#include <iPhysics.h>

Inherits igor::iModule< iPhysics >.

Public Member Functions
void	setSimulationRate (float64 simulationRate)

float64	getSimulationRate ()

void	start ()

void	stop ()

iPhysicsMaterial *	createMaterial (const iaString &name)

iPhysicsCollision *	getCollision (uint64 collisionID)

void	destroyCollision (iPhysicsCollision *collision)

void	destroyCollision (uint64 collisionID)

iPhysicsWorld *	createWorld ()

iPhysicsWorld *	getWorld (uint64 id)

uint64	getDefaultWorldID ()

void	destroyWorld (uint64 id)

void	destroyWorld (iPhysicsWorld *world)

bool	isWorld (uint64 id)

void	convexCast (const iaMatrixd &matrix, const iaVector3d &target, iPhysicsCollision collisionVolume, iRayPreFilterDelegate preFilterDelegate, void userData, std::vector< iConvexCastReturnInfo > &result, int32 maxContactCount=10)

iPhysicsCollisionConfig *	createCollisionConfig ()

iPhysicsCollisionConfig *	getCollisionConfig (uint64 collisionConfigID)

void	destroyCollisionConfig (uint64 collisionConfigID)

void	destroyCollisionConfig (iPhysicsCollisionConfig *physicsCollisionConfig)

bool	isCollisionConfig (uint64 collisionConfigID)

iPhysicsJoint *	createJoint (iPhysicsBody body0, iPhysicsBody body1=nullptr, int maxDOF=6)

iPhysicsJoint *	getJoint (uint64 jointID)

bool	isJoint (uint64 jointID)

iPhysicsMaterial *	getMaterial (int64 id)

int64	getMaterialID (const iaString &name)

void	setMaterial (iPhysicsBody *body, int64 materialID)

iPhysicsMaterial *	getDefaultShader ()

int64	getDefaultMaterialID ()

iPhysicsBody *	createBody (iPhysicsCollision *collisionVolume)

void	destroyBody (iPhysicsBody *body)

void	destroyBodyAsync (iPhysicsBody *body)

void	destroyBody (uint64 bodyID)

iPhysicsBody *	getBody (uint64 bodyID)

bool	isBody (uint64 bodyID)

iPhysicsCollision *	createBox (float64 width, float64 height, float64 depth, const iaMatrixd &offset)

iPhysicsCollision *	createMesh (iMeshPtr mesh, int64 faceAttribute, const iaMatrixd &offset)

iPhysicsCollision *	createSphere (float64 radius, const iaMatrixd &offset)

iPhysicsCollision *	createCone (float64 radius, float64 height, const iaMatrixd &offset)

iPhysicsCollision *	createCapsule (float64 radius0, float64 radius1, float64 height, const iaMatrixd &offset)

iPhysicsCollision *	createCylinder (float64 radius0, float64 radius1, float64 height, const iaMatrixd &offset)

iPhysicsCollision *	createCompound (std::vector< iPhysicsCollision * > &collisions)

void	getMassMatrix (void *newtonBody, float64 &mass, float64 &Ixx, float64 &Iyy, float64 &Izz)

void	setMassMatrix (void *newtonBody, float64 mass, float64 Ixx, float64 Iyy, float64 Izz)

void	setUserJointAddAngularRow (iPhysicsJoint *joint, float64 relativeAngleError, const iaVector3d &pin)

void	setUserJointSetRowMinimumFriction (iPhysicsJoint *joint, float64 friction)

void	setUserJointSetRowMaximumFriction (iPhysicsJoint *joint, float64 friction)

void	bindTransformNode (iPhysicsBody body, iNodeTransform transformNode, bool sync=true)

Friends
class	iModule< iPhysics >

class	iPhysicsCollision

class	iTaskPhysics

class	iPhysicsBody

class	iPhysicsMaterialCombo

class	iPhysicsCollisionConfig

class	iApplication

void	PhysicsNodeDestructor (const void *body)

void	PhysicsNodeSetTransform (const void body, const float64 matrix, int threadIndex)

void	GenericContactProcessCompatible (const void *const newtonContactJoint, float64 timestep, int threadIndex)

Additional Inherited Members
Static Public Member Functions inherited from igor::iModule< iPhysics >
static IGOR_INLINE iPhysics &	getInstance ()

static IGOR_INLINE bool	isInstantiated ()

static void	createInstance ()

static void	destroyInstance ()

