TA::Physics Class Reference

#include "TA/Physics/Physics.h"

Detailed Description

The main interface to the True Axis Physics SDK.

The class TA::Physics provides a starting point for all interactions with the True Axis Physics SDK. Tasks such as creating and updating a physics simulation as well as adding and removing physics objects are done here.

A detailed example of how to set up and manage a physics simulation can be found here.

Objects that can be added to a physics simulation inherit from TA::PhysicsObject. These objects are divided into to two types, static objects and dynamic objects:

Static objects can be created through the class TA::StaticObject. They are designed to represent large static arbitrary polygon meshes. This should typically be used for static scenery. Everything that doesn't react physically but that may be collided with should be part of an TA::StaticObject. A static object can be added to a simulation with the function TA::Physics::AddStaticObject. See TA::StaticObject for more details.
Dynamic objects can be create through the class TA::DynamicObject. They represent any interactive objects in the physics simulation. There are some limitations to the size and complexity of dynamic objects. See TA::PhysicsObject for more details.

This class also provides interfaces for performing collision queries with the world through functions such as TA::Physics::TestLineForCollision.

Singletons:: This class is a singleton. Only one instance of the class can be created at any time. To create an instance call the static member function CreateInstance. Use the static member function GetInstance to get a reference to the instance. When the class is no longer needed, the static member function DestroyInstance should be called.

Examples:: BallAndSocketJointExample.cpp, CollisionObjectComboExample.cpp, HingeJointExample.cpp, SimplePhysicsSimulationExample.cpp, and SliderJointExample.cpp.

Initialisation

void SetupSimulation ()

static void TAC_CALL CreateInstance ()

static void TAC_CALL DestroyInstance ()

static Physics &TAC_CALL GetInstance ()

Public Types

typedef bool(TA_CALL_BACK * DynamicVsDynamicCollisionTestCallBack )(DynamicObject &objectA, DynamicObject &objectB)

typedef bool(TA_CALL_BACK * PreProcessCollisionCallBack )(PreCollision &collision)

typedef void(TA_CALL_BACK * PostProcessCollisionCallBack )(PostCollision &collision)

typedef void(TA_CALL_BACK * OnBrokenJointCallBack )(PhysicsJoint &joint)

typedef bool(TA_CALL_BACK * CollisionCallBack )(const Collision &collision, void *pUserData)

enum Flags {
  FLAG_DYNAMIC_OBJECTS = 0x1,
  FLAG_STATIC_OBJECTS = 0x2,
  FLAG_ALL_OBJECTS = FLAG_DYNAMIC_OBJECTS | FLAG_STATIC_OBJECTS,
  FLAG_ALL_NON_DYNAMIC_OBJECTS = FLAG_STATIC_OBJECTS,
  FLAG_GHOST_OBJECTS = 0x8,
  FLAG_RENDER_COLLISIONS = 0x10,
  FLAG_SPACIAL_DIVISION_MASK = 0x20 + 0x40 + 0x80,
  FLAG_XY_COLLISION_GRID = 0x20,
  FLAG_XZ_COLLISION_GRID = 0x40,
  FLAG_YZ_COLLISION_GRID = 0x60,
  FLAG_DYNAMIC_OCTREE = 0x80
}

enum SpacialDivisionType {
  SPACIAL_DIVISION_TYPE_DYNAMIC_OCTREE = 0,
  SPACIAL_DIVISION_TYPE_XY_COLLISION_GRID = 1,
  SPACIAL_DIVISION_TYPE_XZ_COLLISION_GRID = 2,
  SPACIAL_DIVISION_TYPE_YZ_COLLISION_GRID = 3
}

Public Member Functions

Update

void Update (float fDt)

void Render ()

Static objects

void AddStaticObject (StaticObject *pStaticObject)

void RemoveStaticObject (StaticObject *pStaticObject)

Surface attributes

int AddSurfaceAttribute (SurfaceAttribute *pSurfaceAttribute)

int AddSurfaceAttribute ()

void RemoveSurfaceAttribute (int nIndex)

SurfaceAttribute & GetSurfaceAttribute (int nIndex)

int GetNumSurfaceAttributes ()

void SetDefaultSurfaceAttribute (SurfaceAttribute *pSurfaceAttribute)

const SurfaceAttribute & GetDefaultSurfaceAttribute ()

Dynamic objects

void AddDynamicObject (DynamicObject *pDynamicObject, bool bInitiallyMoving=true)

void RemoveDynamicObject (DynamicObject *pDynamicObject)

void SetDynamicObjectIsMoving (DynamicObject *pDynamicObject)

void SetDynamicObjectAtRest (DynamicObject *pDynamicObject)

