#include <b2_world.h>

Public Member Functions
	b2World (const b2Vec2 &gravity)

void	ClearForces ()

b2Body *	CreateBody (const b2BodyDef *def)

b2Joint *	CreateJoint (const b2JointDef *def)

void	DebugDraw ()
	Call this to draw shapes and other debug draw data. This is intentionally non-const. More...

void	DestroyBody (b2Body *body)

void	DestroyJoint (b2Joint *joint)

void	Dump ()

bool	GetAllowSleeping () const

bool	GetAutoClearForces () const
	Get the flag that controls automatic clearing of forces after each time step. More...

int32	GetBodyCount () const
	Get the number of bodies. More...

b2Body *	GetBodyList ()

const b2Body *	GetBodyList () const

int32	GetContactCount () const
	Get the number of contacts (each may have 0 or more contact points). More...

b2Contact *	GetContactList ()

const b2Contact *	GetContactList () const

const b2ContactManager &	GetContactManager () const
	Get the contact manager for testing. More...

bool	GetContinuousPhysics () const

b2Vec2	GetGravity () const
	Get the global gravity vector. More...

int32	GetJointCount () const
	Get the number of joints. More...

b2Joint *	GetJointList ()

const b2Joint *	GetJointList () const

const b2Profile &	GetProfile () const
	Get the current profile. More...

int32	GetProxyCount () const
	Get the number of broad-phase proxies. More...

bool	GetSubStepping () const

int32	GetTreeBalance () const
	Get the balance of the dynamic tree. More...

int32	GetTreeHeight () const
	Get the height of the dynamic tree. More...

float	GetTreeQuality () const

bool	GetWarmStarting () const

bool	IsLocked () const
	Is the world locked (in the middle of a time step). More...

void	QueryAABB (b2QueryCallback *callback, const b2AABB &aabb) const

void	RayCast (b2RayCastCallback *callback, const b2Vec2 &point1, const b2Vec2 &point2) const

void	SetAllowSleeping (bool flag)
	Enable/disable sleep. More...

void	SetAutoClearForces (bool flag)
	Set flag to control automatic clearing of forces after each time step. More...

void	SetContactFilter (b2ContactFilter *filter)

void	SetContactListener (b2ContactListener *listener)

void	SetContinuousPhysics (bool flag)
	Enable/disable continuous physics. For testing. More...

void	SetDebugDraw (b2Draw *debugDraw)

void	SetDestructionListener (b2DestructionListener *listener)

void	SetGravity (const b2Vec2 &gravity)
	Change the global gravity vector. More...

void	SetSubStepping (bool flag)
	Enable/disable single stepped continuous physics. For testing. More...

void	SetWarmStarting (bool flag)
	Enable/disable warm starting. For testing. More...

void	ShiftOrigin (const b2Vec2 &newOrigin)

void	Step (float timeStep, int32 velocityIterations, int32 positionIterations)

	~b2World ()
	Destruct the world. All physics entities are destroyed and all heap memory is released. More...

Private Member Functions
void	DrawShape (b2Fixture *shape, const b2Transform &xf, const b2Color &color)

void	Solve (const b2TimeStep &step)

void	SolveTOI (const b2TimeStep &step)

Private Attributes
bool	m_allowSleep

b2BlockAllocator	m_blockAllocator

int32	m_bodyCount

b2Body *	m_bodyList

bool	m_clearForces

b2ContactManager	m_contactManager

bool	m_continuousPhysics

b2Draw *	m_debugDraw

b2DestructionListener *	m_destructionListener

b2Vec2	m_gravity

float	m_inv_dt0

int32	m_jointCount

b2Joint *	m_jointList

bool	m_locked

bool	m_newContacts

b2Profile	m_profile

b2StackAllocator	m_stackAllocator

bool	m_stepComplete

bool	m_subStepping

bool	m_warmStarting

Friends
class	b2Body

class	b2ContactManager

class	b2Controller

class	b2Fixture

Detailed Description

The world class manages all physics entities, dynamic simulation, and asynchronous queries. The world also contains efficient memory management facilities.