Protected Member Functions inherited from igor::iModule< iPhysics >
	iModule ()=default

virtual	~iModule ()=default

Detailed Description

wrapper for newton game dynamics

Member Function Documentation

◆ bindTransformNode()

void igor::iPhysics::bindTransformNode	(	iPhysicsBody *	body,
		iNodeTransform *	transformNode,
		bool	sync = `true`
	)

binds transform node to newton body

Parameters

body	handle to newton body
transformNode	transform node to bind
sync	if true the bodys matrix will be updated with the transform node one

◆ convexCast()

void igor::iPhysics::convexCast	(	const iaMatrixd &	matrix,
		const iaVector3d &	target,
		iPhysicsCollision *	collisionVolume,
		iRayPreFilterDelegate	preFilterDelegate,
		void *	userData,
		std::vector< iConvexCastReturnInfo > &	result,
		int32	maxContactCount = `10`
	)

◆ createBody()

iPhysicsBody * igor::iPhysics::createBody ( iPhysicsCollision * collisionVolume )

creates a newton body and connects it with a newton collision

Parameters

body	the collision to connect with

Returns: shared pointer to newton body

◆ createBox()

iPhysicsCollision * igor::iPhysics::createBox	(	float64	width,
		float64	height,
		float64	depth,
		const iaMatrixd &	offset
	)

creates newton collision in shape of a box

Parameters

width	width of box
height	height of box
depth	depth of box
offset	matrix as offset to origin

Returns: physics collision

◆ createCapsule()

iPhysicsCollision * igor::iPhysics::createCapsule	(	float64	radius0,
		float64	radius1,
		float64	height,
		const iaMatrixd &	offset
	)

creates newton collision in shape of a capsule

Parameters

radius	radius of capsule
height	height of capsule
offset	matrix as offset to origin

Returns: physics collision

◆ createCollisionConfig()

iPhysicsCollisionConfig * igor::iPhysics::createCollisionConfig ( )

creates a collision configuration

Returns: pointer to collision configuration

◆ createCompound()

iPhysicsCollision * igor::iPhysics::createCompound ( std::vector< iPhysicsCollision * > & collisions )

creates a collision compound from multiple collisions

Parameters

collisions list od collisions

Returns: a compound collision

◆ createCone()

iPhysicsCollision * igor::iPhysics::createCone	(	float64	radius,
		float64	height,
		const iaMatrixd &	offset
	)

creates newton collision in shape of a cone

Parameters

radius	radius of cone
height	height of cone
offset	matrix as offset to origin

Returns: physics collision

◆ createCylinder()

iPhysicsCollision * igor::iPhysics::createCylinder	(	float64	radius0,
		float64	radius1,
		float64	height,
		const iaMatrixd &	offset
	)

creates newton collision in shape of a cylinder

Parameters

radius	radius of cylinder
height	height of cylinder
offset	matrix as offset to origin

Returns: physics collision

◆ createJoint()

iPhysicsJoint * igor::iPhysics::createJoint	(	iPhysicsBody *	body0,
		iPhysicsBody *	body1 = `nullptr`,
		int	maxDOF = `6`
	)

creates a joint

◆ createMaterial()

iPhysicsMaterial * igor::iPhysics::createMaterial ( const iaString & name )

creates a material

Returns: pointer to new material

◆ createMesh()

iPhysicsCollision * igor::iPhysics::createMesh	(	iMeshPtr	mesh,
		int64	faceAttribute,
		const iaMatrixd &	offset
	)

creates a collision shape based on a mesh

Parameters

mesh	the mesh
faceAttribute	an integer attribute associated with the faces
offset	local offset matrix

Returns: physics collision

◆ createSphere()

iPhysicsCollision * igor::iPhysics::createSphere	(	float64	radius,
		const iaMatrixd &	offset
	)

creates newton collision in shape of a sphere

Parameters

radius	radius of sphere
offset	matrix as offset to origin

Returns: physics collision

◆ createWorld()

iPhysicsWorld * igor::iPhysics::createWorld ( )

creates a world

Returns: pointer to world

◆ destroyBody() [1/2]

void igor::iPhysics::destroyBody ( iPhysicsBody * body )

destroy physics body

Parameters

body	the body to destroy

◆ destroyBody() [2/2]

void igor::iPhysics::destroyBody ( uint64 bodyID )

destrox body by ID

Parameters

bodyID the ID of the body to be destroyed

◆ destroyBodyAsync()

void igor::iPhysics::destroyBodyAsync ( iPhysicsBody * body )

destroy physics body (asynchronous)