Line collision testing

void TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3Normal, float fLength, Collision &collision, u32 nFlags)

void TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3End, Collision &collision, u32 nFlags=FLAG_ALL_OBJECTS)

Collision TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3Normal, float fLength, u32 nFlags)

Collision TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3End, u32 nFlags=FLAG_ALL_OBJECTS)

Properties

const Vec3 & GetGravity () const

void SetGravity (const Vec3 &v3Gravity)

void SetRenderCollisionsEnabled (bool bValue)

SetupSimulation Properties

void SetWorldDimensions (const AABB &worldAABB)

const AABB & GetWorldDimensions ()

void SetMaxNumCollisions (int nMaxNumCollisions)

int GetMaxNumCollisions ()

void SetMaxNumMovingObjects (int nMaxNumMovingObjects)

int GetMaxNumMovingObjects ()

void SetSlowSolverMaxNumCollisions (int nSlowSolverMaxNumCollisions)

int GetSlowSolverMaxNumCollisions ()

void SetSlowSolverMaxNumObjects (int nSlowSolverMaxNumObjects)

int GetSlowSolverMaxNumObjects ()

void SetMaxNumObjectPairs (int nMaxNumObjectPairs)

int GetMaxNumObjectPairs ()

void SetSpacialDivisionType (SpacialDivisionType eSpacialDivisionType)

SpacialDivisionType GetSpacialDivisionType ()

void SetSpacialDivisionMinSize (float fSpacialDivisionMinSize)

float GetSpacialDivisionMinSize ()

void SetSpacialDivisionMaxMemory (int nSpacialDivisionMaxMemory)

int GetSpacialDivisionMaxMemory ()

Collision Processing

DynamicVsDynamicCollisionTestCallBack GetDynamicVsDynamicCollisionTestCallBack () const

void SetDynamicVsDynamicCollisionTestCallBack (DynamicVsDynamicCollisionTestCallBack pFnDynamicVsDynamicCollisionTest)

PreProcessCollisionCallBack GetPreProcessCollisionCallBack () const

void SetPreProcessCollisionCallBack (PreProcessCollisionCallBack pFnPreProcessCollision)

PostProcessCollisionCallBack GetPostProcessCollisionCallBack () const

void SetPostProcessCollisionCallBack (PostProcessCollisionCallBack pFnPostProcessCollision)

Events

OnBrokenJointCallBack GetOnBrokenJointCallBack () const

void SetOnBrokenJointCallBack (OnBrokenJointCallBack pFnOnBrokenJoint)

Static Public Member Functions

Deprecated

static void TAC_CALL CreateInstance (const AABB &worldAABB, const Vec3 &v3Gravity=Vec3(0.0f,-9.81f, 0.0f), u32 nFlags=FLAG_XZ_COLLISION_GRID, float fMinSpacialDivision=10.0f, int nSpacialDivisionMemory=0x40000)


