Physics2D simulation base scene. More...

Public Types
enum	BroadOpType { Or, And }
	Switch the combination of collisionFilter and groupFilter. More...
enum	SleepAlgorithmType { BroadphaseBase, NarrowphaseBase }
	Switch the algorithm of checking sleep status. More...
Public Member Functions
bool	RaycastHit (ref RayHit ray)
	Raycast check.
bool	RaycastHit (ref RayHit ray, uint collisionFilter, uint groupFilter)
	Raycast check.
	PhysicsScene ()
	Default Constructor.
void	Simulate ()
	Simulate.
void	Simulate (int click_index, Vector2 click_pos, Vector2 diff_pos)
	Simulate.
PhysicsShape	AddSphereShape (float radius)
	Add sphere shape to the scene.
PhysicsShape	AddBoxShape (Vector2 width)
	Add box shape to the scene.
PhysicsShape	AddConvexShape (Vector2[] pos, int num)
	Add convex shape to the scene.
PhysicsShape	AddConvexHullShape (Vector2[] pos, int num)
	Add convex hull shape comoposed of random points to the scene.
PhysicsShape	AddLineChainShape (Vector2[] pos, int num)
	Add chain of line segments to the scene.
PhysicsBody	AddBody (int shapeIndex, float mass)
	Add Rigid Body.
PhysicsBody	AddBody (PhysicsShape shape, float mass)
	Add Rigid Body.
Vector2	MergeCompound (PhysicsBody[] bodyList, int num, bool flag=true)
	Merge of rigid body.
PhysicsJoint	AddJoint (int bodyIndex1, int bodyIndex2, Vector2 anchorPos)
	Add joint.
PhysicsJoint	AddJoint (PhysicsBody body1, PhysicsBody body2, Vector2 anchorPos)
	Add joint.
PhysicsSpring	AddSpring (int bodyIndex1, int bodyIndex2, Vector2 anchorPos1, Vector2 anchorPos2)
	Add joint.
PhysicsSpring	AddSpring (PhysicsBody body1, PhysicsBody body2, Vector2 anchorPos1, Vector2 anchorPos2)
	Add spring.
int	DeleteJoint (int index)
	DeleteJoint.
int	DeleteJoint (PhysicsJoint joint)
	DeleteJoint.
int	DeleteSpring (int index)
	DeleteSpring.
int	DeleteSpring (PhysicsSpring spring)
	DeleteSpring.
int	DeleteBody (int index)
	DeleteBody.
int	DeleteBody (PhysicsBody body)
	DeleteBody.
bool	QueryContact (uint index1, uint index2)
	Check whether there is a collision between index1 and index2.
bool	QueryContact (PhysicsBody body1, PhysicsBody body2)
	Check whether there is a collision between index1 and index2.
int	QueryContactTrigger (uint index, uint[] indexlist)
	Check whether there is a collision between trigger rigid body and others.
int	GetShapeIndex (PhysicsShape shape)
	Get index of collision shape.
int	GetBodyIndex (PhysicsBody body)
	Get index of rigid body.
int	GetJointIndex (PhysicsJoint joint)
	Get index of joint.
int	GetSpringIndex (PhysicsSpring spring)
	Get index of spring.
PhysicsShape	GetShape (int index)
	Get collilsion shape.
PhysicsBody	GetBody (int index)
	Get rigid body.
PhysicsJoint	GetJoint (int index)
	Get joint.
PhysicsSpring	GetSpring (int index)
	Get spring.
void	AddIgnorePair (uint index1, uint index2)
	Add the pair to ignore list.
void	AddIgnorePair (PhysicsBody body1, PhysicsBody body2)
	Add the pair to ignore list.
void	RemoveIgnorePair (uint index1, uint index2)
	Remove the pair from ignore list.
void	RemoveIgnorePair (PhysicsBody body1, PhysicsBody body2)
	Remove the pair from ignore list.
bool	CheckOutOfBound (PhysicsBody body)
	if outside of the main area, object will not be considered to take care
int	CheckPicking (ref Vector2 click_pos, ref Vector2 diff_pos, bool rigorous_check)
	check whether any rigid body is under touch point
int	CheckForcePicking (ref Vector2 click_pos, ref Vector2 diff_pos, bool rigorous_check)
	check whether any rigid body is under touch point
virtual void	InitScene ()
	Clear numbers of properties of scene.
virtual void	ReleaseScene ()
	user should define that all resources are released including debug rendering objects
virtual void	KeyboardFunc (GamePadButtons ePad)
	user should define Game pad handling
virtual void	UpdateFuncAfterSim ()
	Post simulation, user update based on contact points...
virtual void	UpdateFuncBeforeSim ()
	Pre simulation, user update to force positions changes...
virtual void	DrawAllBody (ref GraphicsContext graphics, ref ShaderProgram program, Matrix4 rendering_scale, int click_index)
	User can define how to render rigid body.
virtual void	DrawAdditionalInfo (ref GraphicsContext graphics, ref ShaderProgram program, Matrix4 rendering_scale)
