The btRigidBody is the main class for rigid body objects. More...

#include <btRigidBody.h>

Inheritance diagram for btRigidBody:

Collaboration diagram for btRigidBody:

[legend]

Classes
struct	btRigidBodyConstructionInfo
	The btRigidBodyConstructionInfo structure provides information to create a rigid body. More...

Public Member Functions
	btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	btRigidBody constructor using construction info

	btRigidBody (btScalar mass, btMotionState motionState, btCollisionShape collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
	btRigidBody constructor for backwards compatibility.

virtual	~btRigidBody ()

void	proceedToTransform (const btTransform &newTrans)

void	predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
	continuous collision detection needs prediction

void	saveKinematicState (btScalar step)

void	applyGravity ()

void	clearGravity ()

void	setGravity (const btVector3 &acceleration)

const btVector3 &	getGravity () const

void	setDamping (btScalar lin_damping, btScalar ang_damping)

btScalar	getLinearDamping () const

btScalar	getAngularDamping () const

btScalar	getLinearSleepingThreshold () const

btScalar	getAngularSleepingThreshold () const

void	applyDamping (btScalar timeStep)
	applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

const btCollisionShape *	getCollisionShape () const

btCollisionShape *	getCollisionShape ()

void	setMassProps (btScalar mass, const btVector3 &inertia)

const btVector3 &	getLinearFactor () const

void	setLinearFactor (const btVector3 &linearFactor)

btScalar	getInvMass () const

btScalar	getMass () const

const btMatrix3x3 &	getInvInertiaTensorWorld () const

void	integrateVelocities (btScalar step)

void	setCenterOfMassTransform (const btTransform &xform)

void	applyCentralForce (const btVector3 &force)

const btVector3 &	getTotalForce () const

const btVector3 &	getTotalTorque () const

const btVector3 &	getInvInertiaDiagLocal () const

void	setInvInertiaDiagLocal (const btVector3 &diagInvInertia)

void	setSleepingThresholds (btScalar linear, btScalar angular)

void	applyTorque (const btVector3 &torque)

void	applyForce (const btVector3 &force, const btVector3 &rel_pos)

void	applyCentralImpulse (const btVector3 &impulse)

void	applyTorqueImpulse (const btVector3 &torque)

void	applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)

void	applyPushImpulse (const btVector3 &impulse, const btVector3 &rel_pos)

btVector3	getPushVelocity () const

btVector3	getTurnVelocity () const

void	setPushVelocity (const btVector3 &v)

void	setTurnVelocity (const btVector3 &v)

void	applyCentralPushImpulse (const btVector3 &impulse)

void	applyTorqueTurnImpulse (const btVector3 &torque)

void	clearForces ()

void	updateInertiaTensor ()

const btVector3 &	getCenterOfMassPosition () const

btQuaternion	getOrientation () const

const btTransform &	getCenterOfMassTransform () const

const btVector3 &	getLinearVelocity () const

const btVector3 &	getAngularVelocity () const

void	setLinearVelocity (const btVector3 &lin_vel)

void	setAngularVelocity (const btVector3 &ang_vel)

btVector3	getVelocityInLocalPoint (const btVector3 &rel_pos) const

btVector3	getPushVelocityInLocalPoint (const btVector3 &rel_pos) const

void	translate (const btVector3 &v)

void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const

btScalar	computeImpulseDenominator (const btVector3 &pos, const btVector3 &normal) const

btScalar	computeAngularImpulseDenominator (const btVector3 &axis) const

void	updateDeactivation (btScalar timeStep)

bool	wantsSleeping ()

const btBroadphaseProxy *	getBroadphaseProxy () const

btBroadphaseProxy *	getBroadphaseProxy ()

void	setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)

btMotionState *	getMotionState ()

const btMotionState *	getMotionState () const

void	setMotionState (btMotionState *motionState)

void	setAngularFactor (const btVector3 &angFac)

void	setAngularFactor (btScalar angFac)

const btVector3 &	getAngularFactor () const

bool	isInWorld () const

void	addConstraintRef (btTypedConstraint *c)

void	removeConstraintRef (btTypedConstraint *c)

btTypedConstraint *	getConstraintRef (int index)

int	getNumConstraintRefs () const

void	setFlags (int flags)

int	getFlags () const

btVector3	computeGyroscopicImpulseImplicit_World (btScalar dt) const
	perform implicit force computation in world space

btVector3	computeGyroscopicImpulseImplicit_Body (btScalar step) const
	perform implicit force computation in body space (inertial frame)

btVector3	computeGyroscopicForceExplicit (btScalar maxGyroscopicForce) const
	explicit version is best avoided, it gains energy

btVector3	getLocalInertia () const

virtual int	calculateSerializeBufferSize () const

virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)

virtual void	serializeSingleObject (class btSerializer *serializer) const

Public Member Functions inherited from btCollisionObject
	BT_DECLARE_ALIGNED_ALLOCATOR ()

bool	mergesSimulationIslands () const

const btVector3 &	getAnisotropicFriction () const

void	setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)

bool	hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const

void	setContactProcessingThreshold (btScalar contactProcessingThreshold)
	the constraint solver can discard solving contacts, if the distance is above this threshold.

