QBody Class Reference

QBody objects are the base class for all types of bodies. Any class derived from QBody shares these methods and properties. Additionally, this base type provides flexible and common references for independent operations from qualified and named body types in the entire simulation. Virtual methods are defined for users to create different body types that inherit QBody. For example, the Update() method is used to apply different dynamics for all body types. QRigidBody instances derived from QBody have their own Update() solution, while QSoftBody instances have their own Update() solution. With these and similar virtual methods, unique new body types can be created. More...

#include <qbody.h>

Inheritance diagram for QBody:

Collaboration diagram for QBody:

Classes
struct	BodyPairEqual
struct	BodyPairHash
struct	CollisionInfo
	CollisionInfo structure contains collision information of a body object. This information is sent to the relevant event listeners during a collision event. More...

Public Types
enum	Modes { DYNAMIC , STATIC }
enum	BodyTypes { RIGID , AREA , SOFT }
enum	SimulationModels { MASS_SPRING , RIGID_BODY }

Public Member Functions
virtual void	OnPreStep ()
virtual void	OnStep ()
virtual bool	OnCollision (CollisionInfo)
BodyTypes	GetBodyType ()
QWorld *	GetWorld ()
QVector	GetPosition ()
QVector	GetPreviousPosition ()
float	GetRotation ()
float	GetRotationDegree ()
float	GetPreviousRotation ()
QAABB	GetAABB () const
float	GetTotalInitialArea ()
float	GetTotalPolygonsInitialArea ()
float	GetTotalArea ()
float	GetTotalPolygonsArea ()
Modes	GetMode ()
float	GetInertia ()
int	GetLayersBit ()
int	GetCollidableLayersBit ()
bool	GetOverlapWithCollidableLayersBit (int layersBit)
bool	GetOverlapWithLayersBit (int layersBit)
bool	GetIsSleeping ()
bool	GetCanSleep ()
SimulationModels	GetSimulationModel ()
float	GetFriction ()
float	GetStaticFriction ()
float	GetAirFriction ()
virtual float	GetMass ()
float	GetRestitution ()
float	GetCircumference ()
bool	GetBodySpecificTimeScaleEnabled ()
float	GetBodySpesificTimeScale ()
bool	GetEnabled ()
float	GetVelocityLimit ()
bool	GetIntegratedVelocitiesEnabled ()
QBody *	SetPosition (QVector value, bool withPreviousPosition=true)
QBody *	AddPosition (QVector value, bool withPreviousPosition=true)
QBody *	SetPreviousPosition (QVector value)
QBody *	AddPreviousPosition (QVector value)
QBody *	SetRotation (float angleRadian, bool withPreviousRotation=true)
QBody *	SetRotationDegree (float degree, bool withPreviousRotation=true)
QBody *	AddRotation (float angleRadian, bool withPreviousRotation=true)
QBody *	SetPreviousRotation (float angleRadian)
QBody *	AddPreviousRotation (float angleRadian)
QBody *	SetLayersBit (int value)
QBody *	SetCollidableLayersBit (int value)
QBody *	SetCanSleep (bool value)
QBody *	SetMode (QBody::Modes bodyMode)
QBody *	SetSimulationModel (SimulationModels model)
QBody *	SetFriction (float value)
QBody *	SetStaticFriction (float value)
QBody *	SetAirFriction (float value)
QBody *	SetMass (float value)
QBody *	SetRestitution (float value)
QBody *	SetBodySpecificTimeScaleEnabled (bool value)
QBody *	SetBodySpecificTimeScale (float value)
QBody *	SetEnabled (bool value)
QBody *	SetIntegratedVelocitiesEnabled (bool value)
QBody *	AddMesh (QMesh *mesh)
QBody *	RemoveMeshAt (int index)
QMesh *	GetMeshAt (int index)
int	GetMeshCount ()
vector< QMesh * > *	GetMeshes ()
QBody *	AddMeshesFromFile (string filePath)
QBody *	WakeUp ()
QBody *	SetVelocityLimit (float value)

Public Attributes
std::function< void(QBody *body)>	PreStepEventListener
std::function< void(QBody *body)>	StepEventListener
std::function< bool(QBody *body, CollisionInfo)>	CollisionEventListener

