mrq/reactphysics3d
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Improve Doxygen API Reference documentation

Browse Source
This commit is contained in:
Daniel Chappuis 2020-05-25 00:27:13 +02:00
parent ab86620412
commit cfdab52573
7 changed files with 134 additions and 22 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

50
include/reactphysics3d/collision/CollisionCallback.h
View File

@ -40,7 +40,6 @@ class ContactManifold;
class CollisionBody;
class Collider;
class MemoryManager;
class CollisionCallbackInfo;
// Class CollisionCallback
/**
@ -55,7 +54,7 @@ class CollisionCallback {
// Class ContactPoint
/**
* This class represents a contact point between two bodies of the physics world.
* This class represents a contact point between two colliders of the physics world.
*/
class ContactPoint {
@ -78,21 +77,33 @@ class CollisionCallback {
ContactPoint(const ContactPoint& contactPoint) = default;
/// Assignment operator
ContactPoint& operator=(const ContactPoint& contactPoint) = default;
ContactPoint& operator=(const ContactPoint& contactPoint) = delete;
/// Destructor
~ContactPoint() = default;
/// Return the penetration depth
/**
* @return The penetration depth between the two colliders at this contact point
*/
decimal getPenetrationDepth() const;
/// Return the world-space contact normal
/**
* @return The world-space contact normal
*/
const Vector3& getWorldNormal() const;
/// Return the contact point on the first collider in the local-space of the first collider
/**
* @return The local-space contact point on the first collider
*/
const Vector3& getLocalPointOnCollider1() const;
/// Return the contact point on the second collider in the local-space of the second collider
/**
* @return The local-space contact point on the second collider
*/
const Vector3& getLocalPointOnCollider2() const;
// -------------------- Friendship -------------------- //
@ -102,7 +113,7 @@ class CollisionCallback {
// Class ContactPair
/**
* This class represents the contact between two bodies of the physics world.
* This class represents the contact between two colliders of the physics world.
* A contact pair contains a list of contact points.
*/
class ContactPair {
@ -152,30 +163,52 @@ class CollisionCallback {
ContactPair(const ContactPair& contactPair) = default;
/// Assignment operator
ContactPair& operator=(const ContactPair& contactPair) = default;
ContactPair& operator=(const ContactPair& contactPair) = delete;
/// Destructor
~ContactPair() = default;
/// Return the number of contact points in the contact pair
/**
* @return The number of contact points in the contact pair
*/
uint getNbContactPoints() const;
/// Return a given contact point
/**
* @param index Index of the contact point to retrieve
* @return A contact point object
*/
ContactPoint getContactPoint(uint index) const;
/// Return a pointer to the first body in contact
/**
* @return A pointer to the first colliding body of the pair
*/
CollisionBody* getBody1() const;
/// Return a pointer to the second body in contact
/**
* @return A pointer to the second colliding body of the pair
*/
CollisionBody* getBody2() const;
/// Return a pointer to the first collider in contact (in body 1)
/**
* @return A pointer to the first collider of the contact pair
*/
Collider* getCollider1() const;
/// Return a pointer to the second collider in contact (in body 2)
/**
* @return A pointer to the second collider of the contact pair
*/
Collider* getCollider2() const;
/// Return the corresponding type of event for this contact pair
/**
* @return The type of contact event for this contact pair
*/
EventType getEventType() const;
// -------------------- Friendship -------------------- //
@ -235,9 +268,16 @@ class CollisionCallback {
// -------------------- Methods -------------------- //
/// Return the number of contact pairs
/**
* @return The number of contact pairs
*/
uint getNbContactPairs() const;
/// Return a given contact pair
/**
* @param index Index of the contact pair to retrieve
* @return A contact pair object
*/
ContactPair getContactPair(uint index) const;
// -------------------- Friendship -------------------- //

