World class

The physics world

Inheritance

Constructors

World({Vec3? gravity, Vec3? frictionGravity, bool allowSleep = false, Broadphase? broadphase, Solver? solver, bool quatNormalizeFast = false, int quatNormalizeSkip = 0, bool verbose = false})

Properties

accumulator ↔ double
Time accumulator for interpolation. @see https://gafferongames.com/game-physics/fix-your-timestep/
getter/setter pair
addBodyEvent ↔ BodyEvent
Dispatched after a body has been added to the world.
getter/setter pair
additions → List<int>
final
allowSleep ↔ bool
Makes bodies go to sleep when they've been inactive.
getter/setter pair
beginContactEvent → ContactEvent
final
beginShapeContactEvent → ShapeContactEvent
final
bodies ↔ List<Body>
All bodies in this world
getter/setter pair
bodyOverlapKeeper ↔ OverlapKeeper
getter/setter pair
broadphase ↔ Broadphase
The broadphase algorithm to use.
getter/setter pair
collisionMatrix ↔ ArrayCollisionMatrix
getter/setter pair
collisionMatrixPrevious ↔ ArrayCollisionMatrix
CollisionMatrix from the previous step.
getter/setter pair
constraints ↔ List<Constraint>
getter/setter pair
contactmaterials ↔ List<ContactMaterial>
All added contactmaterials.
getter/setter pair
contactMaterialTable ↔ TupleDictionary
Used to look up a ContactMaterial given two instances of Material.
getter/setter pair
contacts ↔ List<ContactEquation>
All the current contacts (instances of ContactEquation) in the world.
getter/setter pair
defaultContactMaterial ↔ ContactMaterial
This contact material is used if no suitable contactmaterial is found for a contact.
getter/setter pair
defaultDt ↔ double
Default and last timestep sizes.
getter/setter pair
defaultMaterial ↔ Material
The default material of the bodies.
getter/setter pair
doProfiling ↔ bool
getter/setter pair
dt ↔ double
Currently / last used timestep. Is set to -1 if not available. This value is updated before each internal step, which means that it is "fresh" inside event callbacks.
getter/setter pair
endContactEvent → ContactEvent
final
endShapeContactEvent → ShapeContactEvent
final
frictionEquations ↔ List<FrictionEquation>
getter/setter pair
frictionGravity ↔ Vec3?
Gravity to use when approximating the friction max force (mumassgravity). If undefined, global gravity will be used. Use to enable friction in a World with a null gravity vector (no gravity).
getter/setter pair
gravity ↔ Vec3
The gravity of the world.
getter/setter pair
hasActiveBodies ↔ bool
True if any bodies are not sleeping, false if every body is sleeping.
getter/setter pair
hashCode → int
The hash code for this object.
no setterinherited
idToBodyMap ↔ Map<int, Body>
getter/setter pair
lastCallTime ↔ double?
getter/setter pair
narrowphase ↔ Narrowphase
getter/setter pair
nextId ↔ int
getter/setter pair
performance → Performance
final
profile ↔ Profile
getter/setter pair
quatNormalizeFast ↔ bool
Set to true to use fast quaternion normalization. It is often enough accurate to use. If bodies tend to explode, set to false.
getter/setter pair
quatNormalizeSkip ↔ int
How often to normalize quaternions. Set to 0 for every step, 1 for every second etc.. A larger value increases performance. If bodies tend to explode, set to a smaller value (zero to be sure nothing can go wrong).
getter/setter pair
removals → List<int>
final
removeBodyEvent ↔ BodyEvent
Dispatched after a body has been removed from the world.
getter/setter pair
runtimeType → Type
A representation of the runtime type of the object.
no setterinherited
shapeOverlapKeeper ↔ OverlapKeeper
getter/setter pair
solver ↔ Solver
The solver algorithm to use.
getter/setter pair
stepnumber ↔ int
Number of timesteps taken since start.
getter/setter pair
subsystems ↔ List
getter/setter pair
time ↔ double
The wall-clock time since simulation start.
getter/setter pair
verbose ↔ bool
getter/setter pair
worldStepFrictionEquationPool ↔ List<FrictionEquation>
getter/setter pair
worldStepOldContacts ↔ List<ContactEquation>
getter/setter pair
worldStepP1 ↔ List<Body>
getter/setter pair
worldStepP2 ↔ List<Body>
getter/setter pair

Methods

addBody(Body body) → void
Add a rigid body to the simulation. @todo If the simulation has not yet started, why recrete and copy arrays for each body? Accumulate in dynamic arrays in this case. @todo Adding an array of bodies should be possible. This would save some loops too
addConstraint(Constraint c) → void
Add a constraint to the simulation.
addContactMaterial(ContactMaterial cmat) → void
Adds a contact material to the World
addEventListener(String type, dynamic listener(dynamic)) → EventTarget
Add an event listener @return The self object, for chainability.
inherited
clearForces() → void
Sets all body forces in the world to zero.
collisionMatrixTick() → void
Store old collision state info
dispatchEvent(Event event) → EventTarget
Emit an event. @return The self object, for chainability.
inherited
emitContactEvents() → void
fixedStep([double dt = 1 / 60, int maxSubSteps = 10]) → void
Step the simulation forward keeping track of last called time to be able to step the world at a fixed rate, independently of framerate.
getBodyById(int id) → Body
getContactMaterial(Material m1, Material m2) → ContactMaterial?
Get the contact material between materials m1 and m2 @return The contact material if it was found.
getShapeById(int id) → Shape?
@todo Make a faster map
hasAnyEventListener(String type) → bool
Check if any event listener of the given type is added
inherited
hasEventListener(String type, void listener()) → bool
Check if an event listener is added
inherited
internalStep(double dt) → void
noSuchMethod(Invocation invocation) → dynamic
Invoked when a nonexistent method or property is accessed.
inherited
raycastAll([Vec3? from, Vec3? to, RayOptions? options, RaycastCallback? callback]) → bool
Ray cast against all bodies. The provided callback will be executed for each hit with a RaycastResult as single argument. @return True if any body was hit.
raycastAny([Vec3? from, Vec3? to, RayOptions? options, RaycastResult? result]) → bool
Ray cast, and stop at the first result. Note that the order is random - but the method is fast. @return True if any body was hit.
raycastClosest([Vec3? from, Vec3? to, RayOptions? options, RaycastResult? result]) → bool
Ray cast, and return information of the closest hit. @return True if any body was hit.
rayTest(Vec3 from, Vec3 to, dynamic result) → void
Raycast test @deprecated Use .raycastAll, .raycastClosest or .raycastAny instead.
removeBody(Body body) → void
Remove a rigid body from the simulation.
removeConstraint(Constraint c) → void
Removes a constraint
removeContactMaterial(ContactMaterial cmat) → void
Removes a contact material from the World.
removeEventListener(String type, Function listener) → EventTarget
Remove an event listener @return The self object, for chainability.
inherited
step(double dt, [double? timeSinceLastCalled, int maxSubSteps = 10]) → void
Step the physics world forward in time.
toString() → String
A string representation of this object.
inherited

Operators

operator ==(Object other) → bool
The equality operator.
inherited