Protected Member Functions
void	UpdateAABB ()
void	UpdateMeshTransforms ()
virtual void	Update ()
virtual void	PostUpdate ()
virtual bool	CanGiveCollisionResponseTo (QBody *otherBody)

Static Protected Member Functions
static QVector	ComputeFriction (QBody *bodyA, QBody *bodyB, QVector &normal, float penetration, QVector &relativeVelocity)
static bool	CanCollide (QBody *bodyA, QBody *bodyB, bool checkBodiesAreEnabled=true)

Protected Attributes
QWorld *	world
QVector	position =QVector(0,0)
QVector	prevPosition =QVector::Zero()
float	rotation =0.0f
float	prevRotation =0.0f
QAABB	aabb
Modes	mode =QBody::Modes::DYNAMIC
bool	inertiaNeedsUpdate =true
bool	circumferenceNeedsUpdate =true
bool	enableBodySpecificTimeScale =false
float	bodySpecificTimeScale =1.0f
BodyTypes	bodyType =BodyTypes::RIGID
bool	enabled =true
float	velocityLimit =0.0f
bool	enableIntegratedVelocities =true
float	friction =0.2f
float	staticFriction =0.5f
float	airFriction =0.01f
float	mass =1.0f
float	restitution =0.0f
int	layersBit =1
int	collidableLayersBit =1
bool	isKinematic =false
bool	allowKinematicCollisions =false
bool	isSleeping =false
int	sleepTick =120
int	fixedVelocityTick =0
int	fixedAngularTick =0
bool	canSleep =true
vector< QMesh * >	_meshes =vector<QMesh*>()
SimulationModels	simulationModel =SimulationModels::RIGID_BODY

Friends
class	QMesh
class	QWorld
class	QManifold
class	QParticle
class	QJoint
class	QBroadPhase

Detailed Description

QBody objects are the base class for all types of bodies. Any class derived from QBody shares these methods and properties. Additionally, this base type provides flexible and common references for independent operations from qualified and named body types in the entire simulation. Virtual methods are defined for users to create different body types that inherit QBody. For example, the Update() method is used to apply different dynamics for all body types. QRigidBody instances derived from QBody have their own Update() solution, while QSoftBody instances have their own Update() solution. With these and similar virtual methods, unique new body types can be created.

Member Enumeration Documentation

Modes

enum QBody::Modes

Determines whether the body is dynamic or static. A static body does not react to any force, constraint or collision and does not move.A dynamic body reacts to forces, constraints, collisions, and any other world event.

SimulationModels

enum QBody::SimulationModels

Determines which approach will be used to simulate a body object.

Member Function Documentation

AddMesh()

QBody * QBody::AddMesh

(

QMesh *

mesh

)

Adds a mesh to the body.

Parameters

mesh	A pointer of the mesh to add.

Returns

A pointer to the body itself.

AddMeshesFromFile()

QBody * QBody::AddMeshesFromFile

(

string

filePath

)

Adds meshes with a json based *.qmesh file.

Parameters

filePath

A file path.

Returns

A pointer to the body itself.

AddPosition()

QBody* QBody::AddPosition ( QVector  value, bool  withPreviousPosition = true  )

inline

Adds a vector value the position of the body.

Parameters

value	A vector value to add.
withPreviousPosition	Determines whether apply the position to the previous position of the body.In this simulation, since velocities are implicit, if the previous position are the same as the newly set position, the positional velocity of the body will also be zeroed.Therefore, if you want to zero out the positional velocity when setting the new position, use this option.

Returns

A pointer to the body itself.

AddPreviousPosition()

QBody* QBody::AddPreviousPosition ( QVector  value )

inline

Adds a vector the previous position of the body.

Parameters

value

A position value to add.

Returns

A pointer to the body itself.

AddPreviousRotation()

QBody* QBody::AddPreviousRotation ( float  angleRadian )

inline

Adds a value to the previous rotation of the body.

Parameters

angleRadian

A value to add, in radians.

Returns

A pointer to the body itself.

AddRotation()

QBody* QBody::AddRotation ( float  angleRadian, bool  withPreviousRotation = true  )

inline

Adds a value to the rotation of the body.

