Class describing a space in which move several bodies. More...

#include <space.hpp>

Collaboration diagram for Model::Space:

Public Member Functions
	Space ()
	Default constructor. More...

	Space (const Configuration::SimulationConfig &config)
	Initialise the space. More...

	~Space ()
	Destructor to clean up OpenMP locks. More...

std::size_t	n () const
	Number of bodies getter. More...

BodyProxy	body (std::size_t i)
	Get a proxy to the i-th body. More...

ConstBodyProxy	body (std::size_t i) const
	Get a const proxy to the i-th body. More...

double	getPreviousTimeStep () const
	Get the time step used in the last completed simulation frame. More...

void	computeDynamics (std::size_t iteration)
	Computes one full step of the simulation. More...

std::tuple< double, double, double >	calculateSystemEnergy () const
	Calculates the kinetic and potential energy of the system. More...

std::tuple< Vector3dVec, QuaterniondVec >	getAllBodyTransforms () const
	Retrieves the current positions and orientations of all bodies. More...

std::tuple< Vector3dVec, QuaterniondVec, Vector3dVec, Vector3dVec >	getDataForDisplay () const
	Retrieves all data required for display for all bodies. More...

void	printProfilingReport () const

double	getG () const
	Get the universal gravitational constant. More...

void	setG (double g)
	Set the universal gravitational constant. More...

double	getEpsilon () const
	Get the numerical precision threshold. More...

void	setEpsilon (double eps)
	Set the numerical precision threshold. More...

double	getCoeffRestitution () const
	Get the coefficient of restitution. More...

void	setCoeffRestitution (double e)
	Set the coefficient of restitution. More...

double	getCoeffFriction () const
	Get the coefficient of kinetic friction. More...

void	setCoeffFriction (double mu)
	Set the coefficient of kinetic friction. More...

double	getCoeffStaticFriction () const
	Get the coefficient of static friction. More...

void	setCoeffStaticFriction (double mu_s)
	Set the coefficient of static friction. More...

double	getLinearDamping () const
	Get the linear damping factor. More...

void	setLinearDamping (double damping)
	Set the linear damping factor. More...

double	getAngularDamping () const
	Get the angular damping factor. More...

void	setAngularDamping (double damping)
	Set the angular damping factor. More...

double	getTimeStep () const
	Get the current time step. More...

void	setTimeStep (double dt)
	Set the current time step. More...

double	getPositionalCorrectionFactor () const
	Get the positional correction factor. More...

void	setPositionalCorrectionFactor (double factor)
	Set the positional correction factor. More...

bool	isDiagnosticsEnabled () const
	Check if diagnostics are enabled. More...

void	setDiagnosticsEnabled (bool enabled)
	Enable or disable diagnostics. More...

Bodies &	getBodiesForTest ()
	Provides direct access to the Bodies container for testing. More...

std::optional< CollisionContext >	createCollisionContext (BodyProxy &b1, BodyProxy &b2)
	Factory method to create a CollisionContext if two bodies are colliding. More...

std::tuple< Vector3d, double, double >	applyRestitutionImpulse (CollisionContext &ctx)
	Calculates and applies the normal impulse (restitution) for a collision. More...

Vector3d	applyFrictionImpulse (const CollisionContext &ctx, double jn, const Vector3d &impulseN)
	Calculates the tangential (frictional) impulse for a collision. More...

void	colorGraph (const std::vector< std::vector< std::size_t > > &graph)
	A greedy graph colouring algorithm to assign a colour (integer) to each body such that no two adjacent bodies (i.e., colliding bodies) share the same colour. More...

Private Member Functions
void	handleCollision (BodyProxy &b1, BodyProxy &b2)
	Handles collision detection and response between two bodies. More...

void	initializeBodies (std::size_t n, double dens, unsigned int seed)
	Initialises the bodies in the simulation with random properties. More...

void	resolveInterpenetration (const CollisionContext &ctx)
	Resolves interpenetration by moving bodies apart along the collision normal. More...

double	getEffectiveMass (const CollisionContext &ctx, const Vector3d &direction_vec)
	Calculates the effective mass of two colliding bodies in a given direction. More...

void	logSystemEnergy (std::size_t iteration)
	Logs system energy and checks for instability if diagnostics are enabled. More...

void	buildCollisionGraph ()
	Builds the collision graph using broad-phase and narrow-phase detection. More...

void	resolveCollisions ()
	Resolves all detected collisions using graph colouring. More...

void	applyGravity ()
	Calculates and applies gravitational forces to all bodies. More...

void	updateAdaptiveTimeStep ()
	Determines the optimal time step for the next frame based on current velocities and accelerations. More...

void	applyDamping ()
	Applies linear and angular damping to all bodies. More...