Definition at line 46 of file b2_world.h.

Constructor & Destructor Documentation

◆ b2World()

b2World::b2World ( const b2Vec2 & gravity )

Construct a world object.

Parameters

gravity the world gravity vector.

Definition at line 43 of file b2_world.cpp.

◆ ~b2World()

b2World::~b2World ( )

Destruct the world. All physics entities are destroyed and all heap memory is released.

Definition at line 74 of file b2_world.cpp.

Member Function Documentation

◆ ClearForces()

void b2World::ClearForces ( )

Manually clear the force buffer on all bodies. By default, forces are cleared automatically after each call to Step. The default behavior is modified by calling SetAutoClearForces. The purpose of this function is to support sub-stepping. Sub-stepping is often used to maintain a fixed sized time step under a variable frame-rate. When you perform sub-stepping you will disable auto clearing of forces and instead call ClearForces after all sub-steps are complete in one pass of your game loop.

See also: SetAutoClearForces

Definition at line 973 of file b2_world.cpp.

◆ CreateBody()

b2Body * b2World::CreateBody ( const b2BodyDef * def )

Create a rigid body given a definition. No reference to the definition is retained.

Warning: This function is locked during callbacks.

Definition at line 115 of file b2_world.cpp.

◆ CreateJoint()

b2Joint * b2World::CreateJoint ( const b2JointDef * def )

Create a joint to constrain bodies together. No reference to the definition is retained. This may cause the connected bodies to cease colliding.

Warning: This function is locked during callbacks.

Definition at line 220 of file b2_world.cpp.

◆ DebugDraw()

void b2World::DebugDraw ( )

Call this to draw shapes and other debug draw data. This is intentionally non-const.

Definition at line 1107 of file b2_world.cpp.

◆ DestroyBody()

void b2World::DestroyBody ( b2Body * body )

Destroy a rigid body given a definition. No reference to the definition is retained. This function is locked during callbacks.

Warning: This automatically deletes all associated shapes and joints.; This function is locked during callbacks.

Definition at line 139 of file b2_world.cpp.

◆ DestroyJoint()

void b2World::DestroyJoint ( b2Joint * joint )

Destroy a joint. This may cause the connected bodies to begin colliding.

Warning: This function is locked during callbacks.

Definition at line 280 of file b2_world.cpp.

◆ DrawShape()

void b2World::DrawShape	(	b2Fixture *	shape,
		const b2Transform &	xf,
		const b2Color &	color
	)

private

Definition at line 1039 of file b2_world.cpp.

◆ Dump()

void b2World::Dump ( )

Dump the world into the log file.

Warning: this should be called outside of a time step.

Definition at line 1260 of file b2_world.cpp.

◆ GetAllowSleeping()

bool b2World::GetAllowSleeping ( ) const

inline

Definition at line 151 of file b2_world.h.

◆ GetAutoClearForces()

bool b2World::GetAutoClearForces ( ) const

inline

Get the flag that controls automatic clearing of forces after each time step.

Definition at line 330 of file b2_world.h.

◆ GetBodyCount()

int32 b2World::GetBodyCount ( ) const

inline

Get the number of bodies.

Definition at line 294 of file b2_world.h.

◆ GetBodyList() [1/2]

b2Body * b2World::GetBodyList ( )

inline

Get the world body list. With the returned body, use b2Body::GetNext to get the next body in the world list. A nullptr body indicates the end of the list.

Returns: the head of the world body list.

Definition at line 264 of file b2_world.h.

◆ GetBodyList() [2/2]

const b2Body * b2World::GetBodyList ( ) const

inline

Definition at line 269 of file b2_world.h.

◆ GetContactCount()

int32 b2World::GetContactCount ( ) const

inline

Get the number of contacts (each may have 0 or more contact points).

