Engine::Core::PhysicsEngine Class Reference

The physics engine manages creating and destroying physics objects for the physics simulation. More...

#include <PhysicsEngine.h>

Public Member Functions
	PhysicsEngine ()
	~PhysicsEngine ()
void	onPhysicsComponentDestroyed (entt::registry &registry, entt::entity entity)
	Cleans up the hit box pointers and motion state if applicable.
void	update (float deltaTimeSeconds)
	Steps the physics simulation by 1/120th of a second. The idea of the engine is that it should run on 120hz so the update rate of the physics engine should be quite close to it.
btDiscreteDynamicsWorld *	getDynamicsWorld () const
	Gets the world where the physics simulation is performed inside.
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.
btRigidBody *	createRigidBody (const Physics::RigidBodyCreateInfo &info) const
	Creates a rigid body for the physics simulation.
void	removeRigidBody (btRigidBody *body) const
	Removes a rigid body from the physics simulation.
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 collision box.
static btCollisionShape *	createSphereShape (float radius)
	Creates a collision sphere.
static btCollisionShape *	createCapsuleShape (float radius, float height)
	creates a capsule with a height and a radius.
static btCollisionShape *	createPlaneShape (const glm::vec3 &surfaceNormal, float distanceFromOrigin)
	Creates a plane from.
static btCollisionShape *	createConvexHullShape (const std::vector< glm::vec3 > &vertices)
	Creates a convex hull collision shape from a set of vertices.
static btCollisionShape *	createTriangleMeshShape (const std::vector< glm::vec3 > &vertices, const std::vector< uint32_t > &indices, btTriangleMesh *&triangleMeshOut)
	Creates a triangle mesh collision shape from vertices and indices.
static btCompoundShape *	createCompoundShape ()
	Creates an empty compound shape for combining multiple collision shapes.

Private Attributes
btBroadphaseInterface *	broadphase
btCollisionConfiguration *	collisionConfiguration
btCollisionDispatcher *	dispatcher
btConstraintSolver *	solver
btDiscreteDynamicsWorld *	dynamicsWorld

Detailed Description

The physics engine manages creating and destroying physics objects for the physics simulation.

Definition at line 44 of file PhysicsEngine.h.

Constructor & Destructor Documentation

PhysicsEngine()

Engine::Core::PhysicsEngine::PhysicsEngine

(

)

~PhysicsEngine()

Engine::Core::PhysicsEngine::~PhysicsEngine

(

)

Member Function Documentation

createBoxShape()

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

static

Creates a collision box.

Parameters

halfExtents

xyz half extents

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

createCapsuleShape()

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

static

creates a capsule with a height and a radius.

Parameters

radius	in meters
height	in meters

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

createCompoundShape()

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

static

Creates an empty compound shape for combining multiple collision shapes.

Returns

Pointer to the created compound shape. Needs to be cleaned up by hand

createConvexHullShape()

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

static

Creates a convex hull collision shape from a set of vertices.

Parameters

vertices

list of vertex positions to create the hull from

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

createPlaneShape()

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

static

Creates a plane from.

Parameters

surfaceNormal	surface normal of the plane
distanceFromOrigin	how much to move the plane along the surface

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

createRigidBody()

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

nodiscard

Creates a rigid body for the physics simulation.

Parameters

info	create info which defines how the rigid body should behave in the simulation

Returns

Pointer to the created collision shape. Needs to be cleaned up manually by hand

createSphereShape()

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

static

Creates a collision sphere.

Parameters

radius

in meters

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

createTriangleMeshShape()

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

static

Creates a triangle mesh collision shape from vertices and indices.

Parameters

vertices	list of vertex positions
indices	list of triangle indices (triplets)
triangleMeshOut	output parameter for the btTriangleMesh (caller must delete)

Returns

Pointer to the created collision shape. Needs to be cleaned up by hand

Note

The returned shape uses the triangleMeshOut, which must be kept alive and deleted separately when the shape is no longer needed

debugDrawAll()

void Engine::Core::PhysicsEngine::debugDrawAll

(

)

const

Draws debug visualization of all collision shapes in the world.

Iterates through all rigid bodies and calls debugDraw() on their associated PhysicsBodyComponent. Only draws if CollisionComponent::isDebugDrawEnabled().

getDynamicsWorld()

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

nodiscard

Gets the world where the physics simulation is performed inside.

Returns

Pointer to the physics world

onPhysicsComponentDestroyed()

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

Cleans up the hit box pointers and motion state if applicable.

Parameters

registry	which registry the element was destroyed from
entity	which entity the component belonged to

raycastClosest()

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.

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 if the ray hit a collision object

removeRigidBody()

void Engine::Core::PhysicsEngine::removeRigidBody

(

btRigidBody *

body

)

const

Removes a rigid body from the physics simulation.

Parameters

body	ptr to the rigid body to remove

update()

void Engine::Core::PhysicsEngine::update

(

float

deltaTimeSeconds

)

Steps the physics simulation by 1/120th of a second. The idea of the engine is that it should run on 120hz so the update rate of the physics engine should be quite close to it.

Parameters

deltaTimeSeconds

time between this and the last frame in seconds

Member Data Documentation

broadphase

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

private

Definition at line 161 of file PhysicsEngine.h.

collisionConfiguration

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

private

Definition at line 162 of file PhysicsEngine.h.

dispatcher

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

private

Definition at line 163 of file PhysicsEngine.h.

dynamicsWorld

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

private

Definition at line 165 of file PhysicsEngine.h.

solver

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

private

Definition at line 164 of file PhysicsEngine.h.

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

• /home/magerbeton/Documents/gl3-vulkan/Engine/include/Engine/Physics/PhysicsEngine.h