Owns the Bullet dynamics world and dispatches engine collision events. More...

#include <PhysicsEngine.h>

Collaboration diagram for Engine::Core::PhysicsEngine:

Classes
struct	ComponentPairKey
struct	PendingActorEvent
struct	PendingComponentEvent
struct	RuntimeBodySlot
struct	RuntimeCollisionSlot

Public Member Functions
	PhysicsEngine ()
	Creates a physics engine using the active collision profile registry.
	PhysicsEngine (Physics::CollisionProfileRegistry *collisionProfileRegistry)
	Creates a physics engine with an explicit collision profile registry.
	~PhysicsEngine ()
	Removes remaining Bullet objects and destroys the Bullet world infrastructure.
void	setCollisionProfileRegistry (Physics::CollisionProfileRegistry *collisionProfileRegistry)
	Sets the collision profile registry used by collision events and filtered queries.
Physics::CollisionProfileRegistry *	getCollisionProfileRegistry () const
	Gets the collision profile registry assigned to this physics engine.
void	onPhysicsComponentDestroyed (entt::registry &registry, entt::entity entity)
	Cleans up legacy ECS physics data when a SimulatesPhysics component is destroyed.
void	update (double deltaTimeSeconds)
	Steps the physics simulation and queues collision events.
void	dispatchQueuedCollisionEvents ()
	Dispatches collision events queued by the last PhysicsEngine::update() call.
Physics::PhysicsBodyHandle	registerBody (Components::PhysicsBody *body)
	Registers a physics body component for handle-based lookup.
void	unregisterBody (Physics::PhysicsBodyHandle handle)
	Unregisters a physics body handle and queues End events for active pairs that reference it.
Components::PhysicsBody *	resolve (Physics::PhysicsBodyHandle handle) const
	Resolves a runtime body handle to a physics body component.
Physics::CollisionHandle	registerCollision (Components::Collision *collision)
	Registers a collision component for handle-based lookup.
void	unregisterCollision (Physics::CollisionHandle handle)
	Unregisters a collision handle and queues End events for active pairs that reference it.
Components::Collision *	resolve (Physics::CollisionHandle handle) const
	Resolves a runtime collision handle to a collision component.
btDiscreteDynamicsWorld *	getDynamicsWorld () const
	Gets the Bullet dynamics world used by this physics engine.
bool	raycastClosest (const glm::vec3 &origin, const glm::vec3 &direction, float maxDistance, Physics::RaycastHit &outHit) const
	Casts a ray through the physics world and returns the closest hit, if any.
bool	raycastClosest (const glm::vec3 &origin, const glm::vec3 &direction, float maxDistance, const Physics::PhysicsQueryFilter &filter, Physics::RaycastHit &outHit) const
	Casts a filtered ray through the physics world and returns the closest hit, if any.
bool	sphereSweepClosest (const glm::vec3 &from, const glm::vec3 &to, float radius, Physics::RaycastHit &outHit, const btCollisionObject *ignoredObject=nullptr) const
	Sweeps a sphere through the physics world and returns the closest overlap hit, if any.
bool	sphereSweepClosest (const glm::vec3 &from, const glm::vec3 &to, float radius, const Physics::PhysicsQueryFilter &filter, Physics::RaycastHit &outHit, const btCollisionObject *ignoredObject=nullptr) const
	Sweeps a filtered sphere through the physics world and returns the closest hit, if any.
bool	sphereClosest (const glm::vec3 &position, float radius, Physics::RaycastHit &outHit, const btCollisionObject *ignoredObject=nullptr) const
	Tests a sphere at one position and returns the closest overlapping collision object, if any.
bool	sphereClosest (const glm::vec3 &position, float radius, const Physics::PhysicsQueryFilter &filter, Physics::RaycastHit &outHit, const btCollisionObject *ignoredObject=nullptr) const
	Tests a filtered sphere and returns the closest overlapping collision object, if any.
btRigidBody *	createRigidBody (const Physics::RigidBodyCreateInfo &info) const
	Creates and adds a rigid body to the physics world with default Bullet collision filters.
btRigidBody *	createRigidBody (const Physics::RigidBodyCreateInfo &info, std::uint16_t collisionGroup, std::uint16_t collisionMask) const
	Creates and adds a rigid body to the physics world with explicit Bullet collision filters.
void	removeRigidBody (btRigidBody *body) const
	Removes a rigid body from the physics world and deletes it.
void	debugDrawAll () const
	Draws debug visualization of all collision shapes in the world.