Private Attributes
double	dt_
	Time step (in s). More...

double	previous_dt_
	Previous time step (in s). More...

double	G_
	Universal gravitational constant (in m³ / kg /s²). More...

double	epsilon_
	Numerical precision threshold. More...

double	coeffRestitution_
	Coefficient of restitution for collisions. More...

double	coeffFriction_
	Coefficient of kinetic (sliding) friction. More...

double	coeffStaticFriction_
	Coefficient of static friction. More...

double	positionalCorrectionFactor_
	The percentage of overlap to correct in each frame. More...

double	linearDamping_
	Damping factor for linear velocity. More...

double	angularDamping_
	Damping factor for angular velocity. More...

bool	diagnosticsEnabled_
	Flag indicating if diagnostic output is enabled. More...

std::size_t	logFreq_
	Frequency of energy log output (every N iterations). More...

Bodies	bodies_
	SoA container for all bodies in the simulation. More...

std::unique_ptr< KDTree >	kdTree_
	k-d tree for broad-phase collision detection. More...

std::vector< std::vector< std::size_t > >	collisionGraph_
	Adjacency list for the collision graph. More...

std::vector< int >	colors_
	Stores the colour of each body for parallel collision processing. More...

std::vector< omp_lock_t >	graphLocks_
	OpenMP locks for thread-safe collision graph updates. More...

std::vector< std::vector< std::pair< std::size_t, std::size_t > > >	thread_local_collision_pairs_
	Thread-local storage for collision pairs found during broad-phase. This reduces lock contention on the global `collisionGraph_` during parallel processing. More...

double	lastTotalEnergy_ = std::numeric_limits<double>::infinity()
	The total energy from the previous logged step. More...

double	cached_max_radius_ = 0.0
	Cached maximum radius for collision detection optimization. This is recalculated only when bodies are added/removed, not every frame. More...

double	profIntegration_ = 0.0
	Time spent in integration steps. More...

double	profCollisionGraph_ = 0.0
	Time spent in collision graph building. More...

double	profCollisionResponse_ = 0.0
	Time spent in collision response. More...

double	profForceCalculation_ = 0.0
	Time spent in force calculation. More...

Friends
class	::SpaceTest

Detailed Description

Class describing a space in which move several bodies.

Definition at line 89 of file space.hpp.

Constructor & Destructor Documentation

◆ Space() [1/2]

Model::Space::Space ( )

inline

Default constructor.

Definition at line 96 of file space.hpp.

◆ Space() [2/2]

Model::Space::Space ( const Configuration::SimulationConfig & config )

explicit

Initialise the space.

Parameters

config The simulation configuration object containing all simulation parameters.

Definition at line 39 of file space.cpp.

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◆ ~Space()

Model::Space::~Space ( )

Destructor to clean up OpenMP locks.

Definition at line 202 of file space.cpp.

Member Function Documentation

◆ applyDamping()

void Model::Space::applyDamping ( )

private

Applies linear and angular damping to all bodies.

This method applies velocity damping to reduce energy over time, which helps stabilize the simulation and prevent numerical explosions.

Definition at line 994 of file space.cpp.

◆ applyFrictionImpulse()

Model::Vector3d Model::Space::applyFrictionImpulse	(	const CollisionContext &	ctx,
		double	jn,
		const Vector3d &	impulseN
	)

Calculates the tangential (frictional) impulse for a collision.

This method is part of the internal collision handling API and is exposed to tests for unit testing collision logic.

Parameters

ctx	The collision context.
jn	The magnitude of the normal impulse, used for the friction limit.
impulseN	The normal impulse vector.

Returns: The friction impulse vector.

