A QWorld object is required to create a physics simulation. The QWorld class manages the entire physics simulation. You can add or remove objects to the physics world and make specific settings for the simulation. Additionally, the QWorld class is responsible for updating the simulation. More...

#include <qworld.h>

Collaboration diagram for QWorld:

[legend]

Public Member Functions
QVector	GetGravity ()

bool	GetSleepingEnabled ()

float	GetSleepingPositionTolerance ()

float	GetSleepingRotationTolerance ()

bool	GetBroadphaseEnabled ()

QBroadPhase *	GetBroadphase ()

int	GetIterationCount ()

float	GetTimeScale ()

bool	GetEnabled ()

QWorld *	SetGravity (QVector value)

QWorld *	SetSleepingEnabled (bool value)

QWorld *	SetSleepingPositionTolerance (float value)

QWorld *	SetSleepingRotationTolerance (float value)

QWorld *	SetBroadphaseEnabled (bool value)

QWorld *	SetBroadphase (QBroadPhase *externalBroadphase)

QWorld *	SetIterationCount (int value)

QWorld *	SetTimeScale (float value=1.0f)

QWorld *	SetEnabled (bool value)

void	Update ()

QWorld *	AddBody (QBody *body)

QWorld *	AddBodyGroup (const vector< QBody * > &bodyGroup)

QWorld *	RemoveBody (QBody *body)

QWorld *	RemoveBodyAt (int index)

int	GetBodyCount ()

QBody *	GetBodyAt (int index)

int	GetBodyIndex (QBody *body)

vector< QBody * >	GetBodiesHitByPoint (QVector point, int maxBodyCount=1, bool onlyRigidBodies=true, int layersBit=-1)

vector< QParticle * >	GetParticlesCloseToPoint (QVector point, float distance, int maxParticleCount=1, bool exceptRigidBodies=true, int layersBit=-1)

bool	CollideWithWorld (QBody *body)

vector< QManifold >	TestCollisionWithWorld (QBody *body)

QWorld *	AddJoint (QJoint *joint)

QWorld *	RemoveJoint (QJoint *joint)

QWorld *	RemoveJointAt (int index)

QWorld *	RemoveMatchingJoints (QBody *body)

int	GetJointCount ()

QJoint *	GetJointAt (int index)

int	GetJointIndex (QJoint *joint)

QWorld *	AddSpring (QSpring *spring)

QWorld *	RemoveSpring (QSpring *spring)

QWorld *	RemoveSpringAt (int index)

QWorld *	RemoveMatchingSprings (QBody *body)

QWorld *	RemoveMatchingSprings (QParticle *particle)

int	GetSpringCount ()

QSpring *	GetSpringAt (int index)

int	GetSpringIndex (QSpring *spring)

QWorld *	AddRaycast (QRaycast *raycast)

QWorld *	RemoveRaycast (QRaycast *raycast)

QWorld *	RemoveRaycastAt (int index)

int	GetRaycastCount ()

QRaycast *	GetRaycastAt (int index)

int	GetRaycastIndex (QRaycast *raycast)

vector< QGizmo * > *	GetGizmos ()

QWorld *	AddCollisionException (QBody bodyA, QBody bodyB)

QWorld *	RemoveCollisionException (QBody bodyA, QBody bodyB)

QWorld *	RemoveMatchingCollisionException (QBody *body)

bool	CheckCollisionException (QBody bodyA, QBody bodyB)

	QWorld ()

QWorld *	ClearJoints ()

QWorld *	ClearSprings ()

QWorld *	ClearRaycasts ()

QWorld *	ClearWorld ()

Static Public Member Functions
static vector< QCollision::Contact * >	GetCollisions (QBody bodyA, QBody bodyB)

Public Attributes
vector< QBody * >	bodies =vector<QBody*>()