Parameters

body	the body to destroy

◆ destroyCollision() [1/2]

void igor::iPhysics::destroyCollision ( iPhysicsCollision * collision )

destroys physics collision

Parameters

collision the collision to destroy

◆ destroyCollision() [2/2]

void igor::iPhysics::destroyCollision ( uint64 collisionID )

destroys collision by id

Parameters

collisionID the collisions id

◆ destroyCollisionConfig() [1/2]

void igor::iPhysics::destroyCollisionConfig ( iPhysicsCollisionConfig * physicsCollisionConfig )

destroy collision configuration

Parameters

physicsCollisionConfig the collision configuration to destroy

◆ destroyCollisionConfig() [2/2]

void igor::iPhysics::destroyCollisionConfig ( uint64 collisionConfigID )

destroy collision configuration by id

Parameters

collisionConfigID collision configuration id

◆ destroyWorld() [1/2]

void igor::iPhysics::destroyWorld ( iPhysicsWorld * world )

destroy world

Parameters

world the world to destroy

◆ destroyWorld() [2/2]

void igor::iPhysics::destroyWorld ( uint64 id )

destroy world by id

Parameters

id world id

◆ getBody()

iPhysicsBody * igor::iPhysics::getBody ( uint64 bodyID )

Returns: body by given ID

\pram bodyID the body's ID

◆ getCollision()

iPhysicsCollision * igor::iPhysics::getCollision ( uint64 collisionID )

Returns: collision by id

Parameters

collisionID the collision id

◆ getCollisionConfig()

iPhysicsCollisionConfig * igor::iPhysics::getCollisionConfig ( uint64 collisionConfigID )

Returns: collision configuration by id

Parameters

collisionConfigID collision configuration id

◆ getDefaultMaterialID()

int64 igor::iPhysics::getDefaultMaterialID ( )

Returns: the default material id

◆ getDefaultShader()

iPhysicsMaterial * igor::iPhysics::getDefaultShader ( )

Returns: the default material

◆ getDefaultWorldID()

uint64 igor::iPhysics::getDefaultWorldID ( )

Returns: default world id

◆ getJoint()

iPhysicsJoint * igor::iPhysics::getJoint ( uint64 jointID )

Returns: joint by id

Parameters

jointID the joint id

◆ getMassMatrix()

void igor::iPhysics::getMassMatrix	(	void *	newtonBody,
		float64 &	mass,
		float64 &	Ixx,
		float64 &	Iyy,
		float64 &	Izz
	)

returns the mass matrix from given body

Parameters

newtonBody	the newton body
mass	the returned mass
Ixx	???
Iyy	???
Izz	???

◆ getMaterial()

iPhysicsMaterial * igor::iPhysics::getMaterial ( int64 id )

Returns: physics material by ID

Parameters

id	the id of the physics material

◆ getMaterialID()

int64 igor::iPhysics::getMaterialID ( const iaString & name )

Returns: material id by name

Parameters

name	the name of the material

◆ getSimulationRate()

float64 igor::iPhysics::getSimulationRate ( )

Returns: simulation rate

◆ getWorld()

iPhysicsWorld * igor::iPhysics::getWorld ( uint64 id )

Returns: world by id

Parameters

id world id

◆ isBody()

bool igor::iPhysics::isBody ( uint64 bodyID )

Returns: true if id belongs to a body

◆ isCollisionConfig()

bool igor::iPhysics::isCollisionConfig ( uint64 collisionConfigID )

Returns: true if id belongs to a collision configuration

Parameters

collisionConfigID id of collision configuration

◆ isJoint()

bool igor::iPhysics::isJoint ( uint64 jointID )

Returns: true if id is a joint

Parameters

jointID the joint id

◆ isWorld()

bool igor::iPhysics::isWorld ( uint64 id )

Returns: true if id belongs to a world

Parameters

id	id of world

◆ setMassMatrix()

void igor::iPhysics::setMassMatrix	(	void *	newtonBody,
		float64	mass,
		float64	Ixx,
		float64	Iyy,
		float64	Izz
	)

the mass matrix of newton body

Parameters

newtonBody	handle to newton body
mass	mass of newton body
Ixx	???
Iyy	???
Izz	???