Static Public Member Functions
static btCollisionShape *	createBoxShape (const glm::vec3 &halfExtents)
	Creates a box collision shape.
static btCollisionShape *	createSphereShape (float radius)
	Creates a sphere collision shape.
static btCollisionShape *	createCapsuleShape (float radius, float height)
	Creates a capsule collision shape aligned to Bullet's Y axis.
static btCollisionShape *	createPlaneShape (const glm::vec3 &surfaceNormal, float distanceFromOrigin)
	Creates an infinite static plane collision shape.
static btCollisionShape *	createConvexHullShape (const std::vector< glm::vec3 > &vertices)
	Creates a convex hull collision shape from vertex positions.
static btCollisionShape *	createTriangleMeshShape (const std::vector< glm::vec3 > &vertices, const std::vector< uint32_t > &indices, btTriangleMesh *&triangleMeshOut)
	Creates a static triangle mesh collision shape from vertices and triangle indices.
static btCompoundShape *	createCompoundShape ()
	Creates an empty compound collision shape.

Private Member Functions
void	collectCollisionEvents ()
void	queueDirectedEvents (const ComponentPairKey &pair, Physics::CollisionEventType eventType)
void	queueInvalidationEndEvents (Physics::PhysicsBodyHandle bodyHandle, Physics::CollisionHandle collisionHandle)
void	buildActorEvents ()
bool	bodyMatchesQueryFilter (const Components::PhysicsBody *body, const Physics::PhysicsQueryFilter &filter) const

Private Attributes
Physics::CollisionProfileRegistry *	collisionProfileRegistry_ = nullptr
std::vector< RuntimeBodySlot >	bodySlots_
std::vector< RuntimeCollisionSlot >	collisionSlots_
std::uint32_t	nextBodyId_ = 1
std::uint32_t	nextCollisionId_ = 1
std::set< ComponentPairKey >	previousComponentPairs_
std::vector< PendingComponentEvent >	pendingLifetimeComponentEvents_
std::vector< PendingComponentEvent >	pendingComponentEvents_
std::vector< PendingActorEvent >	pendingActorEvents_
btBroadphaseInterface *	broadphase
btCollisionConfiguration *	collisionConfiguration
btCollisionDispatcher *	dispatcher
btConstraintSolver *	solver
btDiscreteDynamicsWorld *	dynamicsWorld

Detailed Description

Owns the Bullet dynamics world and dispatches engine collision events.

PhysicsEngine creates Bullet world infrastructure, steps simulation, runs physics queries, and maps runtime physics handles back to engine components. Collision callbacks are collected during PhysicsEngine::update() and dispatched by PhysicsEngine::dispatchQueuedCollisionEvents().

Definition at line 85 of file PhysicsEngine.h.

Constructor & Destructor Documentation

◆ PhysicsEngine() [1/2]

Engine::Core::PhysicsEngine::PhysicsEngine ( )

Creates a physics engine using the active collision profile registry.

◆ PhysicsEngine() [2/2]

Engine::Core::PhysicsEngine::PhysicsEngine ( Physics::CollisionProfileRegistry * collisionProfileRegistry )

explicit

Creates a physics engine with an explicit collision profile registry.

Parameters

collisionProfileRegistry Registry used for collision responses and query filters.

◆ ~PhysicsEngine()

Engine::Core::PhysicsEngine::~PhysicsEngine ( )

Removes remaining Bullet objects and destroys the Bullet world infrastructure.

Member Function Documentation

◆ bodyMatchesQueryFilter()

bool Engine::Core::PhysicsEngine::bodyMatchesQueryFilter	(	const Components::PhysicsBody *	body,
		const Physics::PhysicsQueryFilter &	filter ) const

nodiscardprivate

◆ buildActorEvents()

void Engine::Core::PhysicsEngine::buildActorEvents ( )

private

◆ collectCollisionEvents()

void Engine::Core::PhysicsEngine::collectCollisionEvents ( )

private

◆ createBoxShape()

btCollisionShape * Engine::Core::PhysicsEngine::createBoxShape ( const glm::vec3 & halfExtents )

static

Creates a box collision shape.

Parameters

halfExtents Half-size of the box on each local axis, in meters.

Returns: New Bullet collision shape. The caller owns the shape.

◆ createCapsuleShape()

btCollisionShape * Engine::Core::PhysicsEngine::createCapsuleShape	(	float	radius,
		float	height )

static

Creates a capsule collision shape aligned to Bullet's Y axis.