Static Public Attributes
static float	MAX_WORLD_SIZE =99999.0f

Protected Member Functions
void	ClearGizmos ()

void	ClearBodies ()

void	CreateIslands (int bodyIndex, vector< QBody * > &bodyList, vector< QBody * > &island, vector< bool > &visitedList)

void	GenerateIslands (vector< QBody * > &bodyList, vector< vector< QBody * >> &islandList)

void	GetCollisionPairs (vector< QBody * > &bodyList, vector< pair< QBody , QBody > > *resList)

void	CreateIslands (QBody &body, vector< QBody * > island)

vector< vector< QBody > >	GenerateIslands (vector< QBody > bodyList)

void	UpdateConstraints ()

Static Protected Member Functions
static bool	SortBodiesHorizontal (const QBody bodyA, const QBody bodyB)

static bool	SortBodiesVertical (const QBody bodyA, const QBody bodyB)

Protected Attributes
vector< QJoint * >	joints =vector<QJoint*>()

vector< QSpring * >	springs =vector<QSpring*>()

vector< QRaycast * >	raycasts =vector<QRaycast*>()

vector< QGizmo * >	gizmos =vector<QGizmo*>()

vector< vector< QBody * > >	sleepingIslands =vector<vector<QBody*> >()

unordered_set< pair< QBody , QBody >, QBody::BodyPairHash, QBody::BodyPairEqual >	collisionExceptions

vector< QManifold >	manifolds

QBroadPhase *	broadPhase =nullptr

bool	enabled =true

QVector	gravity =QVector(0.0f,0.2f)

bool	enableSleeping =true

bool	enableBroadphase =true

int	iteration =4

float	timeScale =1.0f

float	sleepingPositionTolerance =0.1f

float	sleepingRotationTolerance =M_PI/180.0f

int	debugAABBTestCount =0

int	debugCollisionTestCount =0

Friends
class	QCollision

class	QManifold

class	QSoftBody

class	QBroadPhase

Detailed Description

A QWorld object is required to create a physics simulation. The QWorld class manages the entire physics simulation. You can add or remove objects to the physics world and make specific settings for the simulation. Additionally, the QWorld class is responsible for updating the simulation.

Constructor & Destructor Documentation

◆ QWorld()

QWorld::QWorld ( )

Creates a world.

Member Function Documentation

◆ AddBody()

QWorld * QWorld::AddBody ( QBody * body )

Adds a body to the world

Parameters

body	A body to be added

◆ AddBodyGroup()

QWorld * QWorld::AddBodyGroup ( const vector< QBody * > & bodyGroup )

Adds a body group to the world

Parameters

bodyGroup A collection of bodies to be added

◆ AddCollisionException()

QWorld * QWorld::AddCollisionException	(	QBody *	bodyA,
		QBody *	bodyB
	)

Adds a collision exception between two bodies. These bodies will never collide.

Parameters

bodyA	A body in the world.
bodyB	Another body in the world.

◆ AddJoint()

QWorld * QWorld::AddJoint ( QJoint * joint )

Adds a joint to the world.

Parameters

joint A joint to be added

◆ AddRaycast()

QWorld * QWorld::AddRaycast ( QRaycast * raycast )

Adds a raycast to the world.

Parameters

raycast A raycast to be added.

◆ AddSpring()

QWorld * QWorld::AddSpring ( QSpring * spring )

Adds a spring to the world.

Parameters

spring A spring to be added.

◆ CheckCollisionException()

bool QWorld::CheckCollisionException	(	QBody *	bodyA,
		QBody *	bodyB
	)

Checks whether there is a collision exception between two bodies.

Parameters

bodyA	A body in the world.
bodyB	Another body in the world.

◆ ClearJoints()

QWorld * QWorld::ClearJoints ( )

Removes all joints from the world.

◆ ClearRaycasts()

QWorld * QWorld::ClearRaycasts ( )

It removes all raycasts from the world.

◆ ClearSprings()

QWorld * QWorld::ClearSprings ( )

Removes all springs from the world.

◆ ClearWorld()

QWorld * QWorld::ClearWorld ( )

It removes all objects from the world.

◆ CollideWithWorld()

bool QWorld::CollideWithWorld ( QBody * body )

Collides a body given to other bodies in the world. If is there a collision, it returns true.

Parameters

body	A body from the world.