7
include/reactphysics3d/engine/EventListener.h
View File

@ -34,11 +34,10 @@ namespace reactphysics3d {
// Class EventListener
/**
* This class can be used to receive event callbacks from the physics engine.
* This class can be used to receive notifications about events that occur during the simulation.
* In order to receive callbacks, you need to create a new class that inherits from
* this one and you must override the methods you need. Then, you need to register your
* new event listener class to the physics world using the PhysicsWorld::setEventListener()
* method.
* this one and you must override the methods that you need. Then, you will need to register your
* new event listener class to the physics world using the PhysicsWorld::setEventListener() method.
*/
class EventListener : public CollisionCallback {

20
include/reactphysics3d/engine/PhysicsWorld.h
View File

@ -78,7 +78,7 @@ class PhysicsWorld {
/// Name of the world
std::string worldName;
/// Gravity vector of the world
/// Gravity force vector of the world (in Newtons)
Vector3 gravity;
/// Distance threshold for two contact points for a valid persistent contact (in meters)
@ -567,6 +567,9 @@ inline void PhysicsWorld::testOverlap(CollisionBody* body, OverlapCallback& over
/// Use this method if you are not interested in contacts but if you simply want to know
/// which bodies overlap. If you want to get the contacts, you need to use the
/// testCollision() method instead.
/**
* @param overlapCallback Pointer to the callback class to report overlap
*/
inline void PhysicsWorld::testOverlap(OverlapCallback& overlapCallback) {
mCollisionDetection.testOverlap(overlapCallback);
}
@ -700,6 +703,9 @@ inline void PhysicsWorld::setEventListener(EventListener* 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
/**
* @return The number of collision bodies in the physics world
*/
inline uint PhysicsWorld::getNbCollisionBodies() const {
return mCollisionBodies.size();
}
@ -733,6 +739,9 @@ inline CollisionBody* PhysicsWorld::getCollisionBody(uint index) {
}
// Return the number of RigidBody in the physics world
/**
* @return The number of rigid bodies in the physics world
*/
inline uint PhysicsWorld::getNbRigidBodies() const {
return mRigidBodies.size();
}
@ -766,16 +775,25 @@ inline RigidBody* PhysicsWorld::getRigidBody(uint index) {
}
// Return true if the debug rendering is enabled
/**
* @return True if the debug rendering is enabled and false otherwise
*/
inline bool PhysicsWorld::getIsDebugRenderingEnabled() const {
return mIsDebugRenderingEnabled;
}
// Set to true if debug rendering is enabled
/**
* @param isEnabled True if you want to enable the debug rendering and false otherwise
*/
inline void PhysicsWorld::setIsDebugRenderingEnabled(bool isEnabled) {
mIsDebugRenderingEnabled = isEnabled;
}
// Return a reference to the Debug Renderer of the world
/**
* @return A reference to the DebugRenderer object of the world
*/
inline DebugRenderer& PhysicsWorld::getDebugRenderer() {
return mDebugRenderer;
}

