Return true if the joint limits are enabled

Return true if the body is sleeping

Return the maximum value among the three components of a vector

Return the minimum value among the three components of a vector

Return the number of half-edges of the polyhedron

Return the pointer to the data pointer of a given leaf node of the tree

Return the indices of the three vertices of a given triangle in the array * @param triangleIndex Index of a given triangle in the array * @param[out]

Get the width

Remove the first element of the deque

Return true if two values have the same sign

Method to set all the values in the matrix

Set the cone limit half angle * @param coneHalfAngle The angle of the cone limit (in radian) from [0; PI] */

Set the external force of an entity

Set the external force of an entity

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 displaye

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

Apply a scale factor to the AABB

Compute the barycentric coordinates u, v, w of a point p inside the triangle (a, b, c) This method uses the technique described in the book Real-Time

Initialize the structure (when all vertices and faces have been added)

Destroy a box collision shape * @param boxShape A pointer to the box shape to destroy */

Destroy a convex mesh * @param convexMesh A pointer to the convex mesh to destroy */

Destroy a convex mesh shape * @param convexMeshShape A pointer to the convex mesh shape to destroy */

Return the angular velocity of the body * @return The angular velocity vector of the body */

Return the entity of the first body of a joint

Return the entity of the second body of a joint

Return a pointer to a child node

Return a column

Return true if the collider can generate contacts for the simulation of the associated body

Return the linear velocity * @return The linear velocity vector of the body */

Return the name of the test suite

Return one unit orthogonal vector of the current vector

Return a row

Return the type of the body * @return The type of rigid body (static, kinematic or dynamic) */

Recalculate the face centroid and normal to better fit its new vertices (using Newell method)

Allocate memory for a given number of elements

Set the inverse local inertia tensor of an entity

Create a new entity

Create and return a height-field * @param nbGridColumns Number of columns in the grid of the height field (along the local x axis) * @param nbGridRow

Create the physics world

Create a triangle mesh from a TriangleVertexArray The data (vertices, faces indices) are copied from the TriangleVertexArray into the created ConvexMe

Return the matrix with absolute values

Return the corresponding absolute value vector

Return the capsule collider

Return true if the vertices normals have been provided by the user * @return True if the vertices normals have been provided by the user */

Get the OpenGL texture ID

Return true if the motor of the joint in enabled

Return the current collision shape margin * @return The margin (in meters) around the collision shape */

Return the name of the collision shape * @return The name of the collision shape (box, sphere, triangle, ...) */

Return a pointer to the parent node

Return the first sphere collider

Return the second sphere collider

Return the trace of the matrix

Initialize before solving the constraint

Return true if the vector is the zero vector

Remove the last element of the deque

Reset the scene

Rotate the object in local-space

Set the angular velocity. * @param angularVelocity The angular velocity vector of the body */

Set the world center of mass of an entity

Set to true to enable warm starting

Set the joint pointer to a given joint

Set the local anchor point of body 1 for a given joint

Set the local anchor point of body 2 for a given joint

Set the time step

Return the number of elements in the array

Solve the position constraint (for position error correction)

Solve the velocity constraint

Start the timer

Warm start the constraint (apply the previous impulse at the beginning of the step)

Add shapes to be tested during narrow-phase collision detection into the batch

Add a given numbers of elements at the end of the array but do not init them

Return true if two vectors are parallel

Generate the rendering primitives (triangles, lines, ...) of a physics world

Create and return a concave mesh shape * @param triangleMesh A pointer to the triangle mesh to use to create the concave mesh shape * @param scaling

Destroy a concave mesh shape * @param concaveMeshShape A pointer to the concave mesh shape to destroy */

Destroy an entity

Destroy a joint * @param joint Pointer to the joint you want to destroy */

Destroy the physics world

Return the broad-phase id of a given collider

Return a pointer to the first collider in contact

Return a given contact pair Note that the returned ContactPair object is only valid during the call of the CollisionCallback::onContact() method. Ther

Return a given contact point of the contact pair Note that the returned ContactPoint object is only valid during the call of the CollisionCallback::on

Return true if the body has at least one simulation collider

Return a local support point in a given direction without the object margin. If the edges information is not used for collision detection, this method

Return the mass density of the collider

Return the number of lines * @return The number of lines in the array of lines to draw */

Return the three vertices coordinates (in the array outTriangleVertices) of a triangle

Return a vertex of the face

Return true if the mesh has normals

Return true if the mesh has UV texture coordinates

Return true if the body is active * @return True if the body currently active and false otherwise */

Merge the AABB in parameter with the current one

Return an unique integer from two integer numbers (pairing function) Here we assume that the two parameter numbers are sorted such that number1 = max(

Release previously allocated memory.

Remove a vertex

Render the scene (in multiple passes for shadow mapping)

Reserve memory for the containers with cached capacity

Reset the remaining contact points