◆ GetBodiesHitByPoint()

vector< QBody * > QWorld::GetBodiesHitByPoint	(	QVector	point,
		int	maxBodyCount = `1`,
		bool	onlyRigidBodies = `true`,
		int	layersBit = `-1`
	)

Returns a list of bodies that collide with the point given.

Parameters

point	A point to be collided.
maxBodyCount	The maximum number of bodies to be returned.
onlyRigidBodies	If set to true, it only tests rigid bodies.(It's true as a default)
layersBit	Collision layer bits(It setted -1 as a default, it's mean it doesn't filter bodies via layer bits )

◆ GetBodyAt()

QBody* QWorld::GetBodyAt ( int index )

inline

Returns body at the specified index

Parameters

index The Index of the body to get.

◆ GetBodyCount()

int QWorld::GetBodyCount ( )

inline

Returns the total body count in the world.

◆ GetBodyIndex()

int QWorld::GetBodyIndex ( QBody * body )

inline

Returns index of the specified body

Parameters

body	A body pointer

◆ GetBroadphase()

QBroadPhase* QWorld::GetBroadphase ( )

inline

Returns the external broad phase object if defined. If not defined, returns nullptr.

◆ GetBroadphaseEnabled()

bool QWorld::GetBroadphaseEnabled ( )

inline

Returns whether broad phase optimization will be applied to the collisions.

◆ GetCollisions()

vector< QCollision::Contact * > QWorld::GetCollisions	(	QBody *	bodyA,
		QBody *	bodyB
	)

static

Performs the collision of the body and returns a contact list as a collision result.

Parameters

bodyA	A body in the world.
bodyB	Another body in the world.

◆ GetEnabled()

bool QWorld::GetEnabled ( )

inline

Returns whether world is enabled.

◆ GetGizmos()

vector<QGizmo*>* QWorld::GetGizmos ( )

inline

Returns the collection of gizmos in the world.

◆ GetIterationCount()

int QWorld::GetIterationCount ( )

inline

Returns the iteration count per step of physics in the world. The Iteration count determines the stability level of the simulation.

◆ GetJointAt()

QJoint* QWorld::GetJointAt ( int index )

inline

Returns the joint at the specified index.

Parameters

index The index of the joint.

◆ GetJointCount()

int QWorld::GetJointCount ( )

inline

Returns the total joint count of the world.

◆ GetJointIndex()

int QWorld::GetJointIndex ( QJoint * joint )

inline

Returns the index of the specified joint.

Parameters

joint A joint in the world.

◆ GetParticlesCloseToPoint()

vector< QParticle * > QWorld::GetParticlesCloseToPoint	(	QVector	point,
		float	distance,
		int	maxParticleCount = `1`,
		bool	exceptRigidBodies = `true`,
		int	layersBit = `-1`
	)

Returns nearest particles to the specified point.

Parameters

point	A point to test
distance	The distance of proximity to the point
maxParticleCount	The maximum number of particles to be returned.
exceptRigidBodies	If set to true, it tests only non-rigid bodies.
layersBit	Collision layer bits(It setted -1 as a default, it's mean doesn't filter bodies via layer bits )

◆ GetRaycastAt()

QRaycast* QWorld::GetRaycastAt ( int index )

inline

Returns the raycast at the specified index.

Parameters

index The index of the raycast

◆ GetRaycastCount()

int QWorld::GetRaycastCount ( )

inline

Returns the total raycast count of the world.

◆ GetRaycastIndex()

int QWorld::GetRaycastIndex ( QRaycast * raycast )

inline

Returns the index of the specified raycast.

Parameters

raycast A raycast in the world.

◆ GetSleepingEnabled()

bool QWorld::GetSleepingEnabled ( )

inline

Returns whether sleep mode will be applied to dynamic objects.

◆ GetSleepingPositionTolerance()

float QWorld::GetSleepingPositionTolerance ( )

inline

Returns the sleeping position tolerance. If the sleeping option is active, objects will go to sleep as long as they do not exceed this position change limit within a certain step amount.

