Return the elapsed physics time

Return the corresponding type of event for this overlapping pair

Return the generation number of the entity

Return the gravity vector of the world * @return The current gravity vector (in meter per seconds squared) */

Return a pointer to the vertex indicies data

Return true if the body is allowed to sleep

Return true if the scene rotation is enabled

Return true if the collision is enabled between the two bodies of a joint

Return true if the cone limit is enabled

Return true if gravity is enabled for this entity

Return true if a raycast hit has been found

Return true if the collider will be part of results of queries on the PhysicsWorld

Return a pointer to the joint

Return the linear velocity damping factor * @return The linear damping factor of this body (in range [0; +inf]). Zero means no damping. */

Return a pointer to the array of lines * @return A pointer to the first element of the lines array to draw */

Return the maximum squared length of a point

Return the motor speed * @return The current motor speed of the joint (in meters per second) */

Return the name of the scene

Return the number of colliders associated with this body * @return The number of colliders associated with this body */

Return the number of contact pairs (there is a single contact pair between two bodies in contact) * @return The number of contact pairs */

Return the number of contact points in the contact pair * @return The number of contact points */

Return the number of faces * @return The number of faces in the mesh */

Get the number of iterations for the position constraint solver * @return The number of iterations of the position constraint solver */

Get the number of iterations for the velocity constraint solver * @return The number of iterations of the velocity constraint solver */

Return the number of overlapping pairs of bodies

Return the number of RigidBody in the physics world * @return The number of rigid bodies in the physics world */

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

Return a pointer to the normals data

Return the first point of the line

Return the second point of the line

Return a polygon face of the mesh * @param faceIndex Index of a given face * @return A polygon face */

Return the raycast test type (front, back, front-back)

Return the force (in Newtons) on body 2 required to satisfy the joint constraint in world-space * @return The current force (in Newtons) applied on bo

Compute the rotation angle (in radians) and the rotation axis This method is used to get the rotation angle (in radian) and the unit rotation axis of

Return the list of the scenes

Return the size in bytes of the type

Return the number of bytes used by the joint

Return the current sleep angular velocity * @return The sleep angular velocity (in radian per second) */

Return the current sleep linear velocity * @return The sleep linear velocity (in meters per second) */

Get the Sphere vs Capsule narrow-phase collision detection algorithm

Get the Sphere vs Convex Polyhedron narrow-phase collision detection algorithm

Get the Sphere vs Sphere narrow-phase collision detection algorithm

Return the pointer to the start of the vertices array * @return A pointer to the start of the vertex array of the mesh */

Return the time a body is required to stay still before sleeping * @return Time a body is required to stay still before sleeping (in seconds) */

Return the trace of the matrix

Return the coordinates of the three vertices of a given triangle face

Return the normals of the three vertices of a given triangle face

Return a pointer to the array of triangles * @return A pointer to the first element of the triangles array to draw */

Method to get a value in the matrix

Return the vertex index of a given vertex in a face * @return The index of a vertex (in the array of vertices data) of a given vertex in a face */

Return the pointer to the start of the vertex normals array * @return A pointer to the start of the normals data in the array */

Return the vertex normals stride (number of bytes) * @return The number of bytes separating two consecutive normals in the array */

Return a pointer to the vertices data

Return the AABB of the collider in world-space * @return The AABB of the collider in world-space */

Return true if there is a component for a given entity and if so set the entity index

Increment the frame counter

Inflate each side of the AABB by a given size

Inflate (if necessary) to make sure that a given point fit inside it

Initialize the GUI

Integrate position and orientation of the rigid bodies. The positions and orientations of the bodies are integrated using the sympletic Euler time ste

Integrate the velocities of rigid bodies. This method only set the temporary velocities but does not update the actual velocitiy of the bodies. The ve

Return true if the set is affinely dependent. A set if affinely dependent if a point of the set is an affine combination of other points in the set

Return true if the collision between the two bodies of the joint is enabled * @return True if the collision is enabled between the two bodies of the j

Returns true if this collision body is computing debug information * @return Returns true if this body is computing debug information */

Return true if the values are not NAN OR INF

Return true if the simplex contains 4 points

Return true if the gravity needs to be applied to this rigid body * @return True if the gravity is applied to the body */

Return true if the point is in the simplex

True if it's possible to take a new step

Return true if we are at the root of the profiler tree

Return true if the sleeping technique is enabled * @return True if the sleeping technique is enabled and false otherwise */

Return true if the split impulses position correction technique is used for contacts

Return true if the face is a triangle

Called when a keyboard event occurs

Called when a mouse button event occurs

Called when a mouse motion event occurs

Handle a mouse button event (default implementation: propagate to children)

Handle a mouse motion event (default implementation: propagate to children)

Go to the next node

Take a new step => update the timer by adding the timeStep value to the current time

Notify that the overlapping pairs where a given collider is involved need to be tested for overlap

Called when a raycast hit occurs (used to move a body with the mouse)

This method will be called for each reported overlapping bodies

Called when some trigger events occur * @param callbackData Contains information about all the triggers that are colliding */

Window resize event handler

Pause the simulation

Play the simulation

Print the report of the profiler in a given output stream

Project a point onto a plane that is given by a point and its unit length normal

Raycast method with feedback information * @param ray Ray to use for the raycasting in world-space * @param[out] raycastInfo Result of the raycasting

Raycast method with feedback information Note that only the first triangle hit by the ray in the mesh will be returned, even if the ray hits many tria