you've added many bodies prior to calling Update() for the first time. Don't call this every frame as PhysicsSystem::Update spreads out the same work over multiple frames. If you add many bodies through BodyInterface::AddBodiesPrepare/AddBodiesFinalize and if the bodies in a batch are in a roughly unoccupied space (e.g. a new level section) then a call to OptimizeBroadPhase is also not needed as batch adding creates an efficient bounding volume hierarchy. Don't call this function while bodies are being modified from another thread or use the locking BodyInterface to modify bodies.

◆ RemoveConstraint()

void PhysicsSystem::RemoveConstraint ( Constraint * inConstraint )

inline

Remove constraint from the world.

◆ RemoveConstraints()

void PhysicsSystem::RemoveConstraints	(	Constraint **	inConstraints,
		int	inNumber
	)

inline

Batch remove constraints.

◆ RemoveStepListener()

void PhysicsSystem::RemoveStepListener ( PhysicsStepListener * inListener )

Removes a step listener.

◆ RestoreBodyState()

void PhysicsSystem::RestoreBodyState	(	Body &	ioBody,
		StateRecorder &	inStream
	)

Restoring state of a single body.

◆ RestoreState()

bool PhysicsSystem::RestoreState	(	StateRecorder &	inStream,
		const StateRecorderFilter *	inFilter = `nullptr`
	)

Restoring state for replay. Returns false if failed.

◆ SaveBodyState()

void PhysicsSystem::SaveBodyState	(	const Body &	inBody,
		StateRecorder &	inStream
	)		const

Saving state of a single body.

◆ SaveState()

void PhysicsSystem::SaveState	(	StateRecorder &	inStream,
		EStateRecorderState	inState = `EStateRecorderState::All`,
		const StateRecorderFilter *	inFilter = `nullptr`
	)		const

Saving state for replay.

◆ SetBodyActivationListener()

void PhysicsSystem::SetBodyActivationListener ( BodyActivationListener * inListener )

inline

Listener that is notified whenever a body is activated/deactivated.

◆ SetCombineFriction()

void PhysicsSystem::SetCombineFriction ( ContactConstraintManager::CombineFunction inCombineFriction )

inline

Set the function that combines the friction of two bodies and returns it Default method is the geometric mean: sqrt(friction1 * friction2).

◆ SetCombineRestitution()

void PhysicsSystem::SetCombineRestitution ( ContactConstraintManager::CombineFunction inCombineRestitution )

inline

Set the function that combines the restitution of two bodies and returns it Default method is max(restitution1, restitution1)

◆ SetContactListener()

void PhysicsSystem::SetContactListener ( ContactListener * inListener )

inline

Listener that is notified whenever a contact point between two bodies is added/updated/removed. You can't change contact listener during PhysicsSystem::Update but it can be changed at any other time.

◆ SetGravity()

void PhysicsSystem::SetGravity ( Vec3Arg inGravity )

inline

Set gravity value.

◆ SetPhysicsSettings()

void PhysicsSystem::SetPhysicsSettings ( const PhysicsSettings & inSettings )

inline

Control the main constants of the physics simulation.

◆ SetSimShapeFilter()

void PhysicsSystem::SetSimShapeFilter ( const SimShapeFilter * inShapeFilter )

inline

Set/get the shape filter that will be used during simulation. This can be used to exclude shapes within a body from colliding with each other. E.g. if you have a high detail and a low detail collision model, you can attach them to the same body in a StaticCompoundShape and use the ShapeFilter to exclude the high detail collision model when simulating and exclude the low detail collision model when casting rays. Note that in this case you would need to pass the inverse of inShapeFilter to the CastRay function. Pass a nullptr to disable the shape filter. The PhysicsSystem does not own the ShapeFilter, make sure it stays alive during the lifetime of the PhysicsSystem.

◆ SetSoftBodyContactListener()

void PhysicsSystem::SetSoftBodyContactListener ( SoftBodyContactListener * inListener )

inline

Listener that is notified whenever a contact point between a soft body and another body.