◆ GetSleepingRotationTolerance()

float QWorld::GetSleepingRotationTolerance ( )

inline

Returns the sleeping rotation tolerance. If the sleeping option is active, objects will go to sleep as long as they do not exceed this rotation change limit within a certain step amount.

◆ GetSpringAt()

QSpring* QWorld::GetSpringAt ( int index )

inline

Returns the spring at the specified index.

Parameters

index The index of the spring.

◆ GetSpringCount()

int QWorld::GetSpringCount ( )

inline

Returns the total spring count of the world.

◆ GetSpringIndex()

int QWorld::GetSpringIndex ( QSpring * spring )

inline

Returns the index of the specified spring.

Parameters

spring A spring in the world.

◆ GetTimeScale()

float QWorld::GetTimeScale ( )

inline

Returns the time scale for the physics simulation.

◆ RemoveBody()

QWorld * QWorld::RemoveBody ( QBody * body )

Removes body from the world.

Parameters

body	A body to be removed.

◆ RemoveBodyAt()

QWorld * QWorld::RemoveBodyAt ( int index )

Removes the body from the world at the specified index. The index of a body can be obtained using the GetBodyIndex() method.

Parameters

index The index of the body to remove.

◆ RemoveCollisionException()

QWorld * QWorld::RemoveCollisionException	(	QBody *	bodyA,
		QBody *	bodyB
	)

Removes a collision exception.

Parameters

bodyA	A body in the world.
bodyB	Another body in the world.

◆ RemoveJoint()

QWorld * QWorld::RemoveJoint ( QJoint * joint )

Removes a joint from the world.

Parameters

joint A joint to be removed.

◆ RemoveJointAt()

QWorld * QWorld::RemoveJointAt ( int index )

Removes a joint from the world at the specified index. The index of a joint can be obtained using the GetJointIndex() method.

Parameters

index The index of the joint to be removed.

◆ RemoveMatchingCollisionException()

QWorld * QWorld::RemoveMatchingCollisionException ( QBody * body )

Removes a collision exception that contains the given body.

Parameters

body	A body to be matched.

◆ RemoveMatchingJoints()

QWorld * QWorld::RemoveMatchingJoints ( QBody * body )

Removes the joints that contain the specified body.

Parameters

body	A body to be matched.

◆ RemoveMatchingSprings() [1/2]

QWorld * QWorld::RemoveMatchingSprings ( QBody * body )

Removes the springs that contain the specified body.

Parameters

body	A body to be matched.

◆ RemoveMatchingSprings() [2/2]

QWorld * QWorld::RemoveMatchingSprings ( QParticle * particle )

Removes the springs that contain the specified particle.

Parameters

particle A particle to be matched.

◆ RemoveRaycast()

QWorld * QWorld::RemoveRaycast ( QRaycast * raycast )

Removes a raycast from the world.

Parameters

raycast A raycast to be removed.

◆ RemoveRaycastAt()

QWorld * QWorld::RemoveRaycastAt ( int index )

Removes a raycast from the world at the specified index. The index of a raycast can be obtained using the GetRaycastIndex() method.

Parameters

index An index number.

◆ RemoveSpring()

QWorld * QWorld::RemoveSpring ( QSpring * spring )

Removes a spring from the world.

Parameters

spring A spring to be removed.

◆ RemoveSpringAt()

QWorld * QWorld::RemoveSpringAt ( int index )

Removes a spring from the world at the specified index. The index of a spring can be obtained using the GetSpringIndex() method.

Parameters

index The index of the spring to be removed.

◆ SetBroadphase()

QWorld* QWorld::SetBroadphase ( QBroadPhase * externalBroadphase )

inline

Custom solutions inheriting from the QBroadphase class can be defined for the broad phase. This allows external broad phase solutions to be plugged in or removed.

Parameters

externalBroadphase A QBroadphase-typed class representing the external broad phase solution.

◆ SetBroadphaseEnabled()

QWorld* QWorld::SetBroadphaseEnabled ( bool value )

inline

Sets whether broad phase optimization will be applied to the collisions.

◆ SetEnabled()

QWorld* QWorld::SetEnabled ( bool value )

inline

Sets whether world is enabled.