◆ setMaterial()

void igor::iPhysics::setMaterial	(	iPhysicsBody *	body,
		int64	materialID
	)

configures material for body

Parameters

body	the body to configure the material
materialID	the material's id to set

◆ setSimulationRate()

void igor::iPhysics::setSimulationRate ( float64 simulationRate )

set's the simulation rate in Hz

default is 120Hz

Parameters

simulationRate simulation rate in Hz

◆ setUserJointAddAngularRow()

void igor::iPhysics::setUserJointAddAngularRow	(	iPhysicsJoint *	joint,
		float64	relativeAngleError,
		const iaVector3d &	pin
	)

◆ setUserJointSetRowMaximumFriction()

void igor::iPhysics::setUserJointSetRowMaximumFriction	(	iPhysicsJoint *	joint,
		float64	friction
	)

◆ setUserJointSetRowMinimumFriction()

void igor::iPhysics::setUserJointSetRowMinimumFriction	(	iPhysicsJoint *	joint,
		float64	friction
	)

◆ start()

void igor::iPhysics::start ( )

registers handle to application handle event

◆ stop()

void igor::iPhysics::stop ( )

unregisters handle from application handle event

Friends And Related Function Documentation

◆ GenericContactProcessCompatible

void GenericContactProcessCompatible	(	const void *const	newtonContactJoint,
		float64	timestep,
		int	threadIndex
	)

friend

generic handle to handle contacts between two bodies

Parameters

newtonContactJoint	the contact joint
timestep	time delta
threadIndex	thread index

◆ iApplication

friend class iApplication

friend

◆ iModule< iPhysics >

friend class iModule< iPhysics >

friend

◆ iPhysicsBody

friend class iPhysicsBody

friend

◆ iPhysicsCollision

friend class iPhysicsCollision

friend

◆ iPhysicsCollisionConfig

friend class iPhysicsCollisionConfig

friend

◆ iPhysicsMaterialCombo

friend class iPhysicsMaterialCombo

friend

◆ iTaskPhysics

friend class iTaskPhysics

friend

◆ PhysicsNodeDestructor

void PhysicsNodeDestructor ( const void * body )

friend

callback for physics body destruction

Parameters

body	pointer to body that got destroyed

◆ PhysicsNodeSetTransform

void PhysicsNodeSetTransform	(	const void *	body,
		const float64 *	matrix,
		int	threadIndex
	)

friend

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

/home/martin/dev/Igor/src/igor/igor/physics/iPhysics.h
/home/martin/dev/Igor/src/igor/igor/physics/iPhysics.cpp

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ bindTransformNode()

◆ convexCast()

◆ createBody()

◆ createBox()

◆ createCapsule()

◆ createCollisionConfig()

◆ createCompound()

◆ createCone()

◆ createCylinder()

◆ createJoint()

◆ createMaterial()

◆ createMesh()

◆ createSphere()

◆ createWorld()

◆ destroyBody() [1/2]

◆ destroyBody() [2/2]

◆ destroyBodyAsync()

◆ destroyCollision() [1/2]

◆ destroyCollision() [2/2]

◆ destroyCollisionConfig() [1/2]

◆ destroyCollisionConfig() [2/2]

◆ destroyWorld() [1/2]

◆ destroyWorld() [2/2]

◆ getBody()

◆ getCollision()

◆ getCollisionConfig()

◆ getDefaultMaterialID()

◆ getDefaultShader()

◆ getDefaultWorldID()

◆ getJoint()

◆ getMassMatrix()

◆ getMaterial()

◆ getMaterialID()

◆ getSimulationRate()

◆ getWorld()

◆ isBody()

◆ isCollisionConfig()

◆ isJoint()

◆ isWorld()

◆ setMassMatrix()

◆ setMaterial()

◆ setSimulationRate()

◆ setUserJointAddAngularRow()

◆ setUserJointSetRowMaximumFriction()

◆ setUserJointSetRowMinimumFriction()

◆ start()

◆ stop()

Friends And Related Function Documentation

◆ GenericContactProcessCompatible

◆ iApplication

◆ iModule< iPhysics >

◆ iPhysicsBody

◆ iPhysicsCollision

◆ iPhysicsCollisionConfig

◆ iPhysicsMaterialCombo

◆ iTaskPhysics

◆ PhysicsNodeDestructor

◆ PhysicsNodeSetTransform