Initialisation
void	SetupSimulation ()
static void TAC_CALL	CreateInstance ()
static void TAC_CALL	DestroyInstance ()
static Physics &TAC_CALL	GetInstance ()
Public Types
typedef bool(TA_CALL_BACK *	DynamicVsDynamicCollisionTestCallBack )(DynamicObject &objectA, DynamicObject &objectB)
typedef bool(TA_CALL_BACK *	PreProcessCollisionCallBack )(PreCollision &collision)
typedef void(TA_CALL_BACK *	PostProcessCollisionCallBack )(PostCollision &collision)
typedef void(TA_CALL_BACK *	OnBrokenJointCallBack )(PhysicsJoint &joint)
typedef bool(TA_CALL_BACK *	CollisionCallBack )(const Collision &collision, void *pUserData)
enum	Flags { FLAG_DYNAMIC_OBJECTS = 0x1, FLAG_STATIC_OBJECTS = 0x2, FLAG_ALL_OBJECTS = FLAG_DYNAMIC_OBJECTS \| FLAG_STATIC_OBJECTS, FLAG_ALL_NON_DYNAMIC_OBJECTS = FLAG_STATIC_OBJECTS, FLAG_GHOST_OBJECTS = 0x8, FLAG_RENDER_COLLISIONS = 0x10, FLAG_SPACIAL_DIVISION_MASK = 0x20 + 0x40 + 0x80, FLAG_XY_COLLISION_GRID = 0x20, FLAG_XZ_COLLISION_GRID = 0x40, FLAG_YZ_COLLISION_GRID = 0x60, FLAG_DYNAMIC_OCTREE = 0x80 }
enum	SpacialDivisionType { SPACIAL_DIVISION_TYPE_DYNAMIC_OCTREE = 0, SPACIAL_DIVISION_TYPE_XY_COLLISION_GRID = 1, SPACIAL_DIVISION_TYPE_XZ_COLLISION_GRID = 2, SPACIAL_DIVISION_TYPE_YZ_COLLISION_GRID = 3 }
Public Member Functions
Update
void	Update (float fDt)
void	Render ()
Static objects
void	AddStaticObject (StaticObject *pStaticObject)
void	RemoveStaticObject (StaticObject *pStaticObject)
Surface attributes
int	AddSurfaceAttribute (SurfaceAttribute *pSurfaceAttribute)
int	AddSurfaceAttribute ()
void	RemoveSurfaceAttribute (int nIndex)
SurfaceAttribute &	GetSurfaceAttribute (int nIndex)
int	GetNumSurfaceAttributes ()
void	SetDefaultSurfaceAttribute (SurfaceAttribute *pSurfaceAttribute)
const SurfaceAttribute &	GetDefaultSurfaceAttribute ()
Dynamic objects
void	AddDynamicObject (DynamicObject *pDynamicObject, bool bInitiallyMoving=true)
void	RemoveDynamicObject (DynamicObject *pDynamicObject)
void	SetDynamicObjectIsMoving (DynamicObject *pDynamicObject)
void	SetDynamicObjectAtRest (DynamicObject *pDynamicObject)
Line collision testing
void	TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3Normal, float fLength, Collision &collision, u32 nFlags)
void	TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3End, Collision &collision, u32 nFlags=FLAG_ALL_OBJECTS)
Collision	TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3Normal, float fLength, u32 nFlags)
Collision	TestLineForCollision (const Vec3 &v3Start, const Vec3 &v3End, u32 nFlags=FLAG_ALL_OBJECTS)
Properties
const Vec3 &	GetGravity () const
void	SetGravity (const Vec3 &v3Gravity)
void	SetRenderCollisionsEnabled (bool bValue)
SetupSimulation Properties
void	SetWorldDimensions (const AABB &worldAABB)
const AABB &	GetWorldDimensions ()
void	SetMaxNumCollisions (int nMaxNumCollisions)
int	GetMaxNumCollisions ()
void	SetMaxNumMovingObjects (int nMaxNumMovingObjects)
int	GetMaxNumMovingObjects ()
void	SetSlowSolverMaxNumCollisions (int nSlowSolverMaxNumCollisions)
int	GetSlowSolverMaxNumCollisions ()
void	SetSlowSolverMaxNumObjects (int nSlowSolverMaxNumObjects)
int	GetSlowSolverMaxNumObjects ()
void	SetMaxNumObjectPairs (int nMaxNumObjectPairs)
int	GetMaxNumObjectPairs ()
void	SetSpacialDivisionType (SpacialDivisionType eSpacialDivisionType)
SpacialDivisionType	GetSpacialDivisionType ()
void	SetSpacialDivisionMinSize (float fSpacialDivisionMinSize)
float	GetSpacialDivisionMinSize ()
void	SetSpacialDivisionMaxMemory (int nSpacialDivisionMaxMemory)
int	GetSpacialDivisionMaxMemory ()
Collision Processing
DynamicVsDynamicCollisionTestCallBack	GetDynamicVsDynamicCollisionTestCallBack () const
void	SetDynamicVsDynamicCollisionTestCallBack (DynamicVsDynamicCollisionTestCallBack pFnDynamicVsDynamicCollisionTest)
PreProcessCollisionCallBack	GetPreProcessCollisionCallBack () const
void	SetPreProcessCollisionCallBack (PreProcessCollisionCallBack pFnPreProcessCollision)
PostProcessCollisionCallBack	GetPostProcessCollisionCallBack () const
void	SetPostProcessCollisionCallBack (PostProcessCollisionCallBack pFnPostProcessCollision)
Events
OnBrokenJointCallBack	GetOnBrokenJointCallBack () const
void	SetOnBrokenJointCallBack (OnBrokenJointCallBack pFnOnBrokenJoint)
Static Public Member Functions
Deprecated
static void TAC_CALL	CreateInstance (const AABB &worldAABB, const Vec3 &v3Gravity=Vec3(0.0f,-9.81f, 0.0f), u32 nFlags=FLAG_XZ_COLLISION_GRID, float fMinSpacialDivision=10.0f, int nSpacialDivisionMemory=0x40000)