Parameters

radius	Capsule radius in meters.
height	Capsule cylinder height in meters.

Returns: New Bullet collision shape. The caller owns the shape.

◆ createCompoundShape()

btCompoundShape * Engine::Core::PhysicsEngine::createCompoundShape ( )

static

Creates an empty compound collision shape.

Returns: New Bullet compound shape. The caller owns the shape.

◆ createConvexHullShape()

btCollisionShape * Engine::Core::PhysicsEngine::createConvexHullShape ( const std::vector< glm::vec3 > & vertices )

static

Creates a convex hull collision shape from vertex positions.

Parameters

vertices Vertex positions used to build the hull.

Returns: New Bullet collision shape. The caller owns the shape.

◆ createPlaneShape()

btCollisionShape * Engine::Core::PhysicsEngine::createPlaneShape	(	const glm::vec3 &	surfaceNormal,
		float	distanceFromOrigin )

static

Creates an infinite static plane collision shape.

Parameters

surfaceNormal	Plane normal.
distanceFromOrigin	Plane distance from world origin along `surfaceNormal`.

Returns: New Bullet collision shape. The caller owns the shape.

◆ createRigidBody() [1/2]

btRigidBody * Engine::Core::PhysicsEngine::createRigidBody ( const Physics::RigidBodyCreateInfo & info ) const

nodiscard

Creates and adds a rigid body to the physics world with default Bullet collision filters.

The created body owns a Bullet motion state. Remove it with PhysicsEngine::removeRigidBody() unless the engine removes it through ECS physics cleanup.

Parameters

info	Rigid body creation parameters.

Returns: New Bullet rigid body added to the world.

◆ createRigidBody() [2/2]

btRigidBody * Engine::Core::PhysicsEngine::createRigidBody	(	const Physics::RigidBodyCreateInfo &	info,
		std::uint16_t	collisionGroup,
		std::uint16_t	collisionMask ) const

nodiscard

Creates and adds a rigid body to the physics world with explicit Bullet collision filters.

The created body owns a Bullet motion state. Remove it with PhysicsEngine::removeRigidBody() unless the engine removes it through ECS physics cleanup.

Parameters

info	Rigid body creation parameters.
collisionGroup	Bullet collision group assigned to the body.
collisionMask	Bullet collision mask assigned to the body.

Returns: New Bullet rigid body added to the world.

◆ createSphereShape()

btCollisionShape * Engine::Core::PhysicsEngine::createSphereShape ( float radius )

static

Creates a sphere collision shape.

Parameters

radius Sphere radius in meters.

Returns: New Bullet collision shape. The caller owns the shape.

◆ createTriangleMeshShape()

btCollisionShape * Engine::Core::PhysicsEngine::createTriangleMeshShape	(	const std::vector< glm::vec3 > &	vertices,
		const std::vector< uint32_t > &	indices,
		btTriangleMesh *&	triangleMeshOut )

static

Creates a static triangle mesh collision shape from vertices and triangle indices.

The returned BVH shape references triangleMeshOut. Keep the triangle mesh alive until the shape is destroyed.

Parameters

vertices	Vertex positions used by indexed triangles.
indices	Triangle index list. Every three indices define one triangle.
triangleMeshOut	Receives the allocated Bullet triangle mesh. The caller owns it.

Returns: New Bullet collision shape. The caller owns the shape.

◆ debugDrawAll()

void Engine::Core::PhysicsEngine::debugDrawAll ( ) const

Draws debug visualization of all collision shapes in the world.

Iterates through all rigid bodies and calls PhysicsBody debug drawing for bodies with engine user data. Does nothing when collision debug drawing is disabled.

◆ dispatchQueuedCollisionEvents()

void Engine::Core::PhysicsEngine::dispatchQueuedCollisionEvents ( )

Dispatches collision events queued by the last PhysicsEngine::update() call.

Component collision callbacks run before actor-level physics body callbacks. Events are copied before dispatch, so callbacks can modify collision subscriptions safely.

◆ getCollisionProfileRegistry()

Physics::CollisionProfileRegistry * Engine::Core::PhysicsEngine::getCollisionProfileRegistry ( ) const

nodiscard

Gets the collision profile registry assigned to this physics engine.

Returns: Registry pointer, or nullptr when the engine uses the active registry fallback.