	User can define additional debug rendering.
Public Attributes
int	numBody = 0
	number of rigid sceneBodies in the scene
int	numJoint = 0
	number of joints in the scene
int	numSpring = 0
	number of springs in the scene
int	numShape = 0
	number of shapes in the scene
int	numBroadPair = 0
	number of broad phase collision pairs
int	numPhysicsSolverPair = 0
	number of narrow phase collision pairs
int	numOldPhysicsSolverPair = 0
	number of old narrow phase collision pairs
PhysicsBody[]	sceneBodies = new PhysicsBody[maxBody]
	array of rigid sceneBodies in the scene
PhysicsShape[]	sceneShapes = new PhysicsShape[maxShape]
	array of shapes in the scene
uint[]	broadPair = new uint[maxContacts]
	array of broad phase collision pairs in the scene
PhysicsSolverPair[]	solverPair = new PhysicsSolverPair[maxContacts]
	array of solver pairs in the scene
PhysicsJoint[]	sceneJoints = new PhysicsJoint[maxJoint]
	array of joints in the scene
PhysicsSpring[]	sceneSprings = new PhysicsSpring[maxSpring]
	array of springs in the scene
uint[]	compoundMap = new uint[maxBody]
	compound map in the scene
float	simDt = 1.0f/60.0f
	simulation time step in the scene
Vector2	gravity = new Vector2(0, -9.8f)
	gravity in the scene
Vector2	sceneMin = new Vector2(-1000.0f, -1000.0f)
	minimum value of bounding box of simulation area
Vector2	sceneMax = new Vector2(1000.0f, 1000.0f)
	maximum value of bounding box of simulation area
ulong	sceneFrame = 0
	scene frame number of this simulation
string	sceneName = "Scene made by Physics2DEngine"
	scene name of this simulation
int	numIgnorePair = 0
	number of ignore pairs in the scene
uint[]	ignorePair = new uint[maxIgnore]
	array of ignore pairs in the scene
bool	printPerf = false
	print out performance of each simulation phase
bool	uniqueProperty = true
	whether use unique value for the scene
float	penetrationRepulse = 0.2f
	repulse acceleration for penetration
float	penetLimit = 0.03f
	penetration limitation
float	tangentFriction = 0.3f
	tangent friction for repulse
float	restitutionCoeff = 0.0f
	restitution coefficient for repulse
SleepAlgorithmType	sleepAlgorithm = SleepAlgorithmType.BroadphaseBase
	sleep algorithm based on broadphase or narrow phase
BroadOpType	filterOp
	filterOp
Properties
int	NumBody `[get, set]`
	setter and getter of numBody
int	NumJoint `[get, set]`
	setter and getter of numJoint
int	NumSpring `[get, set]`
	setter and getter of numSpring
int	NumShape `[get, set]`
	setter and getter of numShape
int	NumBroadPair `[get, set]`
	setter and getter of numBroadPair
int	NumPhysicsSolverPair `[get, set]`
	setter and getter of numPhysicsSolverPair
int	NumOldPhysicsSolverPair `[get, set]`
	setter and getter of numOldPhysicsSolverPair
PhysicsBody[]	SceneBodies `[get, set]`
	setter and getter of sceneBodies
PhysicsShape[]	SceneShapes `[get, set]`
	setter and getter of sceneShapes
PhysicsJoint[]	SceneJoints `[get, set]`
	setter and getter of sceneJoints
PhysicsSpring[]	SceneSprings `[get, set]`
	setter and getter of sceneSprings
float	SimDt `[get, set]`
	setter and getter of simDt
Vector2	Gravity `[get, set]`
	setter and getter of gravity
Vector2	SceneMin `[get, set]`
	setter and getter of sceneMin
Vector2	SceneMax `[get, set]`
	setter and getter of sceneMax
ulong	SceneFrame `[get, set]`
	setter and getter of sceneFrame
string	SceneName `[get, set]`
	setter and getter of sceneName
int	NumIgnorePair `[get, set]`
	setter and getter of numIgnorePair
uint[]	IgnorePair `[get, set]`
	setter and getter of ignorePair
bool	PrintPerf `[get, set]`
	setter and getter of printPerf
bool	UniqueProperty `[get, set]`
	setter and getter of uniqueProperty
float	PenetrationRepulse `[get, set]`
	setter and getter of penetrationRepulse
float	PenetLimit `[get, set]`
	setter and getter of penetLimit
float	TangentFriction `[get, set]`
	setter and getter of tangentFriction
float	RestitutionCoeff `[get, set]`
	setter and getter of restitutionCoeff
BroadOpType	FilterOp `[get, set]`
	setter and getter of filterOp
uint[]	CompoundMap `[get, set]`
	setter and getter of compoundMap
PhysicsSolverPair[]	SolverPair `[get]`
	getter of solverPair
uint[]	BroadPair `[get]`
	getter of broadPair
SleepAlgorithmType	SleepAlgorithm `[get, set]`
	setter and getter of sleepAlgorithm

