Documentation

Create a world for rigid body simulation. A world contains bodies, shapes, and constraints. You may create up to 128 worlds. Each world is completely independent and may be simulated in parallel.

Returns: the world id.

Binds b3CreateWorld.

Destroy a world

Binds b3DestroyWorld.

World id validation. Provides validation for up to 64K allocations.

Binds b3World_IsValid.

Simulate a world for one time step. This performs collision detection, integration, and constraint solution.

Binds b3World_Step.

Call this to draw shapes and other debug draw data

Binds b3World_Draw.

Get the world's bounds. This is the bounding box that covers the current simulation. May have a small amount of padding.

Binds b3World_GetBounds.

Like getBounds, but the result is written into a caller-supplied buffer.

Get the body events for the current time step. The event data is transient. Do not store a reference to this data.

Binds b3World_GetBodyEvents.

Like getBodyEvents, but the result is written into a caller-supplied buffer.

Get sensor events for the current time step. The event data is transient. Do not store a reference to this data.

Binds b3World_GetSensorEvents.

Like getSensorEvents, but the result is written into a caller-supplied buffer.

Get contact events for this current time step. The event data is transient. Do not store a reference to this data.

Binds b3World_GetContactEvents.

Like getContactEvents, but the result is written into a caller-supplied buffer.

Get the joint events for the current time step. The event data is transient. Do not store a reference to this data.

Binds b3World_GetJointEvents.

Like getJointEvents, but the result is written into a caller-supplied buffer.

Overlap test for all shapes that *potentially* overlap the provided AABB

Binds b3World_OverlapAABB.

Overlap test for all shapes that overlap the provided shape proxy. The proxy points are relative to the world origin, which lets the query stay precise far from the world origin.

Binds b3World_OverlapShape.

Cast a ray into the world to collect shapes in the path of the ray. Your callback function controls whether you get the closest point, any point, or n-points. Note: The callback function may receive shapes in any order

Returns: traversal performance counters

Binds b3World_CastRay.

Cast a ray into the world to collect the closest hit. This is a convenience function. Ignores initial overlap. This is less general than b3World_CastRay() and does not allow for custom filtering.

Binds b3World_CastRayClosest.

Cast a shape through the world. Similar to a cast ray except that a shape is cast instead of a point. The proxy points are relative to the origin and the hit points come back as world positions, so the cast stays precise far from the world origin. See also b3World_CastRay.

Binds b3World_CastShape.

Cast a capsule mover through the world. This is a special shape cast that handles sliding along other shapes while reducing clipping. This is not a good source of information about what the mover is touching. Instead use the planes returned by b3World_CollideMover.

Returns: the translation fraction

Binds b3World_CastMover.

Collide a capsule mover with the world, gathering collision planes that can be fed to b3SolvePlanes. Useful for kinematic character movement. The mover and the returned planes are relative to the origin.

Binds b3World_CollideMover.

Enable/disable sleep. If your application does not need sleeping, you can gain some performance by disabling sleep completely at the world level. See also b3WorldDef.

Binds b3World_EnableSleeping.

Is body sleeping enabled?

Binds b3World_IsSleepingEnabled.

Enable/disable continuous collision between dynamic and static bodies. Generally you should keep continuous collision enabled to prevent fast moving objects from going through static objects. The performance gain from disabling continuous collision is minor. See also b3WorldDef.

Binds b3World_EnableContinuous.

Is continuous collision enabled?

Binds b3World_IsContinuousEnabled.

Adjust the restitution threshold. It is recommended not to make this value very small because it will prevent bodies from sleeping. Usually in meters per second. See also b3WorldDef.

Binds b3World_SetRestitutionThreshold.

Get the restitution speed threshold. Usually in meters per second.

Binds b3World_GetRestitutionThreshold.

Adjust the hit event threshold. This controls the collision speed needed to generate a b3ContactHitEvent. Usually in meters per second. See also b3WorldDef::hitEventThreshold.

Binds b3World_SetHitEventThreshold.

Get the hit event speed threshold. Usually in meters per second.

Binds b3World_GetHitEventThreshold.

Register the custom filter callback. This is optional.

Binds b3World_SetCustomFilterCallback.

Register the pre-solve callback. This is optional.

Binds b3World_SetPreSolveCallback.

Set the gravity vector for the entire world. Box3D has no concept of an up direction and this is left as a decision for the application. Usually in m/s^2. See also b3WorldDef.

Binds b3World_SetGravity.

Get the gravity vector

Binds b3World_GetGravity.

Like getGravity, but the result is written into a caller-supplied buffer.

Apply a radial explosion

Binds b3World_Explode.

Adjust contact tuning parameters Note: Advanced feature

Binds b3World_SetContactTuning.

Set the contact point recycling distance. Setting this to zero disables contact point recycling. Usually in meters.

Binds b3World_SetContactRecycleDistance.

Get the contact point recycling distance. Usually in meters.

Binds b3World_GetContactRecycleDistance.

Set the maximum linear speed. Usually in m/s.

Binds b3World_SetMaximumLinearSpeed.

Get the maximum linear speed. Usually in m/s.

Binds b3World_GetMaximumLinearSpeed.

Enable/disable constraint warm starting. Advanced feature for testing. Disabling warm starting greatly reduces stability and provides no performance gain.

Binds b3World_EnableWarmStarting.

Is constraint warm starting enabled?

Binds b3World_IsWarmStartingEnabled.

Get the number of awake bodies

Binds b3World_GetAwakeBodyCount.

Get the current world performance profile

Binds b3World_GetProfile.

Get world counters and sizes

Binds b3World_GetCounters.

Get max capacity. This can be used with b3WorldDef to avoid run-time allocations and copies

Binds b3World_GetMaxCapacity.

Like getMaxCapacity, but the result is written into a caller-supplied buffer.

Set the user data pointer.

Binds b3World_SetUserData.

Get the user data pointer.

Binds b3World_GetUserData.

Set the friction callback. Passing NULL resets to default.

Binds b3World_SetFrictionCallback.

Set the restitution callback. Passing NULL resets to default.

Binds b3World_SetRestitutionCallback.

Set the worker count. Must be in the range \[1, B3_MAX_WORKERS\]

Binds b3World_SetWorkerCount.

Get the worker count.

Binds b3World_GetWorkerCount.

Dump memory stats to log.

Binds b3World_DumpMemoryStats.

Dump shape bounds to box3d_bounds.txt

Binds b3World_DumpShapeBounds.

This is for internal testing

Binds b3World_RebuildStaticTree.

This is for internal testing

Binds b3World_EnableSpeculative.

Dump world to a text file. Saves only awake bodies and associated static bodies. Meshes are saved to binary b3m files.

Binds b3World_DumpAwake.

Dump world to a text file. Meshes are saved to binary b3m files.

Binds b3World_Dump.

Begin recording world mutations into the provided buffer. The buffer is reset on each call so a single b3Recording can be reused for multiple sessions.

Binds b3World_StartRecording.

End the current recording session. Writes the trailing geometry registry and backpatches the header. The buffer remains valid until the recording is destroyed.

Binds b3World_StopRecording.