◆ getDynamicsWorld()

btDiscreteDynamicsWorld * Engine::Core::PhysicsEngine::getDynamicsWorld ( ) const

nodiscard

Gets the Bullet dynamics world used by this physics engine.

Returns: Pointer to the physics world.

◆ onPhysicsComponentDestroyed()

void Engine::Core::PhysicsEngine::onPhysicsComponentDestroyed	(	entt::registry &	registry,
		entt::entity	entity )

Cleans up legacy ECS physics data when a SimulatesPhysics component is destroyed.

Parameters

registry	Registry that owns the destroyed component.
entity	Entity that owned the destroyed component.

◆ queueDirectedEvents()

void Engine::Core::PhysicsEngine::queueDirectedEvents	(	const ComponentPairKey &	pair,
		Physics::CollisionEventType	eventType )

private

◆ queueInvalidationEndEvents()

void Engine::Core::PhysicsEngine::queueInvalidationEndEvents	(	Physics::PhysicsBodyHandle	bodyHandle,
		Physics::CollisionHandle	collisionHandle )

private

◆ raycastClosest() [1/2]

bool Engine::Core::PhysicsEngine::raycastClosest	(	const glm::vec3 &	origin,
		const glm::vec3 &	direction,
		float	maxDistance,
		const Physics::PhysicsQueryFilter &	filter,
		Physics::RaycastHit &	outHit ) const

nodiscard

Casts a filtered ray through the physics world and returns the closest hit, if any.

A valid filter profile limits hits by resolved collision response. Bodies without engine PhysicsBody user data pass the filter. Returns false when maxDistance is not positive or direction has zero length.

Parameters

origin	World-space ray origin.
direction	Ray direction. Does not need to be normalized.
maxDistance	Maximum ray length in meters.
filter	Collision profile filter used by the query.
outHit	Filled with world-space hit data when the function returns true.

Returns: True when the ray hits an accepted collision object.

◆ raycastClosest() [2/2]

bool Engine::Core::PhysicsEngine::raycastClosest	(	const glm::vec3 &	origin,
		const glm::vec3 &	direction,
		float	maxDistance,
		Physics::RaycastHit &	outHit ) const

nodiscard

Casts a ray through the physics world and returns the closest hit, if any.

Returns false when maxDistance is not positive or direction has zero length.

Parameters

origin	World-space ray origin.
direction	Ray direction. Does not need to be normalized.
maxDistance	Maximum ray length in meters.
outHit	Filled with world-space hit data when the function returns true.

Returns: True when the ray hits a collision object.

◆ registerBody()

Physics::PhysicsBodyHandle Engine::Core::PhysicsEngine::registerBody ( Components::PhysicsBody * body )

nodiscard

Registers a physics body component for handle-based lookup.

Parameters

body	Physics body component to register.

Returns: Runtime handle used by collision events and queries.

◆ registerCollision()

Physics::CollisionHandle Engine::Core::PhysicsEngine::registerCollision ( Components::Collision * collision )

nodiscard

Registers a collision component for handle-based lookup.

Parameters

collision Collision component to register.

Returns: Runtime handle used by collision events.

◆ removeRigidBody()

void Engine::Core::PhysicsEngine::removeRigidBody ( btRigidBody * body ) const

Removes a rigid body from the physics world and deletes it.

The body's motion state is deleted before the body is deleted. Passing nullptr is ignored.

Parameters

body	Rigid body to remove and destroy.

◆ resolve() [1/2]

Components::Collision * Engine::Core::PhysicsEngine::resolve ( Physics::CollisionHandle handle ) const

nodiscard

Resolves a runtime collision handle to a collision component.

Parameters

handle Collision handle to resolve.

Returns: Collision component pointer, or nullptr when the handle is invalid or stale.

◆ resolve() [2/2]

Components::PhysicsBody * Engine::Core::PhysicsEngine::resolve ( Physics::PhysicsBodyHandle handle ) const

nodiscard

Resolves a runtime body handle to a physics body component.

Parameters

handle Body handle to resolve.

Returns: Physics body pointer, or nullptr when the handle is invalid or stale.

◆ setCollisionProfileRegistry()

void Engine::Core::PhysicsEngine::setCollisionProfileRegistry ( Physics::CollisionProfileRegistry * collisionProfileRegistry )

Sets the collision profile registry used by collision events and filtered queries.

Parameters

collisionProfileRegistry Registry pointer. Passing nullptr falls back to the active registry.