Parameters

angleRadian	A value to add, in radians.
withPreviousRotation	Determines whether apply the rotation to the previous rotation of the body.In this simulation, since velocities are implicit, if the previous rotation are the same as the newly set rotation, the angular velocity of the body will also be zeroed.Therefore, if you want to zero out the angular velocity when setting the new rotation, use this option.

Returns

A pointer to the body itself.

GetAABB()

QAABB QBody::GetAABB ( ) const

inline

Returns the AABB feature of the body.

GetAirFriction()

float QBody::GetAirFriction ( )

inline

Returns the air friction value of the body.

GetBodySpecificTimeScaleEnabled()

bool QBody::GetBodySpecificTimeScaleEnabled ( )

inline

Returns whether the body spesific time scale is enabled.

GetBodySpesificTimeScale()

float QBody::GetBodySpesificTimeScale ( )

inline

Returns the body spesific time scale

GetBodyType()

BodyTypes QBody::GetBodyType ( )

inline

Returns the type of the body.

GetCanSleep()

bool QBody::GetCanSleep ( )

inline

Returns whether the body can sleep.

GetCircumference()

float QBody::GetCircumference ( )

inline

Returns the circumference of the body.

GetCollidableLayersBit()

int QBody::GetCollidableLayersBit ( )

inline

Returns the bit mask that represents the collidable layers in which the body object is present.

GetEnabled()

bool QBody::GetEnabled ( )

inline

Returns whether the body is enabled.

GetFriction()

float QBody::GetFriction ( )

inline

Returns the friction value of the body.

GetInertia()

float QBody::GetInertia ( )

inline

Returns the inertia of the body.

GetIntegratedVelocitiesEnabled()

bool QBody::GetIntegratedVelocitiesEnabled

(

)

Returns whether the application of gravity and various velocity integrators necessary for the body's movement in the physics world is enabled. It is set to true by default. Typically, it is disabled for specific body objects that require manual control.

GetIsSleeping()

bool QBody::GetIsSleeping ( )

inline

Returns whether the body is sleeping.

GetLayersBit()

int QBody::GetLayersBit ( )

inline

Returns the bit mask that represents the layers in which the body object is present.

GetMass()

virtual float QBody::GetMass ( )

inlinevirtual

Returns the mass value of the body.

Reimplemented in QSoftBody.

GetMeshAt()

QMesh * QBody::GetMeshAt

(

int

index

)

Returns the mesh of the body with specified index.

Parameters

index

The index of the mesh.

GetMeshCount()

int QBody::GetMeshCount

(

)

Returns the count of the meshes of to the body.

GetMeshes()

vector< QMesh * > * QBody::GetMeshes

(

)

Returns the collection of the meshes of the body.

GetMode()

Modes QBody::GetMode ( )

inline

Returns whether the body is dynamic or static.

GetOverlapWithCollidableLayersBit()

bool QBody::GetOverlapWithCollidableLayersBit ( int  layersBit )

inline

Returns whether a body object can collide with other body objects that have the given layers bit as parameters.

Parameters

layersBit

A bit value representing the layers to check.

GetOverlapWithLayersBit()

bool QBody::GetOverlapWithLayersBit ( int  layersBit )

inline

Checks whether a body object overlaps with a given bit value that represents layers. Returns true if the body object is in at least one of the layers represented by the given bit.

Parameters

layersBit

A bit value representing the layers to check.

GetPosition()

QVector QBody::GetPosition ( )

inline

Returns the position of the body.

GetPreviousPosition()

QVector QBody::GetPreviousPosition ( )

inline

Returns the previous position of the body.

GetPreviousRotation()

float QBody::GetPreviousRotation ( )

inline

Returns the previous rotation of the body.

GetRestitution()

float QBody::GetRestitution ( )

inline

Returns the restitution value of the body.

GetRotation()

float QBody::GetRotation ( )

inline

Returns the rotation of the body.

GetRotationDegree()

float QBody::GetRotationDegree ( )

inline

Returns the rotation of the body as degree.

GetSimulationModel()

SimulationModels QBody::GetSimulationModel ( )

inline

Returns which approach will be used to simulate a body object.