Note: This method is public but intended for testing only.

Definition at line 548 of file space.cpp.

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◆ applyGravity()

void Model::Space::applyGravity ( )

private

Calculates and applies gravitational forces to all bodies.

Definition at line 1085 of file space.cpp.

◆ applyRestitutionImpulse()

std::tuple< Model::Vector3d, double, double > Model::Space::applyRestitutionImpulse ( CollisionContext & ctx )

Calculates and applies the normal impulse (restitution) for a collision.

This method is part of the internal collision handling API and is exposed to tests for unit testing collision logic.

Parameters

ctx	The collision context.

Returns: A tuple containing the total impulse vector, its magnitude, and the magnitude of the bias impulse component.

Note: This method is public but intended for testing only.

Definition at line 523 of file space.cpp.

◆ body() [1/2]

BodyProxy Model::Space::body ( std::size_t i )

inline

Get a proxy to the i-th body.

Parameters

i	Body index.

Returns: A mutable proxy object for the i-th body.

Definition at line 123 of file space.hpp.

◆ body() [2/2]

ConstBodyProxy Model::Space::body ( std::size_t i ) const

inline

Get a const proxy to the i-th body.

Parameters

i	Body index.

Returns: A const proxy object for the i-th body.

Definition at line 132 of file space.hpp.

◆ buildCollisionGraph()

void Model::Space::buildCollisionGraph ( )

private

Builds the collision graph using broad-phase and narrow-phase detection.

This method implements a two-phase collision detection algorithm to efficiently identify all colliding body pairs in the simulation. The result is stored in collisionGraph_, where collisionGraph_[i] contains the indices of all bodies colliding with body i.

Algorithm Overview: The algorithm uses a two-phase approach:

Phase 1: Broad-Phase Detection (Spatial Acceleration)

Rebuilds the k-d tree with current body positions
For each body, performs a radius search to find all bodies within a safe distance (body radius + maximum body radius in system)
Uses thread-local storage to collect candidate pairs in parallel
Complexity: O(N log N) where N is the number of bodies

Phase 2: Narrow-Phase Detection (Exact Collision Test)

For each candidate pair from Phase 1, performs an exact collision test using distance and radius comparison
Only pairs that actually overlap are added to the collision graph
Complexity: O(C) where C is the number of candidate pairs

Example: Consider a system with 3 bodies:
Body 0: position (0, 0, 0), radius 1.0

Body 1: position (1.5, 0, 0), radius 1.0 // Overlaps with body 0

Body 2: position (5, 0, 0), radius 1.0 // No collision

After execution:

collisionGraph_[0] = {1}  // Body 0 collides with body 1
collisionGraph_[1] = {0}  // Body 1 collides with body 0
collisionGraph_[2] = {}    // Body 2 has no collisions

Thread Safety

This method is fully parallelized using OpenMP:

Broad-phase searches are performed in parallel using thread-local storage to avoid race conditions
Candidate pairs are collected per-thread and merged sequentially after parallel execution
The final collision graph is built sequentially from thread-local results

Performance Optimizations

Maximum radius is cached and only recalculated when bodies are added/removed (not every frame)
Results vectors are pre-allocated to avoid repeated allocations
k-d tree is rebuilt each frame to reflect position changes
Thread-local storage minimizes lock contention

Note: This method is called once per simulation step in computeDynamics().; The collision graph is undirected: if body i collides with j, then j appears in collisionGraph_[i] and i appears in collisionGraph_[j].

Definition at line 821 of file space.cpp.

◆ calculateSystemEnergy()

std::tuple< double, double, double > Model::Space::calculateSystemEnergy ( ) const

Calculates the kinetic and potential energy of the system.

Returns

A tuple containing:

Translational Kinetic Energy
Rotational Kinetic Energy
Potential Energy

Definition at line 443 of file space.cpp.

◆ colorGraph()

void Model::Space::colorGraph ( const std::vector< std::vector< std::size_t > > & graph )

A greedy graph colouring algorithm to assign a colour (integer) to each body such that no two adjacent bodies (i.e., colliding bodies) share the same colour.

This method implements a parallel greedy graph colouring algorithm used to partition collision pairs into independent sets. Bodies with the same colour can have their collisions resolved in parallel without conflicts.

