Add methods for the user to retrieve Colliders, CollisionBodies and RigidBodies

CHANGELOG.md

@@ -10,6 +10,8 @@
  - It is now possible to change the scale of a ConvexMeshShape using the ConvexMeshShape::setScale() method
  - It is now possible to change the scale of a ConcaveMeshShape using the ConcaveMeshShape::setScale() method
  - It is now possible to change the scale of a HeightFieldShape using the HeightFieldShape::setScale() method
+ - A method PhysicsWorld::getCollisionBody(uint index) has been added on a physics world to retrieve a given CollisionBody
+ - A method PhysicsWorld::getRigidBody(uint index) has been added on a physics world to retrieve a given RigidBody
 
 ### Changed
 

src/body/CollisionBody.cpp

@@ -137,6 +137,7 @@ uint CollisionBody::getNbColliders() const {
 
 // Return a const pointer to a given collider of the body
 /**
+* @param index Index of a Collider of the body
 * @return The const pointer of a given collider of the body
 */
 const Collider* CollisionBody::getCollider(uint colliderIndex) const {
@@ -150,6 +151,7 @@ const Collider* CollisionBody::getCollider(uint colliderIndex) const {
 
 // Return a pointer to a given collider of the body
 /**
+* @param index Index of a Collider of the body
 * @return The pointer of a given collider of the body
 */
 Collider* CollisionBody::getCollider(uint colliderIndex) {

src/collision/Collider.cpp

@@ -147,7 +147,15 @@ const AABB Collider::getWorldAABB() const {
 /**
  * @return Pointer to the internal collision shape
  */
-CollisionShape* Collider::getCollisionShape() const {
+CollisionShape* Collider::getCollisionShape() {
+    return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
+}
+
+// Return a const pointer to the collision shape
+/**
+ * @return Pointer to the internal collision shape
+ */
+const CollisionShape* Collider::getCollisionShape() const {
     return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
 }
 

src/collision/Collider.h

@@ -104,7 +104,10 @@ class Collider {
         Entity getEntity() const;
 
         /// Return a pointer to the collision shape
-        CollisionShape* getCollisionShape() const;
+        CollisionShape* getCollisionShape();
+
+        /// Return a const pointer to the collision shape
+        const CollisionShape* getCollisionShape() const;
 
         /// Return the parent body
         CollisionBody* getBody() const;

src/engine/PhysicsWorld.cpp

@@ -58,7 +58,7 @@ PhysicsWorld::PhysicsWorld(MemoryManager& memoryManager, const WorldSettings& wo
                 mFixedJointsComponents(mMemoryManager.getHeapAllocator()), mHingeJointsComponents(mMemoryManager.getHeapAllocator()),
                 mSliderJointsComponents(mMemoryManager.getHeapAllocator()), mCollisionDetection(this, mCollidersComponents, mTransformComponents, mCollisionBodyComponents, mRigidBodyComponents,
                                         mMemoryManager),
-                mBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
+                mCollisionBodies(mMemoryManager.getHeapAllocator()), mEventListener(nullptr),
                 mName(worldSettings.worldName),  mIslands(mMemoryManager.getSingleFrameAllocator()),
                 mContactSolverSystem(mMemoryManager, *this, mIslands, mCollisionBodyComponents, mRigidBodyComponents,
                                mCollidersComponents, mConfig.restitutionVelocityThreshold),
@@ -124,8 +124,8 @@ PhysicsWorld::~PhysicsWorld() {
              "Physics World: Physics world " + mName + " has been destroyed");
 
     // Destroy all the collision bodies that have not been removed
-    for (int i=mBodies.size() - 1 ; i >= 0; i--) {
-        destroyCollisionBody(mBodies[i]);
+    for (int i=mCollisionBodies.size() - 1 ; i >= 0; i--) {
+        destroyCollisionBody(mCollisionBodies[i]);
     }
 
 #ifdef IS_PROFILING_ACTIVE
@@ -135,7 +135,7 @@ PhysicsWorld::~PhysicsWorld() {
 
 #endif
 
-    assert(mBodies.size() == 0);
+    assert(mCollisionBodies.size() == 0);
     assert(mCollisionBodyComponents.getNbComponents() == 0);
     assert(mTransformComponents.getNbComponents() == 0);
     assert(mCollidersComponents.getNbComponents() == 0);
@@ -180,7 +180,7 @@ CollisionBody* PhysicsWorld::createCollisionBody(const Transform& transform) {
     mCollisionBodyComponents.addComponent(entity, false, bodyComponent);
 
     // Add the collision body to the world
-    mBodies.add(collisionBody);
+    mCollisionBodies.add(collisionBody);
 