Definition at line 304 of file b2_world.h.

◆ GetContactList() [1/2]

b2Contact * b2World::GetContactList ( )

inline

Get the world contact list. With the returned contact, use b2Contact::GetNext to get the next contact in the world list. A nullptr contact indicates the end of the list.

Returns: the head of the world contact list.

Warning: contacts are created and destroyed in the middle of a time step. Use b2ContactListener to avoid missing contacts.

Definition at line 284 of file b2_world.h.

◆ GetContactList() [2/2]

const b2Contact * b2World::GetContactList ( ) const

inline

Definition at line 289 of file b2_world.h.

◆ GetContactManager()

const b2ContactManager & b2World::GetContactManager ( ) const

inline

Get the contact manager for testing.

Definition at line 335 of file b2_world.h.

◆ GetContinuousPhysics()

bool b2World::GetContinuousPhysics ( ) const

inline

Definition at line 159 of file b2_world.h.

◆ GetGravity()

b2Vec2 b2World::GetGravity ( ) const

inline

Get the global gravity vector.

Definition at line 314 of file b2_world.h.

◆ GetJointCount()

int32 b2World::GetJointCount ( ) const

inline

Get the number of joints.

Definition at line 299 of file b2_world.h.

◆ GetJointList() [1/2]

b2Joint * b2World::GetJointList ( )

inline

Get the world joint list. With the returned joint, use b2Joint::GetNext to get the next joint in the world list. A nullptr joint indicates the end of the list.

Returns: the head of the world joint list.

Definition at line 274 of file b2_world.h.

◆ GetJointList() [2/2]

const b2Joint * b2World::GetJointList ( ) const

inline

Definition at line 279 of file b2_world.h.

◆ GetProfile()

const b2Profile & b2World::GetProfile ( ) const

inline

Get the current profile.

Definition at line 340 of file b2_world.h.

◆ GetProxyCount()

int32 b2World::GetProxyCount ( ) const

Get the number of broad-phase proxies.

Definition at line 1217 of file b2_world.cpp.

◆ GetSubStepping()

bool b2World::GetSubStepping ( ) const

inline

Definition at line 163 of file b2_world.h.

◆ GetTreeBalance()

int32 b2World::GetTreeBalance ( ) const

Get the balance of the dynamic tree.

Definition at line 1227 of file b2_world.cpp.

◆ GetTreeHeight()

int32 b2World::GetTreeHeight ( ) const

Get the height of the dynamic tree.

Definition at line 1222 of file b2_world.cpp.

◆ GetTreeQuality()

float b2World::GetTreeQuality ( ) const

Get the quality metric of the dynamic tree. The smaller the better. The minimum is 1.

Definition at line 1232 of file b2_world.cpp.

◆ GetWarmStarting()

bool b2World::GetWarmStarting ( ) const

inline

Definition at line 155 of file b2_world.h.

◆ IsLocked()

bool b2World::IsLocked ( ) const

inline

Is the world locked (in the middle of a time step).

Definition at line 319 of file b2_world.h.

◆ QueryAABB()

void b2World::QueryAABB	(	b2QueryCallback *	callback,
		const b2AABB &	aabb
	)		const

Query the world for all fixtures that potentially overlap the provided AABB.

Parameters

callback	a user implemented callback class.
aabb	the query box.

Definition at line 994 of file b2_world.cpp.

◆ RayCast()

void b2World::RayCast	(	b2RayCastCallback *	callback,
		const b2Vec2 &	point1,
		const b2Vec2 &	point2
	)		const

Ray-cast the world for all fixtures in the path of the ray. Your callback controls whether you get the closest point, any point, or n-points. The ray-cast ignores shapes that contain the starting point.

Parameters

callback	a user implemented callback class.
point1	the ray starting point
point2	the ray ending point

Definition at line 1027 of file b2_world.cpp.

◆ SetAllowSleeping()

void b2World::SetAllowSleeping ( bool flag )

Enable/disable sleep.