◆ sphereClosest() [1/2]

bool Engine::Core::PhysicsEngine::sphereClosest	(	const glm::vec3 &	position,
		float	radius,
		const Physics::PhysicsQueryFilter &	filter,
		Physics::RaycastHit &	outHit,
		const btCollisionObject *	ignoredObject = nullptr ) const

nodiscard

Tests a filtered sphere and returns the closest overlapping collision object, if any.

A valid filter profile limits hits by resolved collision response. Bodies without engine PhysicsBody user data pass the filter. Returns false when radius is not positive.

Parameters

position	World-space position of the sphere center.
radius	Sphere radius in meters.
filter	Collision profile filter used by the query.
outHit	Filled with world-space hit data when the function returns true.
ignoredObject	Optional collision object to ignore, usually the querying body itself.

Returns: True when the sphere overlaps an accepted collision object.

◆ sphereClosest() [2/2]

bool Engine::Core::PhysicsEngine::sphereClosest	(	const glm::vec3 &	position,
		float	radius,
		Physics::RaycastHit &	outHit,
		const btCollisionObject *	ignoredObject = nullptr ) const

nodiscard

Tests a sphere at one position and returns the closest overlapping collision object, if any.

Returns false when radius is not positive. The hit distance is the penetration depth reported by Bullet.

Parameters

position	World-space position of the sphere center.
radius	Sphere radius in meters.
outHit	Filled with world-space hit data when the function returns true.
ignoredObject	Optional collision object to ignore, usually the querying body itself.

Returns: True when the sphere overlaps a collision object.

◆ sphereSweepClosest() [1/2]

bool Engine::Core::PhysicsEngine::sphereSweepClosest	(	const glm::vec3 &	from,
		const glm::vec3 &	to,
		float	radius,
		const Physics::PhysicsQueryFilter &	filter,
		Physics::RaycastHit &	outHit,
		const btCollisionObject *	ignoredObject = nullptr ) const

nodiscard

Sweeps a filtered sphere through the physics world and returns the closest hit, if any.

A valid filter profile limits hits by resolved collision response. Bodies without engine PhysicsBody user data pass the filter. Returns false when radius is not positive or from and to are the same position.

Parameters

from	World-space start position of the sphere center.
to	World-space end position of the sphere center.
radius	Sphere radius in meters.
filter	Collision profile filter used by the query.
outHit	Filled with world-space hit data when the function returns true.
ignoredObject	Optional collision object to ignore, usually the querying body itself.

Returns: True when the swept sphere hits an accepted collision object.

◆ sphereSweepClosest() [2/2]

bool Engine::Core::PhysicsEngine::sphereSweepClosest	(	const glm::vec3 &	from,
		const glm::vec3 &	to,
		float	radius,
		Physics::RaycastHit &	outHit,
		const btCollisionObject *	ignoredObject = nullptr ) const

nodiscard

Sweeps a sphere through the physics world and returns the closest overlap hit, if any.

Returns false when radius is not positive or from and to are the same position.

Parameters

from	World-space start position of the sphere center.
to	World-space end position of the sphere center.
radius	Sphere radius in meters.
outHit	Filled with world-space hit data when the function returns true.
ignoredObject	Optional collision object to ignore, usually the querying body itself.

Returns: True when the swept sphere hits a collision object.

◆ unregisterBody()

void Engine::Core::PhysicsEngine::unregisterBody ( Physics::PhysicsBodyHandle handle )

Unregisters a physics body handle and queues End events for active pairs that reference it.

Parameters

handle Body handle returned by PhysicsEngine::registerBody().

Invalid, stale, and already unregistered handles are ignored.

◆ unregisterCollision()

void Engine::Core::PhysicsEngine::unregisterCollision ( Physics::CollisionHandle handle )

Unregisters a collision handle and queues End events for active pairs that reference it.

Parameters

handle Collision handle returned by PhysicsEngine::registerCollision().

Invalid, stale, and already unregistered handles are ignored.

◆ update()

void Engine::Core::PhysicsEngine::update ( double deltaTimeSeconds )

Steps the physics simulation and queues collision events.

Bullet receives deltaTimeSeconds with up to 10 fixed substeps at 1/120 second. This function queues Begin, Stay, and End events but does not call user callbacks. Call PhysicsEngine::dispatchQueuedCollisionEvents() after the step to invoke callbacks.

Parameters

deltaTimeSeconds Elapsed frame time in seconds.

Member Data Documentation

◆ bodySlots_

std::vector<RuntimeBodySlot> Engine::Core::PhysicsEngine::bodySlots_

private

Definition at line 481 of file PhysicsEngine.h.