GetStaticFriction()

float QBody::GetStaticFriction ( )

inline

Returns the static friction value of the body.

GetTotalArea()

float QBody::GetTotalArea ( )

inline

Returns the total area of the body.

GetTotalInitialArea()

float QBody::GetTotalInitialArea ( )

inline

Returns the total initial area of the body. Initial area means the calculated total area with non-transformed meshes of the body.

GetTotalPolygonsArea()

float QBody::GetTotalPolygonsArea ( )

inline

Returns the total area of the polygons of the body.

GetTotalPolygonsInitialArea()

float QBody::GetTotalPolygonsInitialArea ( )

inline

Returns the total initial area of the polygons of the body. Initial area means the calculated total area with non-transformed meshes of the body.

GetVelocityLimit()

float QBody::GetVelocityLimit

(

)

Returns the velocity limit of the physics body. If set to 0, no velocity limit is applied. The default value is 0.

GetWorld()

QWorld* QBody::GetWorld ( )

inline

Returns the world.

OnCollision()

virtual bool QBody::OnCollision ( CollisionInfo  )

inlinevirtual

The event is triggered when a body object collides with another body object during a physics step.

Parameters

CollisionInfo

Contains collision informations.

Returns

If the event method returns true, collision responses are applied. If it returns false, collision responses are not applied.

OnPreStep()

virtual void QBody::OnPreStep ( )

inlinevirtual

The event is triggered at the beginning of a physics step, before any collision or constraint operations have been applied to body objects. It is a good time to perform instantaneous operations that will manipulate the presence of a body object in the world.

OnStep()

virtual void QBody::OnStep ( )

inlinevirtual

The event is triggered after collision and constraint operations are applied in a physics step. It is a good time to perform operations that are not instantaneous but rather intended to be applied in the next physics step on body objects.

PostUpdate()

virtual void QBody::PostUpdate ( )

inlineprotectedvirtual

Called after all bodies have completed their Update step to perform post-update operations.

Reimplemented in QSoftBody, QRigidBody, and QPlatformerBody.

RemoveMeshAt()

QBody * QBody::RemoveMeshAt

(

int

index

)

Removes a mesh from the body.

Parameters

index

The index of the mesh to remove.

Returns

A pointer to the body itself.

SetAirFriction()

QBody* QBody::SetAirFriction ( float  value )

inline

Sets the air friction value of the body.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetBodySpecificTimeScale()

QBody* QBody::SetBodySpecificTimeScale ( float  value )

inline

Sets the time scale specific to the body. The world has a time scale, but this allows you to assign a specific time scale to the body object as an exception.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetBodySpecificTimeScaleEnabled()

QBody* QBody::SetBodySpecificTimeScaleEnabled ( bool  value )

inline

Sets whether the body-specific time scale is enabled. The world has a time scale, but this allows you to assign a specific time scale to the body object as an exception.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetCanSleep()

QBody* QBody::SetCanSleep ( bool  value )

inline

Sets whether the body can sleep in the active sleep mode.

Parameters

value

True or false.

Returns

A pointer to the body itself.

SetCollidableLayersBit()

QBody* QBody::SetCollidableLayersBit ( int  value )

inline

Sets the bit mask that represents the collidable layers in which the body object is present.A body object can collide with other body objects present in the layers defined by the user.

Parameters

value

A bit mask value to set.

Returns

A pointer to the body itself.

SetEnabled()

QBody* QBody::SetEnabled ( bool  value )

inline

Sets whether the body is enabled.

Parameters

value

A value to set

Returns

A pointer to the body itself.

SetFriction()

QBody* QBody::SetFriction ( float  value )

inline

Sets the friction value of the body.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetIntegratedVelocitiesEnabled()

QBody * QBody::SetIntegratedVelocitiesEnabled

(

bool

value

)

Sets whether the application of gravity and various velocity integrators necessary for the body's movement in the physics world is enabled. It is set to true by default. Typically, it is disabled for specific body objects that require manual control.

SetLayersBit()

QBody* QBody::SetLayersBit ( int  value )

inline

Sets the bit mask that represents the layers in which the body object is present.

Parameters

value

A bit mask value to set.

Returns

A pointer to the body itself.