Detailed Description

Physics2D simulation base scene.

Member Enumeration Documentation

enum BroadOpType

Switch the combination of collisionFilter and groupFilter.

Enumerator:

Or	OR operation.
And	AND operation.

enum SleepAlgorithmType

Switch the algorithm of checking sleep status.

Enumerator:

BroadphaseBase	Based on broadphase collision.
NarrowphaseBase	Based on narrowphase collision.

Member Function Documentation

PhysicsBody AddBody	(	int	shapeIndex,
		float	mass
	)

Add Rigid Body.

Parameters:

shapeIndex	index of collision shape
mass	mass of rigid body

Returns:: reference to this rigid body

increment numBody automatically by this function

PhysicsBody AddBody	(	PhysicsShape	shape,
		float	mass
	)

Add Rigid Body.

Parameters:

shape	reference to collision shape
mass	mass of rigid body

Returns:: reference to this rigid body

increment numBody automatically by this function

PhysicsShape AddBoxShape ( Vector2 width )

Add box shape to the scene.

Parameters:

width half width of box

width param is half width of box
increment numShape automatically by this function

PhysicsShape AddConvexHullShape	(	Vector2[]	pos,
		int	num
	)

Add convex hull shape comoposed of random points to the scene.

Parameters:

num	random point set
num	number of random point set

the limitation of number of point list containd by convex shape is 30
increment numShape automatically by this function

PhysicsShape AddConvexShape	(	Vector2[]	pos,
		int	num
	)

Add convex shape to the scene.

Parameters:

pos	point list for convex shape
num	num of point list for convex shape

the limitation of number of point list containd by convex shape is 30
increment numShape automatically by this function

void AddIgnorePair	(	uint	index1,
		uint	index2
	)

Add the pair to ignore list.

Parameters:

index1	one of the pair
index2	the other of the pair

void AddIgnorePair	(	PhysicsBody	body1,
		PhysicsBody	body2
	)

Add the pair to ignore list.

Parameters:

body1	one of the pair
body2	the other of the pair

PhysicsJoint AddJoint	(	int	bodyIndex1,
		int	bodyIndex2,
		Vector2	anchorPos
	)

Add joint.

Parameters:

bodyIndex1	index of one of rigid body pair
bodyIndex2	index of the other of rigid body pair
anchorPos	anchor position of joint

Returns:: reference to this joint

increment numJoint automatically by this function

PhysicsJoint AddJoint	(	PhysicsBody	body1,
		PhysicsBody	body2,
		Vector2	anchorPos
	)

Add joint.

Parameters:

body1	reference to one of rigid body pair
body2	reference to the other of rigid body pair
anchorPos	anchor position of joint

Returns:: reference to this joint

increment numJoint automatically by this function

PhysicsShape AddLineChainShape	(	Vector2[]	pos,
		int	num
	)

Add chain of line segments to the scene.