Definition at line 376 of file b2_world.cpp.

◆ SetAutoClearForces()

void b2World::SetAutoClearForces ( bool flag )

inline

Set flag to control automatic clearing of forces after each time step.

Definition at line 324 of file b2_world.h.

◆ SetContactFilter()

void b2World::SetContactFilter ( b2ContactFilter * filter )

Register a contact filter to provide specific control over collision. Otherwise the default filter is used (b2_defaultFilter). The listener is owned by you and must remain in scope.

Definition at line 100 of file b2_world.cpp.

◆ SetContactListener()

void b2World::SetContactListener ( b2ContactListener * listener )

Register a contact event listener. The listener is owned by you and must remain in scope.

Definition at line 105 of file b2_world.cpp.

◆ SetContinuousPhysics()

void b2World::SetContinuousPhysics ( bool flag )

inline

Enable/disable continuous physics. For testing.

Definition at line 158 of file b2_world.h.

◆ SetDebugDraw()

void b2World::SetDebugDraw ( b2Draw * debugDraw )

Register a routine for debug drawing. The debug draw functions are called inside with b2World::DebugDraw method. The debug draw object is owned by you and must remain in scope.

Definition at line 110 of file b2_world.cpp.

◆ SetDestructionListener()

void b2World::SetDestructionListener ( b2DestructionListener * listener )

Register a destruction listener. The listener is owned by you and must remain in scope.

Definition at line 95 of file b2_world.cpp.

◆ SetGravity()

void b2World::SetGravity ( const b2Vec2 & gravity )

inline

Change the global gravity vector.

Definition at line 309 of file b2_world.h.

◆ SetSubStepping()

void b2World::SetSubStepping ( bool flag )

inline

Enable/disable single stepped continuous physics. For testing.

Definition at line 162 of file b2_world.h.

◆ SetWarmStarting()

void b2World::SetWarmStarting ( bool flag )

inline

Enable/disable warm starting. For testing.

Definition at line 154 of file b2_world.h.

◆ ShiftOrigin()

void b2World::ShiftOrigin ( const b2Vec2 & newOrigin )

Shift the world origin. Useful for large worlds. The body shift formula is: position -= newOrigin

Parameters

newOrigin the new origin with respect to the old origin

Definition at line 1237 of file b2_world.cpp.

◆ Solve()

void b2World::Solve ( const b2TimeStep & step )

private

Definition at line 394 of file b2_world.cpp.

◆ SolveTOI()

void b2World::SolveTOI ( const b2TimeStep & step )

private

Definition at line 585 of file b2_world.cpp.

◆ Step()

void b2World::Step	(	float	timeStep,
		int32	velocityIterations,
		int32	positionIterations
	)

Take a time step. This performs collision detection, integration, and constraint solution.

Parameters

timeStep	the amount of time to simulate, this should not vary.
velocityIterations	for the velocity constraint solver.
positionIterations	for the position constraint solver.

Definition at line 905 of file b2_world.cpp.

Friends And Related Function Documentation

◆ b2Body

friend class b2Body

friend

Definition at line 219 of file b2_world.h.

◆ b2ContactManager

friend class b2ContactManager

friend

Definition at line 221 of file b2_world.h.

◆ b2Controller

friend class b2Controller

friend

Definition at line 222 of file b2_world.h.

◆ b2Fixture

friend class b2Fixture

friend

Definition at line 220 of file b2_world.h.

Member Data Documentation

◆ m_allowSleep

bool b2World::m_allowSleep

private

Definition at line 241 of file b2_world.h.

◆ m_blockAllocator

b2BlockAllocator b2World::m_blockAllocator

private

Definition at line 229 of file b2_world.h.

◆ m_bodyCount

int32 b2World::m_bodyCount

private

Definition at line 237 of file b2_world.h.

◆ m_bodyList

b2Body* b2World::m_bodyList

private

Definition at line 234 of file b2_world.h.