SetMass()

QBody* QBody::SetMass ( float  value )

inline

Sets the mass value of the body.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetMode()

QBody* QBody::SetMode ( QBody::Modes  bodyMode )

inline

Sets whether the body is dynamic or static.

Parameters

bodyMode

A mode to set.

Returns

A pointer to the body itself.

SetPosition()

QBody* QBody::SetPosition ( QVector  value, bool  withPreviousPosition = true  )

inline

Sets the position of the body.

Parameters

value	A position value to set.
withPreviousPosition	Determines whether apply the position to the previous position of the body.In this simulation, since velocities are implicit, if the previous position are the same as the newly set position, the positional velocity of the body will also be zeroed.Therefore, if you want to zero out the positional velocity when setting the new position, use this option.

Returns

A pointer to the body itself.

SetPreviousPosition()

QBody* QBody::SetPreviousPosition ( QVector  value )

inline

Sets the previous position of the body.

Parameters

value

A position value to set.

Returns

A pointer to the body itself.

SetPreviousRotation()

QBody* QBody::SetPreviousRotation ( float  angleRadian )

inline

Sets the previous rotation of the body.

Parameters

angleRadian

A rotation value to set, in radians.

Returns

A pointer to the body itself.

SetRestitution()

QBody* QBody::SetRestitution ( float  value )

inline

Sets the restitution value of the body.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetRotation()

QBody* QBody::SetRotation ( float  angleRadian, bool  withPreviousRotation = true  )

inline

Sets the rotation of the body.

Parameters

angleRadian	A rotation value to set, in radians.
withPreviousRotation	Determines whether apply the rotation to the previous rotation of the body.In this simulation, since velocities are implicit, if the previous rotation are the same as the newly set rotation, the angular velocity of the body will also be zeroed.Therefore, if you want to zero out the angular velocity when setting the new rotation, use this option.

Returns

A pointer to the body itself.

SetRotationDegree()

QBody* QBody::SetRotationDegree ( float  degree, bool  withPreviousRotation = true  )

inline

Sets the rotation of the body with specified angle in degrees.

Parameters

degree	A rotation value to set, in degrees.
withPreviousRotation	Determines whether apply the rotation to the previous rotation of the body.In this simulation, since velocities are implicit, if the previous rotation are the same as the newly set rotation, the angular velocity of the body will also be zeroed.Therefore, if you want to zero out the angular velocity when setting the new rotation, use this option.

Returns

A pointer to the body itself.

SetSimulationModel()

QBody* QBody::SetSimulationModel ( SimulationModels  model )

inline

Sets which approach will be used to simulate a body object.

Parameters

bodyMode

A simulation model to set.

Returns

A pointer to the body itself.

SetStaticFriction()

QBody* QBody::SetStaticFriction ( float  value )

inline

Sets the static friction value of the body.

Parameters

value

A value to set.

Returns

A pointer to the body itself.

SetVelocityLimit()

QBody * QBody::SetVelocityLimit

(

float

value

)

Limits the velocity of the physics body. If set to 0, no velocity limit is applied. The default value is 0.

Returns

A pointer to the body itself.

Update()

virtual void QBody::Update ( )

inlineprotectedvirtual

Updates properties of the soft body and applies needed physical dynamics.

Reimplemented in QSoftBody, and QRigidBody.

WakeUp()

QBody* QBody::WakeUp ( )

inline

Wakes up a body that is in a sleeping state.

Returns

A pointer to the body itself.

Member Data Documentation

CollisionEventListener

std::function<bool(QBody *body,CollisionInfo)> QBody::CollisionEventListener

This is the event listener callback function for the OnCollision event.

Parameters

body	The body object that triggers the event.
CollisionInfo	Contains collision informations.

PreStepEventListener

std::function<void(QBody *body)> QBody::PreStepEventListener

This is the event listener callback function for the OnPreStep event.

Parameters

body	The body object that triggers the event.

StepEventListener

std::function<void(QBody *body)> QBody::StepEventListener

This is the event listener callback function for the OnStep event.

Parameters

body	The body object that triggers the event.

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

• QuarkPhysics/qbody.h
• QuarkPhysics/qbody.cpp