Algorithm Overview

The algorithm uses an iterative approach with two passes per iteration:

Pass 1: Each body (in parallel) assigns itself the smallest available colour not used by any of its neighbours.
Pass 2: Detect conflicts where adjacent bodies share the same colour (can occur due to race conditions in parallel execution).

The algorithm iterates until no conflicts remain.

Example: Consider a collision graph with 4 bodies:
graph[0] = {1, 2} // Body 0 collides with bodies 1 and 2

graph[1] = {0, 3} // Body 1 collides with bodies 0 and 3

graph[2] = {0} // Body 2 collides with body 0

graph[3] = {1} // Body 3 collides with body 1

After colouring, a possible result is:

colors[0] = 0  // Bodies 0 and 3 can be processed in parallel
colors[1] = 1  // Body 1 can be processed alone
colors[2] = 1  // Bodies 1 and 2 can be processed in parallel
colors[3] = 0  // (same as body 0)

Thread Safety: This method uses OpenMP locks to synchronize access to the shared colors_ vector. Reads of neighbour colours are protected by locks to avoid data races, while writes are minimal and lock-protected.

Parameters

graph The collision graph where graph[i] contains indices of bodies colliding with i. The graph should be undirected (if body i collides with j, then j should appear in graph[i] and i in graph[j]).

Note: This method is public but intended for testing only.; The algorithm is guaranteed to terminate as conflicts decrease with each iteration (worst-case: O(N) iterations for N bodies).

Definition at line 700 of file space.cpp.

◆ computeDynamics()

void Model::Space::computeDynamics ( std::size_t iteration )

Computes one full step of the simulation.

This method orchestrates the main simulation loop, including:

Advancing positions and velocities (Velocity Verlet).
Detecting and resolving collisions.
Calculating new forces (gravity).
Parameters

iteration The current simulation iteration number.

Definition at line 908 of file space.cpp.

◆ createCollisionContext()

std::optional< Model::CollisionContext > Model::Space::createCollisionContext	(	BodyProxy &	b1,
		BodyProxy &	b2
	)

Factory method to create a CollisionContext if two bodies are colliding.

This method is part of the internal collision handling API and is exposed to tests for unit testing collision logic.

Parameters

b1	First body.
b2	Second body.

Returns: A CollisionContext object if a collision occurs, otherwise std::nullopt.

Note: This method is public but intended for testing only.

Definition at line 642 of file space.cpp.

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◆ getAllBodyTransforms()

std::tuple< Model::Vector3dVec, Model::QuaterniondVec > Model::Space::getAllBodyTransforms ( ) const

Retrieves the current positions and orientations of all bodies.

Returns: A tuple containing a vector of positions and a vector of quaternions.

Definition at line 384 of file space.cpp.

◆ getAngularDamping()

double Model::Space::getAngularDamping ( ) const

inline

Get the angular damping factor.

Returns: The angular damping factor.

Definition at line 268 of file space.hpp.

◆ getBodiesForTest()

Bodies & Model::Space::getBodiesForTest ( )

inline

Provides direct access to the Bodies container for testing.

Returns: A reference to the internal Bodies object.

Note: This method is public but intended for testing only. Access is controlled via the friend declaration.

Definition at line 329 of file space.hpp.

◆ getCoeffFriction()

double Model::Space::getCoeffFriction ( ) const

inline

Get the coefficient of kinetic friction.

Returns: The coefficient of kinetic friction.

Definition at line 228 of file space.hpp.

◆ getCoeffRestitution()

double Model::Space::getCoeffRestitution ( ) const

inline

Get the coefficient of restitution.

Returns: The coefficient of restitution.

Definition at line 214 of file space.hpp.

◆ getCoeffStaticFriction()

double Model::Space::getCoeffStaticFriction ( ) const

inline

Get the coefficient of static friction.

Returns: The coefficient of static friction.

Definition at line 240 of file space.hpp.

◆ getDataForDisplay()

std::tuple< Model::Vector3dVec, Model::QuaterniondVec, Model::Vector3dVec, Model::Vector3dVec > Model::Space::getDataForDisplay ( ) const

Retrieves all data required for display for all bodies.