Parameters:

pos	point list for line shape
num	num of point list for convex shape

the limitation of number of point list containd by convex shape is 30, and this is only for static rigid body
increment numShape automatically by this function

PhysicsShape AddSphereShape ( float radius )

Add sphere shape to the scene.

Parameters:

radius radius of sphere

increment numShape automatically by this function

PhysicsSpring AddSpring	(	PhysicsBody	body1,
		PhysicsBody	body2,
		Vector2	anchorPos1,
		Vector2	anchorPos2
	)

Add spring.

Parameters:

body1	reference to one of rigid body pair
body2	reference to the other of rigid body pair
anchorPos1	one of anchor position of joint
anchorPos2	the other of anchor positions of spring

Returns:: reference to this spring

increment numSpring automatically by this function

PhysicsSpring AddSpring	(	int	bodyIndex1,
		int	bodyIndex2,
		Vector2	anchorPos1,
		Vector2	anchorPos2
	)

Add joint.

Parameters:

bodyIndex1	index of one of rigid body pair
bodyIndex2	index of the other of rigid body pair
anchorPos	anchor position of joint

Returns:: reference to this joint

increment numJoint automatically by this function

int CheckForcePicking	(	ref Vector2	click_pos,
		ref Vector2	diff_pos,
		bool	rigorous_check
	)

check whether any rigid body is under touch point

Parameters:

click_pos	given touch point
diff_pos	difference between touch point and center of rigid body
rigorous_check	whether rigorous check is done

Returns:: return index of rigid body which is under touch point, if there are no any rigid sceneBodies, then return -1
This function returns index even if its index is belong to static rigid body

bool CheckOutOfBound ( PhysicsBody body )

if outside of the main area, object will not be considered to take care

Parameters:

body	give rigid body

Returns:: whether it exists out side of the main area

int CheckPicking	(	ref Vector2	click_pos,
		ref Vector2	diff_pos,
		bool	rigorous_check
	)

check whether any rigid body is under touch point

Parameters:

click_pos	given touch point
diff_pos	difference between touch point and center of rigid body
rigorous_check	whether rigorous check is done

Returns:: return index of rigid body which is under touch point, if there are no any rigid sceneBodies, then return -1

int DeleteBody ( int index )

DeleteBody.

Parameters:

index index of rigid body

Returns:: total number of joints of scene

This will requires rearrangment of internal cache data used by simulation.
When you want to remove many objects within one frame, you should be careful about the performance, and it is recommended not to remove many objects at once as much as possible and try to consider other ways such that unused objects are put outside the area of simulation
When compound rigid body is given, all rigid bodies related to it are removed.

int DeleteBody ( PhysicsBody body )

DeleteBody.

Parameters:

body	reference to rigid body

Returns:: total number of joints of scene

This will requires rearrangment of internal cache data used by simulation.
When you want to remove many objects within one frame, you should be careful about the performance, and it is recommended not to remove many objects at once as much as possible and try to consider other ways such that unused objects are put outside the area of simulation
When compound rigid body is given, all rigid bodies related to it are removed.

int DeleteJoint ( int index )

DeleteJoint.

Parameters:

index1 index of joint

Returns:: total number of joints of scene after removing the joint

int DeleteJoint ( PhysicsJoint joint )

DeleteJoint.

Parameters:

joint reference to joint

Returns:: total number of joints of scene after removing the joint

int DeleteSpring ( PhysicsSpring spring )

DeleteSpring.

Parameters:

spring reference to spring

Returns:: total number of springs of scene after removing the spring

int DeleteSpring ( int index )

DeleteSpring.

Parameters:

index index of spring

Returns:: total number of springs of scene after removing the spring

virtual void DrawAdditionalInfo	(	ref GraphicsContext	graphics,
		ref ShaderProgram	program,
		Matrix4	rendering_scale
	)		`[virtual]`

User can define additional debug rendering.

Parameters:

graphics	given graphics context
program	given shader program
rendering_scale	given rendering scale

virtual void DrawAllBody	(	ref GraphicsContext	graphics,
		ref ShaderProgram	program,
		Matrix4	rendering_scale,
		int	click_index
	)		`[virtual]`

User can define how to render rigid body.

Parameters:

graphics	given graphics context
program	given shader program
rendering_scale	given rendering scale
click_index	given touch point index

PhysicsBody GetBody ( int index )

Get rigid body.