◆ broadphase

btBroadphaseInterface* Engine::Core::PhysicsEngine::broadphase

private

Definition at line 490 of file PhysicsEngine.h.

◆ collisionConfiguration

btCollisionConfiguration* Engine::Core::PhysicsEngine::collisionConfiguration

private

Definition at line 491 of file PhysicsEngine.h.

◆ collisionProfileRegistry_

Physics::CollisionProfileRegistry* Engine::Core::PhysicsEngine::collisionProfileRegistry_ = nullptr

private

Definition at line 480 of file PhysicsEngine.h.

◆ collisionSlots_

std::vector<RuntimeCollisionSlot> Engine::Core::PhysicsEngine::collisionSlots_

private

Definition at line 482 of file PhysicsEngine.h.

◆ dispatcher

btCollisionDispatcher* Engine::Core::PhysicsEngine::dispatcher

private

Definition at line 492 of file PhysicsEngine.h.

◆ dynamicsWorld

btDiscreteDynamicsWorld* Engine::Core::PhysicsEngine::dynamicsWorld

private

Definition at line 494 of file PhysicsEngine.h.

◆ nextBodyId_

std::uint32_t Engine::Core::PhysicsEngine::nextBodyId_ = 1

private

Definition at line 483 of file PhysicsEngine.h.

◆ nextCollisionId_

std::uint32_t Engine::Core::PhysicsEngine::nextCollisionId_ = 1

private

Definition at line 484 of file PhysicsEngine.h.

◆ pendingActorEvents_

std::vector<PendingActorEvent> Engine::Core::PhysicsEngine::pendingActorEvents_

private

Definition at line 488 of file PhysicsEngine.h.

◆ pendingComponentEvents_

std::vector<PendingComponentEvent> Engine::Core::PhysicsEngine::pendingComponentEvents_

private

Definition at line 487 of file PhysicsEngine.h.

◆ pendingLifetimeComponentEvents_

std::vector<PendingComponentEvent> Engine::Core::PhysicsEngine::pendingLifetimeComponentEvents_

private

Definition at line 486 of file PhysicsEngine.h.

◆ previousComponentPairs_

std::set<ComponentPairKey> Engine::Core::PhysicsEngine::previousComponentPairs_

private

Definition at line 485 of file PhysicsEngine.h.

◆ solver

btConstraintSolver* Engine::Core::PhysicsEngine::solver

private

Definition at line 493 of file PhysicsEngine.h.

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

/workspace/magerbeton/gl3-vulkan/code/Engine/include/Engine/Physics/PhysicsEngine.h

Classes

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ PhysicsEngine() [1/2]

◆ PhysicsEngine() [2/2]

◆ ~PhysicsEngine()

Member Function Documentation

◆ bodyMatchesQueryFilter()

◆ buildActorEvents()

◆ collectCollisionEvents()

◆ createBoxShape()

◆ createCapsuleShape()

◆ createCompoundShape()

◆ createConvexHullShape()

◆ createPlaneShape()

◆ createRigidBody() [1/2]

◆ createRigidBody() [2/2]

◆ createSphereShape()

◆ createTriangleMeshShape()

◆ debugDrawAll()

◆ dispatchQueuedCollisionEvents()

◆ getCollisionProfileRegistry()

◆ getDynamicsWorld()

◆ onPhysicsComponentDestroyed()

◆ queueDirectedEvents()

◆ queueInvalidationEndEvents()

◆ raycastClosest() [1/2]

◆ raycastClosest() [2/2]

◆ registerBody()

◆ registerCollision()

◆ removeRigidBody()

◆ resolve() [1/2]

◆ resolve() [2/2]

◆ setCollisionProfileRegistry()

◆ sphereClosest() [1/2]

◆ sphereClosest() [2/2]

◆ sphereSweepClosest() [1/2]

◆ sphereSweepClosest() [2/2]

◆ unregisterBody()

◆ unregisterCollision()

◆ update()

Member Data Documentation

◆ bodySlots_

◆ broadphase

◆ collisionConfiguration

◆ collisionProfileRegistry_

◆ collisionSlots_

◆ dispatcher

◆ dynamicsWorld

◆ nextBodyId_

◆ nextCollisionId_

◆ pendingActorEvents_

◆ pendingComponentEvents_

◆ pendingLifetimeComponentEvents_

◆ previousComponentPairs_

◆ solver