Returns: A tuple containing vectors of positions, quaternions, torques, and angular accelerations.

Definition at line 400 of file space.cpp.

◆ getEffectiveMass()

double Model::Space::getEffectiveMass	(	const CollisionContext &	ctx,
		const Vector3d &	direction_vec
	)

private

Calculates the effective mass of two colliding bodies in a given direction.

Parameters

ctx	The collision context.
direction_vec	The direction vector (e.g., normal or tangent).

Returns: The scalar effective mass.

Definition at line 507 of file space.cpp.

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◆ getEpsilon()

double Model::Space::getEpsilon ( ) const

inline

Get the numerical precision threshold.

Returns: The epsilon value.

Definition at line 202 of file space.hpp.

◆ getG()

double Model::Space::getG ( ) const

inline

Get the universal gravitational constant.

Returns: The gravitational constant G.

Definition at line 190 of file space.hpp.

◆ getLinearDamping()

double Model::Space::getLinearDamping ( ) const

inline

Get the linear damping factor.

Returns: The linear damping factor.

Definition at line 256 of file space.hpp.

◆ getPositionalCorrectionFactor()

double Model::Space::getPositionalCorrectionFactor ( ) const

inline

Get the positional correction factor.

Returns: The positional correction factor.

Definition at line 294 of file space.hpp.

◆ getPreviousTimeStep()

double Model::Space::getPreviousTimeStep ( ) const

inline

Get the time step used in the last completed simulation frame.

Returns: The previous time step value.

Definition at line 140 of file space.hpp.

◆ getTimeStep()

double Model::Space::getTimeStep ( ) const

inline

Get the current time step.

Returns: The current time step value.

Definition at line 282 of file space.hpp.

◆ handleCollision()

void Model::Space::handleCollision	(	BodyProxy &	b1,
		BodyProxy &	b2
	)

private

Handles collision detection and response between two bodies.

Parameters

b1	A proxy to the first body in the collision.
b2	A proxy to the second body in the collision.

Definition at line 664 of file space.cpp.

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◆ initializeBodies()

void Model::Space::initializeBodies	(	std::size_t	n,
		double	dens,
		unsigned int	seed
	)

private

Initialises the bodies in the simulation with random properties.

Parameters

n	The number of bodies to create.
dens	The density of the bodies.
seed	The seed for random number generation.

Definition at line 209 of file space.cpp.

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◆ isDiagnosticsEnabled()

bool Model::Space::isDiagnosticsEnabled ( ) const

inline

Check if diagnostics are enabled.

Returns: True if diagnostics are enabled, false otherwise.

Definition at line 310 of file space.hpp.

◆ logSystemEnergy()

void Model::Space::logSystemEnergy ( std::size_t iteration )

private

Logs system energy and checks for instability if diagnostics are enabled.

Parameters

iteration The current simulation iteration number.

Definition at line 788 of file space.cpp.

◆ n()

std::size_t Model::Space::n ( ) const

inline

Number of bodies getter.

Returns: The number of bodies in the space.

Definition at line 114 of file space.hpp.

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◆ printProfilingReport()

void Model::Space::printProfilingReport ( ) const

Definition at line 416 of file space.cpp.

◆ resolveCollisions()

void Model::Space::resolveCollisions ( )

private

Resolves all detected collisions using graph colouring.

Definition at line 966 of file space.cpp.

◆ resolveInterpenetration()

void Model::Space::resolveInterpenetration ( const CollisionContext & ctx )

private

Resolves interpenetration by moving bodies apart along the collision normal.

Definition at line 485 of file space.cpp.

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◆ setAngularDamping()

void Model::Space::setAngularDamping ( double damping )

inline

Set the angular damping factor.

Parameters

damping The new angular damping factor (typically in [0, 1]).

Definition at line 276 of file space.hpp.

◆ setCoeffFriction()

void Model::Space::setCoeffFriction ( double mu )

inline

Set the coefficient of kinetic friction.

Parameters

mu	The new coefficient of kinetic friction.

Definition at line 234 of file space.hpp.

◆ setCoeffRestitution()

void Model::Space::setCoeffRestitution ( double e )

inline

Set the coefficient of restitution.