Parameters

value A value to set

◆ SetGravity()

QWorld* QWorld::SetGravity ( QVector value )

inline

Sets the gravity force of the world. The gravity force applies to dynamic bodies in every step of physics.

Parameters

value The force vector value of the gravity.

◆ SetIterationCount()

QWorld* QWorld::SetIterationCount ( int value )

inline

Sets the iteration count per step of physics in the world. Iteration count determines stability level of the simulation.

Parameters

value The number of iterations per step.

◆ SetSleepingEnabled()

QWorld* QWorld::SetSleepingEnabled ( bool value )

inline

Sets whether sleep mode will be applied to dynamic objects.

Parameters

value A value to set

◆ SetSleepingPositionTolerance()

QWorld* QWorld::SetSleepingPositionTolerance ( float value )

inline

Sets the sleeping position tolerance. If the sleeping option is active, objects will go to sleep as long as they do not exceed this position change limit within a certain step amount.

Parameters

value A value to set

◆ SetSleepingRotationTolerance()

QWorld* QWorld::SetSleepingRotationTolerance ( float value )

inline

Sets the sleeping rotation tolerance. If the sleeping option is active, objects will go to sleep as long as they do not exceed this rotation change limit within a certain step amount.

Parameters

value A value to set

◆ SetTimeScale()

QWorld* QWorld::SetTimeScale ( float value = 1.0f )

inline

Sets the time scale for the physics simulation. The default value is 1.0. If you give a value lower than 1.0, the simulation will slow down, and if you give a value higher than 1.0, the simulation will speed up.

Parameters

value A value to set.

◆ TestCollisionWithWorld()

vector< QManifold > QWorld::TestCollisionWithWorld ( QBody * body )

Applies a collision test between a body and other bodies in the world, returning a list of manifolds if collisions are detected.

Parameters

body	A body from the world.

◆ Update()

void QWorld::Update ( )

Updates the physics simulation of the world as a step.

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

QuarkPhysics/qworld.h
QuarkPhysics/qworld.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ QWorld()

Member Function Documentation

◆ AddBody()

◆ AddBodyGroup()

◆ AddCollisionException()

◆ AddJoint()

◆ AddRaycast()

◆ AddSpring()

◆ CheckCollisionException()

◆ ClearJoints()

◆ ClearRaycasts()

◆ ClearSprings()

◆ ClearWorld()

◆ CollideWithWorld()

◆ GetBodiesHitByPoint()

◆ GetBodyAt()

◆ GetBodyCount()

◆ GetBodyIndex()

◆ GetBroadphase()

◆ GetBroadphaseEnabled()

◆ GetCollisions()

◆ GetEnabled()

◆ GetGizmos()

◆ GetIterationCount()

◆ GetJointAt()

◆ GetJointCount()

◆ GetJointIndex()

◆ GetParticlesCloseToPoint()

◆ GetRaycastAt()

◆ GetRaycastCount()

◆ GetRaycastIndex()

◆ GetSleepingEnabled()

◆ GetSleepingPositionTolerance()

◆ GetSleepingRotationTolerance()

◆ GetSpringAt()

◆ GetSpringCount()

◆ GetSpringIndex()

◆ GetTimeScale()

◆ RemoveBody()

◆ RemoveBodyAt()

◆ RemoveCollisionException()

◆ RemoveJoint()

◆ RemoveJointAt()

◆ RemoveMatchingCollisionException()

◆ RemoveMatchingJoints()

◆ RemoveMatchingSprings() [1/2]

◆ RemoveMatchingSprings() [2/2]

◆ RemoveRaycast()

◆ RemoveRaycastAt()

◆ RemoveSpring()

◆ RemoveSpringAt()

◆ SetBroadphase()

◆ SetBroadphaseEnabled()

◆ SetEnabled()

◆ SetGravity()

◆ SetIterationCount()

◆ SetSleepingEnabled()

◆ SetSleepingPositionTolerance()

◆ SetSleepingRotationTolerance()

◆ SetTimeScale()

◆ TestCollisionWithWorld()

◆ Update()