38
include/reactphysics3d/utils/DebugRenderer.h
View File

@ -260,41 +260,67 @@ class DebugRenderer : public EventListener {
};
// Return the number of lines
/**
* @return The number of lines in the array of lines to draw
*/
inline uint32 DebugRenderer::getNbLines() const {
return mLines.size();
}
// Return a reference to the list of lines
/**
* @return The list of lines to draw
*/
inline const List<DebugRenderer::DebugLine>& DebugRenderer::getLines() const {
return mLines;
}
// Return a pointer to the array of lines
/**
* @return A pointer to the first element of the lines array to draw
*/
inline const DebugRenderer::DebugLine* DebugRenderer::getLinesArray() const {
return &(mLines[0]);
}
// Return the number of triangles
/**
* @return The number of triangles in the array of triangles to draw
*/
inline uint32 DebugRenderer::getNbTriangles() const {
return mTriangles.size();
}
// Return a reference to the list of triangles
/**
* @return The list of triangles to draw
*/
inline const List<DebugRenderer::DebugTriangle>& DebugRenderer::getTriangles() const {
return mTriangles;
}
// Return a pointer to the array of triangles
/**
* @return A pointer to the first element of the triangles array to draw
*/
inline const DebugRenderer::DebugTriangle* DebugRenderer::getTrianglesArray() const {
return &(mTriangles[0]);
}
// Return whether a debug item is displayed or not
/**
* @param item A debug item
* @return True if the given debug item is being displayed and false otherwise
*/
inline bool DebugRenderer::getIsDebugItemDisplayed(DebugItem item) const {
return mDisplayedDebugItems & static_cast<uint32>(item);
}
// Set whether a debug info is displayed or not
/**
* @param item A debug item to draw
* @param isDisplayed True if the given debug item has to be displayed and false otherwise
*/
inline void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDisplayed) {
const uint32 itemFlag = static_cast<uint32>(item);
uint32 resetBit = ~(itemFlag);
@ -305,11 +331,17 @@ inline void DebugRenderer::setIsDebugItemDisplayed(DebugItem item, bool isDispla
}
// Get the contact point sphere radius
/**
* @return The radius of the sphere used to display a contact point
*/
inline decimal DebugRenderer::getContactPointSphereRadius() const {
return mContactPointSphereRadius;
}
// Set the contact point sphere radius
/**
* @param radius The radius of the sphere used to display a contact point
*/
inline void DebugRenderer::setContactPointSphereRadius(decimal radius) {
assert(radius > decimal(0.0));
mContactPointSphereRadius = radius;
@ -317,11 +349,17 @@ inline void DebugRenderer::setContactPointSphereRadius(decimal radius) {
// Return the length of contact normal
/**
* @return The length of the contact normal to display
*/
inline decimal DebugRenderer::getContactNormalLength() const {
return mContactNormalLength;
}
// Return the length of contact normal
/**
* @param contactNormalLength The length of the contact normal to display
*/
inline void DebugRenderer::setContactNormalLength(decimal contactNormalLength) {
mContactNormalLength = contactNormalLength;
}

20
src/body/RigidBody.cpp
View File

@ -44,6 +44,9 @@ RigidBody::RigidBody(PhysicsWorld& world, Entity entity) : CollisionBody(world,
}
// Return the type of the body
/**
* @return The type of rigid body (static, kinematic or dynamic)
*/
BodyType RigidBody::getType() const {
return mWorld.mRigidBodyComponents.getBodyType(mEntity);
}
@ -136,7 +139,7 @@ decimal RigidBody::getMass() const {
/// reset to zero at the end of each call of the PhyscisWorld::update() method.
/// You can only apply a force to a dynamic body otherwise, this method will do nothing.
/**
* @param force The force to apply on the body
* @param force The force to apply on the body (in Newtons)
* @param point The point where the force is applied (in local-space coordinates)
*/
void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& point) {
@ -168,7 +171,7 @@ void RigidBody::applyForceAtLocalPosition(const Vector3& force, const Vector3& p
/// reset to zero at the end of each call of the PhyscisWorld::update() method.
/// You can only apply a force to a dynamic body otherwise, this method will do nothing.
/**
* @param force The force to apply on the body
* @param force The force to apply on the body (in Newtons)
* @param point The point where the force is applied (in world-space coordinates)
*/
void RigidBody::applyForceAtWorldPosition(const Vector3& force, const Vector3& point) {
@ -192,6 +195,9 @@ void RigidBody::applyForceAtWorldPosition(const Vector3& force, const Vector3& p
}
// Return the local inertia tensor of the body (in body coordinates)
/**
* @return A vector with the three values of the diagonal 3x3 matrix of the local-space inertia tensor
*/
const Vector3& RigidBody::getLocalInertiaTensor() const {
return mWorld.mRigidBodyComponents.getLocalInertiaTensor(mEntity);
@ -200,8 +206,7 @@ const Vector3& RigidBody::getLocalInertiaTensor() const {
// Set the local inertia tensor of the body (in local-space coordinates)
/// Note that an inertia tensor with a zero value on its diagonal is interpreted as infinite inertia.
/**
* @param inertiaTensorLocal The 3x3 inertia tensor matrix of the body in local-space
* coordinates
* @param inertiaTensorLocal A vector with the three values of the diagonal 3x3 matrix of the local-space inertia tensor
*/
void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) {
@ -223,7 +228,7 @@ void RigidBody::setLocalInertiaTensor(const Vector3& inertiaTensorLocal) {
/// reset to zero at the end of each call of the PhyscisWorld::update() method.
/// You can only apply a force to a dynamic body otherwise, this method will do nothing.
/**
* @param force The external force to apply on the center of mass of the body
* @param force The external force to apply on the center of mass of the body (in Newtons)
*/
void RigidBody::applyForceToCenterOfMass(const Vector3& force) {
@ -281,6 +286,9 @@ void RigidBody::setLocalCenterOfMass(const Vector3& centerOfMass) {
}
// Return the center of mass of the body (in local-space coordinates)
/**
* @return The local-space position of the center of mass of the body
*/
const Vector3& RigidBody::getLocalCenterOfMass() const {
return mWorld.mRigidBodyComponents.getCenterOfMassLocal(mEntity);
}
@ -550,7 +558,7 @@ void RigidBody::setMass(decimal mass) {
/// returned collider to get and set information about the corresponding
/// collision shape for that body.
/**
* @param collisionShape The collision shape of the new collider
* @param collisionShape A pointer to the collision shape of the new collider
* @param transform The transformation of the collider that transforms the
* local-space of the collider into the local-space of the body
* @return A pointer to the collider that has been created