◆ Update()

EPhysicsUpdateError PhysicsSystem::Update	(	float	inDeltaTime,
		int	inCollisionSteps,
		TempAllocator *	inTempAllocator,
		JobSystem *	inJobSystem
	)

Simulate the system. The world steps for a total of inDeltaTime seconds. This is divided in inCollisionSteps iterations. Each iteration consists of collision detection followed by an integration step. This function internally spawns jobs using inJobSystem and waits for them to complete, so no jobs will be running when this function returns. The temp allocator is used, for example, to store the list of bodies that are in contact, how they form islands together and data to solve the contacts between bodies. At the end of the Update call, all allocated memory will have been freed.

◆ WereBodiesInContact()

bool PhysicsSystem::WereBodiesInContact	(	const BodyID &	inBody1ID,
		const BodyID &	inBody2ID
	)		const

inline

Check if 2 bodies were in contact during the last simulation step. Since contacts are only detected between active bodies, so at least one of the bodies must be active in order for this function to work. It queries the state at the time of the last PhysicsSystem::Update and will return true if the bodies were in contact, even if one of the bodies was moved / removed afterwards. This function can be called from any thread when the PhysicsSystem::Update is not running. During PhysicsSystem::Update this function is only valid during contact callbacks:

During the ContactListener::OnContactAdded callback this function can be used to determine if a different contact pair between the bodies was active in the previous simulation step (function returns true) or if this is the first step that the bodies are touching (function returns false).
During the ContactListener::OnContactRemoved callback this function can be used to determine if this is the last contact pair between the bodies (function returns false) or if there are other contacts still present (function returns true).

Member Data Documentation

◆ sDrawMotionQualityLinearCast

JPH_NAMESPACE_BEGIN bool PhysicsSystem::sDrawMotionQualityLinearCast = false

static

Draw debug info for objects that perform continuous collision detection through the linear cast motion quality.

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

Jolt/Physics/PhysicsSystem.h
Jolt/Physics/PhysicsSystem.cpp

Classes

Public Types

Public Member Functions

Static Public Attributes

Detailed Description

Member Typedef Documentation

◆ BodyStats

Constructor & Destructor Documentation

◆ PhysicsSystem()

◆ ~PhysicsSystem()

Member Function Documentation

◆ AddConstraint()

◆ AddConstraints()

◆ AddStepListener()

◆ DrawBodies()

◆ DrawConstraintLimits()

◆ DrawConstraintReferenceFrame()

◆ DrawConstraints()

◆ GetActiveBodies()

◆ GetActiveBodiesUnsafe()

◆ GetBodies()

◆ GetBodyActivationListener()

◆ GetBodyInterface() [1/2]

◆ GetBodyInterface() [2/2]

◆ GetBodyInterfaceNoLock() [1/2]

◆ GetBodyInterfaceNoLock() [2/2]

◆ GetBodyLockInterface()

◆ GetBodyLockInterfaceNoLock()

◆ GetBodyStats()

◆ GetBounds()

◆ GetBroadPhaseQuery()

◆ GetCombineFriction()

◆ GetCombineRestitution()

◆ GetConstraints()

◆ GetContactListener()

◆ GetDefaultBroadPhaseLayerFilter()

◆ GetDefaultLayerFilter()

◆ GetGravity()

◆ GetMaxBodies()

◆ GetNarrowPhaseQuery()

◆ GetNarrowPhaseQueryNoLock()

◆ GetNumActiveBodies()

◆ GetNumBodies()

◆ GetPhysicsSettings()

◆ GetSimShapeFilter()

◆ GetSoftBodyContactListener()

◆ Init()

◆ OptimizeBroadPhase()

◆ RemoveConstraint()

◆ RemoveConstraints()

◆ RemoveStepListener()

◆ RestoreBodyState()

◆ RestoreState()

◆ SaveBodyState()

◆ SaveState()

◆ SetBodyActivationListener()

◆ SetCombineFriction()

◆ SetCombineRestitution()

◆ SetContactListener()

◆ SetGravity()

◆ SetPhysicsSettings()

◆ SetSimShapeFilter()

◆ SetSoftBodyContactListener()

◆ Update()

◆ WereBodiesInContact()

Member Data Documentation

◆ sDrawMotionQualityLinearCast