◆ m_clearForces

bool b2World::m_clearForces

private

Definition at line 252 of file b2_world.h.

◆ m_contactManager

b2ContactManager b2World::m_contactManager

private

Definition at line 232 of file b2_world.h.

◆ m_continuousPhysics

bool b2World::m_continuousPhysics

private

Definition at line 256 of file b2_world.h.

◆ m_debugDraw

b2Draw* b2World::m_debugDraw

private

Definition at line 244 of file b2_world.h.

◆ m_destructionListener

b2DestructionListener* b2World::m_destructionListener

private

Definition at line 243 of file b2_world.h.

◆ m_gravity

b2Vec2 b2World::m_gravity

private

Definition at line 240 of file b2_world.h.

◆ m_inv_dt0

float b2World::m_inv_dt0

private

Definition at line 248 of file b2_world.h.

◆ m_jointCount

int32 b2World::m_jointCount

private

Definition at line 238 of file b2_world.h.

◆ m_jointList

b2Joint* b2World::m_jointList

private

Definition at line 235 of file b2_world.h.

◆ m_locked

bool b2World::m_locked

private

Definition at line 251 of file b2_world.h.

◆ m_newContacts

bool b2World::m_newContacts

private

Definition at line 250 of file b2_world.h.

◆ m_profile

b2Profile b2World::m_profile

private

Definition at line 261 of file b2_world.h.

◆ m_stackAllocator

b2StackAllocator b2World::m_stackAllocator

private

Definition at line 230 of file b2_world.h.

◆ m_stepComplete

bool b2World::m_stepComplete

private

Definition at line 259 of file b2_world.h.

◆ m_subStepping

bool b2World::m_subStepping

private

Definition at line 257 of file b2_world.h.

◆ m_warmStarting

bool b2World::m_warmStarting

private

Definition at line 255 of file b2_world.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ b2World()

◆ ~b2World()

Member Function Documentation

◆ ClearForces()

◆ CreateBody()

◆ CreateJoint()

◆ DebugDraw()

◆ DestroyBody()

◆ DestroyJoint()

◆ DrawShape()

◆ Dump()

◆ GetAllowSleeping()

◆ GetAutoClearForces()

◆ GetBodyCount()

◆ GetBodyList() [1/2]

◆ GetBodyList() [2/2]

◆ GetContactCount()

◆ GetContactList() [1/2]

◆ GetContactList() [2/2]

◆ GetContactManager()

◆ GetContinuousPhysics()

◆ GetGravity()

◆ GetJointCount()

◆ GetJointList() [1/2]

◆ GetJointList() [2/2]

◆ GetProfile()

◆ GetProxyCount()

◆ GetSubStepping()

◆ GetTreeBalance()

◆ GetTreeHeight()

◆ GetTreeQuality()

◆ GetWarmStarting()

◆ IsLocked()

◆ QueryAABB()

◆ RayCast()

◆ SetAllowSleeping()

◆ SetAutoClearForces()

◆ SetContactFilter()

◆ SetContactListener()

◆ SetContinuousPhysics()

◆ SetDebugDraw()

◆ SetDestructionListener()

◆ SetGravity()

◆ SetSubStepping()

◆ SetWarmStarting()

◆ ShiftOrigin()

◆ Solve()

◆ SolveTOI()

◆ Step()

Friends And Related Function Documentation

◆ b2Body

◆ b2ContactManager

◆ b2Controller

◆ b2Fixture

Member Data Documentation

◆ m_allowSleep

◆ m_blockAllocator

◆ m_bodyCount

◆ m_bodyList

◆ m_clearForces

◆ m_contactManager

◆ m_continuousPhysics

◆ m_debugDraw

◆ m_destructionListener

◆ m_gravity

◆ m_inv_dt0

◆ m_jointCount

◆ m_jointList

◆ m_locked

◆ m_newContacts

◆ m_profile

◆ m_stackAllocator

◆ m_stepComplete

◆ m_subStepping