19
src/collision/Collider.cpp
View File

@ -103,7 +103,10 @@ void Collider::setCollideWithMaskBits(unsigned short collideWithMaskBits) {
std::to_string(collideWithMaskBits), __FILE__, __LINE__);
}
// Set the local to parent body transform
// Set the local to body transform
/**
* @param transform The transform from local-space of the collider into the local-space of the body
*/
void Collider::setLocalToBodyTransform(const Transform& transform) {
mBody->mWorld.mCollidersComponents.setLocalToBodyTransform(mEntity, transform);
@ -137,7 +140,7 @@ const AABB Collider::getWorldAABB() const {
// Return a pointer to the collision shape
/**
* @return Pointer to the internal collision shape
* @return Pointer to the collision shape
*/
CollisionShape* Collider::getCollisionShape() {
return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
@ -145,7 +148,7 @@ CollisionShape* Collider::getCollisionShape() {
// Return a const pointer to the collision shape
/**
* @return Pointer to the internal collision shape
* @return Pointer to the collision shape
*/
const CollisionShape* Collider::getCollisionShape() const {
return mBody->mWorld.mCollidersComponents.getCollisionShape(mEntity);
@ -158,8 +161,8 @@ int Collider::getBroadPhaseId() const {
// Return the local to parent body transform
/**
* @return The transformation that transforms the local-space of the collision shape
* to the local-space of the parent body
* @return The transformation that transforms the local-space of the collider
* to the local-space of the body
*/
const Transform& Collider::getLocalToBodyTransform() const {
return mBody->mWorld.mCollidersComponents.getLocalToBodyTransform(mEntity);
@ -238,11 +241,17 @@ const Transform Collider::getLocalToWorldTransform() const {
}
// Return true if the collider is a trigger
/**
* @return True if this collider is a trigger and false otherwise
*/
bool Collider::getIsTrigger() const {
return mBody->mWorld.mCollidersComponents.getIsTrigger(mEntity);
}
// Set whether the collider is a trigger
/**
* @param isTrigger True if you want to set this collider as a trigger and false otherwise
*/
void Collider::setIsTrigger(bool isTrigger) const {
mBody->mWorld.mCollidersComponents.setIsTrigger(mEntity, isTrigger);
}

2
src/collision/CollisionCallback.cpp
View File

@ -75,7 +75,7 @@ CollisionCallback::ContactPair::EventType CollisionCallback::ContactPair::getEve
return EventType::ContactStart;
}
// CollisionCallbackInfo Constructor
// Constructor
CollisionCallback::CallbackData::CallbackData(List<reactphysics3d::ContactPair>* contactPairs, List<ContactManifold>* manifolds,
List<reactphysics3d::ContactPoint>* contactPoints, List<reactphysics3d::ContactPair>& lostContactPairs, PhysicsWorld& world)
:mContactPairs(contactPairs), mContactManifolds(manifolds), mContactPoints(contactPoints), mLostContactPairs(lostContactPairs),