 #ifdef IS_PROFILING_ACTIVE
 
@@ -219,7 +219,7 @@ void PhysicsWorld::destroyCollisionBody(CollisionBody* collisionBody) {
     collisionBody->~CollisionBody();
 
     // Remove the collision body from the list of bodies
-    mBodies.remove(collisionBody);
+    mCollisionBodies.remove(collisionBody);
 
     // Free the object from the memory allocator
     mMemoryManager.release(MemoryManager::AllocationType::Pool, collisionBody, sizeof(CollisionBody));
@@ -461,7 +461,6 @@ RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {
     mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getInitMass(entity));
 
     // Add the rigid body to the physics world
-    mBodies.add(rigidBody);
     mRigidBodies.add(rigidBody);
 
 #ifdef IS_PROFILING_ACTIVE
@@ -507,7 +506,6 @@ void PhysicsWorld::destroyRigidBody(RigidBody* rigidBody) {
     rigidBody->~RigidBody();
 
     // Remove the rigid body from the list of rigid bodies
-    mBodies.remove(rigidBody);
     mRigidBodies.remove(rigidBody);
 
     // Free the object from the memory allocator

src/engine/PhysicsWorld.h

@@ -213,8 +213,8 @@ class PhysicsWorld {
         /// Reference to the collision detection
         CollisionDetectionSystem mCollisionDetection;
 
-        /// All the bodies (rigid and soft) of the world
-        List<CollisionBody*> mBodies;
+        /// All the collision bodies of the world
+        List<CollisionBody*> mCollisionBodies;
 
         /// Pointer to an event listener object
         EventListener* mEventListener;
@@ -434,6 +434,24 @@ class PhysicsWorld {
         /// Set an event listener object to receive events callbacks.
         void setEventListener(EventListener* eventListener);
 
+        /// Return the number of CollisionBody in the physics world
+        uint getNbCollisionBodies() const;
+
+        /// Return a constant pointer to a given CollisionBody of the world
+        const CollisionBody* getCollisionBody(uint index) const;
+
+        /// Return a pointer to a given CollisionBody of the world
+        CollisionBody* getCollisionBody(uint index) ;
+
+        /// Return the number of RigidBody in the physics world
+        uint getNbRigidBodies() const;
+
+        /// Return a constant pointer to a given RigidBody of the world
+        const RigidBody* getRigidBody(uint index) const;
+
+        /// Return a pointer to a given RigidBody of the world
+        RigidBody* getRigidBody(uint index) ;
+
 #ifdef IS_PROFILING_ACTIVE
 
         /// Return a reference to the profiler
@@ -775,6 +793,73 @@ inline void PhysicsWorld::setEventListener(EventListener* eventListener) {
     mEventListener = eventListener;
 }
 
+// Return the number of CollisionBody in the physics world
+/// Note that even if a RigidBody is also a collision body, this method does not return the rigid bodies
+inline uint PhysicsWorld::getNbCollisionBodies() const {
+   return mCollisionBodies.size();
+}
+
+// Return a constant pointer to a given CollisionBody of the world
+/**
+ * @param index Index of a CollisionBody in the world
+ * @return Constant pointer to a given CollisionBody
+ */
+inline const CollisionBody* PhysicsWorld::getCollisionBody(uint index) const {
+
+    assert(index < mCollisionBodies.size());
+
+    // TODO : Report error here if index is not within bounds
+
+    return mCollisionBodies[index];
+}
+
+// Return a pointer to a given CollisionBody of the world
+/**
+ * @param index Index of a CollisionBody in the world
+ * @return Pointer to a given CollisionBody
+ */
+inline CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
+
+    assert(index < mCollisionBodies.size());
+
+    // TODO : Report error here if index is not within bounds
+
+    return mCollisionBodies[index];
+}
+
+// Return the number of RigidBody in the physics world
+inline uint PhysicsWorld::getNbRigidBodies() const {
+   return mRigidBodies.size();
+}
+
+
+// Return a constant pointer to a given RigidBody of the world
+/**
+ * @param index Index of a RigidBody in the world
+ * @return Constant pointer to a given RigidBody
+ */
+inline const RigidBody* PhysicsWorld::getRigidBody(uint index) const {
+    assert(index < mRigidBodies.size());
+
+    // TODO : Report error here if index is not within bounds
+
+    return mRigidBodies[index];
+}
+
+// Return a pointer to a given RigidBody of the world
+/**
+ * @param index Index of a RigidBody in the world
+ * @return Pointer to a given RigidBody
+ */
+inline RigidBody* PhysicsWorld::getRigidBody(uint index) {
+
+    assert(index < mRigidBodies.size());
+
+    // TODO : Report error here if index is not within bounds
+
+    return mRigidBodies[index];
+}
+
 }
 
 #endif