Parameters

e	The new coefficient of restitution (typically in [0, 1]).

Definition at line 222 of file space.hpp.

◆ setCoeffStaticFriction()

void Model::Space::setCoeffStaticFriction ( double mu_s )

inline

Set the coefficient of static friction.

Parameters

mu_s	The new coefficient of static friction.

Definition at line 248 of file space.hpp.

◆ setDiagnosticsEnabled()

void Model::Space::setDiagnosticsEnabled ( bool enabled )

inline

Enable or disable diagnostics.

Parameters

enabled True to enable diagnostics, false to disable.

Definition at line 318 of file space.hpp.

◆ setEpsilon()

void Model::Space::setEpsilon ( double eps )

inline

Set the numerical precision threshold.

Parameters

eps	The new epsilon value.

Definition at line 208 of file space.hpp.

◆ setG()

void Model::Space::setG ( double g )

inline

Set the universal gravitational constant.

Parameters

g	The new gravitational constant value.

Definition at line 196 of file space.hpp.

◆ setLinearDamping()

void Model::Space::setLinearDamping ( double damping )

inline

Set the linear damping factor.

Parameters

damping The new linear damping factor (typically in [0, 1]).

Definition at line 262 of file space.hpp.

◆ setPositionalCorrectionFactor()

void Model::Space::setPositionalCorrectionFactor ( double factor )

inline

Set the positional correction factor.

Parameters

factor The new positional correction factor.

Definition at line 302 of file space.hpp.

◆ setTimeStep()

void Model::Space::setTimeStep ( double dt )

inline

Set the current time step.

Parameters

dt	The new time step value.

Definition at line 288 of file space.hpp.

◆ updateAdaptiveTimeStep()

void Model::Space::updateAdaptiveTimeStep ( )

private

Determines the optimal time step for the next frame based on current velocities and accelerations.

Definition at line 1005 of file space.cpp.

Friends And Related Function Documentation

◆ ::SpaceTest

friend class ::SpaceTest

friend

Definition at line 93 of file space.hpp.

Member Data Documentation

◆ angularDamping_

double Model::Space::angularDamping_

private

Damping factor for angular velocity.

Definition at line 593 of file space.hpp.

◆ bodies_

Bodies Model::Space::bodies_

private

SoA container for all bodies in the simulation.

Definition at line 602 of file space.hpp.

◆ cached_max_radius_

double Model::Space::cached_max_radius_ = 0.0

mutableprivate

Cached maximum radius for collision detection optimization. This is recalculated only when bodies are added/removed, not every frame.

Definition at line 633 of file space.hpp.

◆ coeffFriction_

double Model::Space::coeffFriction_

private

Coefficient of kinetic (sliding) friction.

Definition at line 581 of file space.hpp.

◆ coeffRestitution_

double Model::Space::coeffRestitution_

private

Coefficient of restitution for collisions.

Definition at line 578 of file space.hpp.

◆ coeffStaticFriction_

double Model::Space::coeffStaticFriction_

private

Coefficient of static friction.

Definition at line 584 of file space.hpp.

◆ collisionGraph_

std::vector<std::vector<std::size_t> > Model::Space::collisionGraph_

private

Adjacency list for the collision graph.

Definition at line 608 of file space.hpp.

◆ colors_

std::vector<int> Model::Space::colors_

private

Stores the colour of each body for parallel collision processing.

Definition at line 614 of file space.hpp.

◆ diagnosticsEnabled_

bool Model::Space::diagnosticsEnabled_

private

Flag indicating if diagnostic output is enabled.

Definition at line 596 of file space.hpp.

◆ dt_

double Model::Space::dt_

private

Time step (in s).

Definition at line 566 of file space.hpp.

◆ epsilon_

double Model::Space::epsilon_

private

Numerical precision threshold.

Definition at line 575 of file space.hpp.

◆ G_

double Model::Space::G_

private

Universal gravitational constant (in m³ / kg /s²).

Definition at line 572 of file space.hpp.

◆ graphLocks_

std::vector<omp_lock_t> Model::Space::graphLocks_

private

OpenMP locks for thread-safe collision graph updates.

Definition at line 617 of file space.hpp.