Parameters:

index index of rigid body

Returns:: if it is not found, null will be returned

int GetBodyIndex ( PhysicsBody body )

Get index of rigid body.

Parameters:

body	rigid body

Returns:: if it is not found, -1 will be returned

PhysicsJoint GetJoint ( int index )

Get joint.

Parameters:

index index of joint

Returns:: if it is not found, null will be returned

int GetJointIndex ( PhysicsJoint joint )

Get index of joint.

Parameters:

joint joint

Returns:: if it is not found, -1 will be returned

PhysicsShape GetShape ( int index )

Get collilsion shape.

Parameters:

index index of shape

Returns:: if it is not found, null will be returned

int GetShapeIndex ( PhysicsShape shape )

Get index of collision shape.

Parameters:

shape collision shape

Returns:: if it is not found, -1 will be returned

PhysicsSpring GetSpring ( int index )

Get spring.

Parameters:

index index of spring

Returns:: if it is not found, null will be returned

int GetSpringIndex ( PhysicsSpring spring )

Get index of spring.

Parameters:

spring spring

Returns:: if it is not found, -1 will be returned

virtual void KeyboardFunc ( GamePadButtons ePad ) [virtual]

user should define Game pad handling

Parameters:

ePad	game pad input

Vector2 MergeCompound	(	PhysicsBody[]	bodyList,
		int	num,
		bool	flag = `true`
	)

Merge of rigid body.

To merge multiple objects (compound object), bodyList should be given in manner of the ascending order

Parameters:

bodyList	given rigid body list of the scene
num	given number of rigid sceneBodies to be attached
flag	whether rearrange the position of merged rigid body

bool QueryContact	(	uint	index1,
		uint	index2
	)

Check whether there is a collision between index1 and index2.

Parameters:

index1	one of rigid body pair
index2	the other of rigid body pair

Returns:: the result is true if there is a collision

bool QueryContact	(	PhysicsBody	body1,
		PhysicsBody	body2
	)

Check whether there is a collision between index1 and index2.

Parameters:

body1	one of rigid body pair
body2	the other of rigid body pair

Returns:: the result is true if there is a collision

int QueryContactTrigger	(	uint	index,
		uint[]	indexlist
	)

Check whether there is a collision between trigger rigid body and others.

Parameters:

index	index of trigger rigid body
indexlist	index list which contact with the trigger will be saved

Returns:: number of rigid bodies which contact with the trigger

bool RaycastHit	(	ref RayHit	ray,
		uint	collisionFilter,
		uint	groupFilter
	)

Raycast check.

Parameters:

ray	Ray information for raycast
collisionFilter	collision filter as usual collision
groupFilter	group filter as usual collision

Returns:: return wheter ray hit exsists

bool RaycastHit ( ref RayHit ray )

Raycast check.

Parameters:

ray	Ray information for raycast

Returns:: return wheter ray hit exsists

void RemoveIgnorePair	(	PhysicsBody	body1,
		PhysicsBody	body2
	)

Remove the pair from ignore list.

Parameters:

body1	one of the pair
body2	the other of the pair

void RemoveIgnorePair	(	uint	index1,
		uint	index2
	)

Remove the pair from ignore list.

Parameters:

index1	one of the pair
index2	the other of the pair

void Simulate	(	int	click_index,
		Vector2	click_pos,
		Vector2	diff_pos
	)

Simulate.

Parameters:

click_index	one of rigid body pair
click_pos	the other of rigid body pair
diff_pos	sceneShapes of the scene

Simulate function including user-click event manipulation

virtual void UpdateFuncAfterSim ( ) [virtual]

Post simulation, user update based on contact points...

etc

virtual void UpdateFuncBeforeSim ( ) [virtual]

Pre simulation, user update to force positions changes...

etc

Member Data Documentation

uint [] compoundMap = new uint[maxBody]

compound map in the scene

internal use only

BroadOpType filterOp

filterOp

OR / AND switch for collision and group filter combination

Property Documentation

uint [] BroadPair [get]

getter of broadPair

setter is not provided

PhysicsSolverPair [] SolverPair [get]

getter of solverPair

setter is not provided

PhysicsScene Class Reference

Public Types

Public Member Functions

Public Attributes

Properties

Detailed Description

Member Enumeration Documentation

Member Function Documentation

Member Data Documentation

Property Documentation