#include "body.hpp"
#include "spherical_joint.hpp"
#include "hinge_joint.hpp"
#include "mouse_joint.hpp"
#include "collision.hpp"

Classes
class	Contact
	A data structure to pass data received from a collision to the solver. More...

Enumerations
enum	ContactType { FACE =0, EDGE =1 }

Functions
vector< Contact >	getContacts (CollisionBody &body)
	Get contacts for a CollisionBody. More...

vector< Face >	getMostParallelFace (const CollisionBody &hull, vec3 normal)
	Find the Face on the CollisionBody that is most parallel to the vector, normal. More...

vector< Face >	getMostAntiparallelFace (const CollisionBody &hull, vec3 normal)
	Find the Face on the CollisionBody that is most anti-parallel to the vector, normal. More...

vector< Face >	getOrthogonalFaces (const CollisionBody &hull, vec3 normal)
	Find the Face's that are orthogonal to the vector, normal, used for clipping to generate contact points. More...

vector< Contact >	sphereSphereContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a sphere and a sphere. More...

vector< Contact >	sphereTriContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a sphere and a tri. More...

vector< Contact >	sphereBoxContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a sphere and a box. More...

vector< Contact >	hullHullContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a box and a box. More...

vector< Contact >	boxCylinderContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a box and a box. More...

vector< Contact >	sphereCylinderContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a Sphere and a Cylinder. More...

vector< Contact >	cylinderCylinderContacts (CollisionBody &body_a, CollisionBody &body_b)
	A data structure to contain the data received from a collision between a Cylinder and a Cylinder. More...

vector< Contact >	createContacts (CollisionBody &body_a, CollisionBody &body_b)
	Generate contacts between two CollisionBody's. More...

vector< Contact >	createMinimalContacts (vector< Contact > &contacts)
	Reduce a vector of Contact's to 4 that are the most stable. More...

vec3	closestPointOnTri (vec3 sphereCentre, vec3 p0, vec3 p1, vec3 p2)
	Return the point on a tri that is closest to a point. More...

vector< vec3 >	collisionPoints (CollisionBody &body_a, CollisionBody &body_b)
	Return collision points on each CollisionBody. More...

int	simulate (float deltaTime)
	Access function for the physics time step function, called on the client-side manually in the update function. More...

vector< Contact >	GJKEPAContacts (CollisionBody &body_a, CollisionBody &body_b)

Enumeration Type Documentation

◆ ContactType

enum ContactType

Enumerator
FACE
EDGE

Function Documentation

◆ boxCylinderContacts()

vector<Contact> boxCylinderContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a box and a box.

◆ closestPointOnTri()

vec3 closestPointOnTri	(	vec3	sphereCentre,
		vec3	p0,
		vec3	p1,
		vec3	p2
	)

Return the point on a tri that is closest to a point.

◆ collisionPoints()

vector<vec3> collisionPoints	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

Return collision points on each CollisionBody.

◆ createContacts()

vector<Contact> createContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

Generate contacts between two CollisionBody's.

◆ createMinimalContacts()

vector<Contact> createMinimalContacts ( vector< Contact > & contacts )

Reduce a vector of Contact's to 4 that are the most stable.

◆ cylinderCylinderContacts()

vector<Contact> cylinderCylinderContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a Cylinder and a Cylinder.

◆ getContacts()

vector<Contact> getContacts ( CollisionBody & body )

Get contacts for a CollisionBody.

◆ getMostAntiparallelFace()

vector<Face> getMostAntiparallelFace	(	const CollisionBody &	hull,
		vec3	normal
	)

Find the Face on the CollisionBody that is most anti-parallel to the vector, normal.

◆ getMostParallelFace()

vector<Face> getMostParallelFace	(	const CollisionBody &	hull,
		vec3	normal
	)

Find the Face on the CollisionBody that is most parallel to the vector, normal.

◆ getOrthogonalFaces()

vector<Face> getOrthogonalFaces	(	const CollisionBody &	hull,
		vec3	normal
	)

Find the Face's that are orthogonal to the vector, normal, used for clipping to generate contact points.

◆ GJKEPAContacts()

vector<Contact> GJKEPAContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

◆ hullHullContacts()

vector<Contact> hullHullContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a box and a box.

◆ simulate()

int simulate ( float deltaTime )

Access function for the physics time step function, called on the client-side manually in the update function.

◆ sphereBoxContacts()

vector<Contact> sphereBoxContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a sphere and a box.

◆ sphereCylinderContacts()

vector<Contact> sphereCylinderContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a Sphere and a Cylinder.

◆ sphereSphereContacts()

vector<Contact> sphereSphereContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a sphere and a sphere.

◆ sphereTriContacts()

vector< Contact > sphereTriContacts	(	CollisionBody &	body_a,
		CollisionBody &	body_b
	)

A data structure to contain the data received from a collision between a sphere and a tri.

Classes

Enumerations

Functions