◆ kdTree_

std::unique_ptr<KDTree> Model::Space::kdTree_

private

k-d tree for broad-phase collision detection.

Definition at line 605 of file space.hpp.

◆ lastTotalEnergy_

double Model::Space::lastTotalEnergy_ = std::numeric_limits<double>::infinity()

private

The total energy from the previous logged step.

Definition at line 628 of file space.hpp.

◆ linearDamping_

double Model::Space::linearDamping_

private

Damping factor for linear velocity.

Definition at line 590 of file space.hpp.

◆ logFreq_

std::size_t Model::Space::logFreq_

private

Frequency of energy log output (every N iterations).

Definition at line 599 of file space.hpp.

◆ positionalCorrectionFactor_

double Model::Space::positionalCorrectionFactor_

private

The percentage of overlap to correct in each frame.

Definition at line 587 of file space.hpp.

◆ previous_dt_

double Model::Space::previous_dt_

private

Previous time step (in s).

Definition at line 569 of file space.hpp.

◆ profCollisionGraph_

double Model::Space::profCollisionGraph_ = 0.0

mutableprivate

Time spent in collision graph building.

Definition at line 642 of file space.hpp.

◆ profCollisionResponse_

double Model::Space::profCollisionResponse_ = 0.0

mutableprivate

Time spent in collision response.

Definition at line 645 of file space.hpp.

◆ profForceCalculation_

double Model::Space::profForceCalculation_ = 0.0

mutableprivate

Time spent in force calculation.

Definition at line 648 of file space.hpp.

◆ profIntegration_

double Model::Space::profIntegration_ = 0.0

mutableprivate

Time spent in integration steps.

Definition at line 639 of file space.hpp.

◆ thread_local_collision_pairs_

std::vector<std::vector<std::pair<std::size_t, std::size_t> > > Model::Space::thread_local_collision_pairs_

private

Thread-local storage for collision pairs found during broad-phase. This reduces lock contention on the global collisionGraph_ during parallel processing.

Definition at line 625 of file space.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Space() [1/2]

◆ Space() [2/2]

◆ ~Space()

Member Function Documentation

◆ applyDamping()

◆ applyFrictionImpulse()

◆ applyGravity()

◆ applyRestitutionImpulse()

◆ body() [1/2]

◆ body() [2/2]

◆ buildCollisionGraph()

◆ calculateSystemEnergy()

◆ colorGraph()

◆ computeDynamics()

◆ createCollisionContext()

◆ getAllBodyTransforms()

◆ getAngularDamping()

◆ getBodiesForTest()

◆ getCoeffFriction()

◆ getCoeffRestitution()

◆ getCoeffStaticFriction()

◆ getDataForDisplay()

◆ getEffectiveMass()

◆ getEpsilon()

◆ getG()

◆ getLinearDamping()

◆ getPositionalCorrectionFactor()

◆ getPreviousTimeStep()

◆ getTimeStep()

◆ handleCollision()

◆ initializeBodies()

◆ isDiagnosticsEnabled()

◆ logSystemEnergy()

◆ n()

◆ printProfilingReport()

◆ resolveCollisions()

◆ resolveInterpenetration()

◆ setAngularDamping()

◆ setCoeffFriction()

◆ setCoeffRestitution()

◆ setCoeffStaticFriction()

◆ setDiagnosticsEnabled()

◆ setEpsilon()

◆ setG()

◆ setLinearDamping()

◆ setPositionalCorrectionFactor()

◆ setTimeStep()

◆ updateAdaptiveTimeStep()

Friends And Related Function Documentation

◆ ::SpaceTest

Member Data Documentation

◆ angularDamping_

◆ bodies_

◆ cached_max_radius_

◆ coeffFriction_

◆ coeffRestitution_

◆ coeffStaticFriction_

◆ collisionGraph_

◆ colors_

◆ diagnosticsEnabled_

◆ dt_

◆ epsilon_

◆ G_

◆ graphLocks_

◆ kdTree_

◆ lastTotalEnergy_

◆ linearDamping_

◆ logFreq_

◆ positionalCorrectionFactor_

◆ previous_dt_

◆ profCollisionGraph_

◆ profCollisionResponse_

◆ profForceCalculation_

◆ profIntegration_