btScalar	getContactProcessingThreshold () const

bool	isStaticObject () const

bool	isKinematicObject () const

bool	isStaticOrKinematicObject () const

bool	hasContactResponse () const

	btCollisionObject ()

virtual	~btCollisionObject ()

virtual void	setCollisionShape (btCollisionShape *collisionShape)

const btCollisionShape *	getCollisionShape () const

btCollisionShape *	getCollisionShape ()

void	setIgnoreCollisionCheck (const btCollisionObject *co, bool ignoreCollisionCheck)

int	getNumObjectsWithoutCollision () const

const btCollisionObject *	getObjectWithoutCollision (int index)

virtual bool	checkCollideWithOverride (const btCollisionObject *co) const

void *	internalGetExtensionPointer () const
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions.

void	internalSetExtensionPointer (void *pointer)
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.

int	getActivationState () const

void	setActivationState (int newState) const

void	setDeactivationTime (btScalar time)

btScalar	getDeactivationTime () const

void	forceActivationState (int newState) const

void	activate (bool forceActivation=false) const

bool	isActive () const

void	setRestitution (btScalar rest)

btScalar	getRestitution () const

void	setFriction (btScalar frict)

btScalar	getFriction () const

void	setRollingFriction (btScalar frict)

btScalar	getRollingFriction () const

void	setSpinningFriction (btScalar frict)

btScalar	getSpinningFriction () const

void	setContactStiffnessAndDamping (btScalar stiffness, btScalar damping)

btScalar	getContactStiffness () const

btScalar	getContactDamping () const

int	getInternalType () const
	reserved for Bullet internal usage

btTransform &	getWorldTransform ()

const btTransform &	getWorldTransform () const

void	setWorldTransform (const btTransform &worldTrans)

btBroadphaseProxy *	getBroadphaseHandle ()

const btBroadphaseProxy *	getBroadphaseHandle () const

void	setBroadphaseHandle (btBroadphaseProxy *handle)

const btTransform &	getInterpolationWorldTransform () const

btTransform &	getInterpolationWorldTransform ()

void	setInterpolationWorldTransform (const btTransform &trans)

void	setInterpolationLinearVelocity (const btVector3 &linvel)

void	setInterpolationAngularVelocity (const btVector3 &angvel)

const btVector3 &	getInterpolationLinearVelocity () const

const btVector3 &	getInterpolationAngularVelocity () const

int	getIslandTag () const

void	setIslandTag (int tag)

int	getCompanionId () const

void	setCompanionId (int id)

int	getWorldArrayIndex () const

void	setWorldArrayIndex (int ix)

btScalar	getHitFraction () const

void	setHitFraction (btScalar hitFraction)

int	getCollisionFlags () const

void	setCollisionFlags (int flags)

btScalar	getCcdSweptSphereRadius () const
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

void	setCcdSweptSphereRadius (btScalar radius)
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

btScalar	getCcdMotionThreshold () const

btScalar	getCcdSquareMotionThreshold () const

void	setCcdMotionThreshold (btScalar ccdMotionThreshold)
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet

int	getUserIndex () const

int	getUserIndex2 () const

int	getUserIndex3 () const

void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet

void	setUserIndex2 (int index)

void	setUserIndex3 (int index)

int	getUpdateRevisionInternal () const

void	setCustomDebugColor (const btVector3 &colorRGB)

void	removeCustomDebugColor ()

bool	getCustomDebugColor (btVector3 &colorRGB) const

bool	checkCollideWith (const btCollisionObject *co) const

Static Public Member Functions
static const btRigidBody *	upcast (const btCollisionObject *colObj)
	to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast

static btRigidBody *	upcast (btCollisionObject *colObj)

Public Attributes
int	m_contactSolverType

int	m_frictionSolverType

Protected Member Functions
void	setupRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	setupRigidBody is only used internally by the constructor

Protected Attributes
btVector3	m_deltaLinearVelocity

btVector3	m_deltaAngularVelocity

btVector3	m_angularFactor

btVector3	m_invMass

btVector3	m_pushVelocity

btVector3	m_turnVelocity

Protected Attributes inherited from btCollisionObject
btTransform	m_worldTransform

btTransform	m_interpolationWorldTransform
	m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform

btVector3	m_interpolationLinearVelocity

btVector3	m_interpolationAngularVelocity

btVector3	m_anisotropicFriction

int	m_hasAnisotropicFriction

btScalar	m_contactProcessingThreshold

btBroadphaseProxy *	m_broadphaseHandle

btCollisionShape *	m_collisionShape

void *	m_extensionPointer
	m_extensionPointer is used by some internal low-level Bullet extensions.

btCollisionShape *	m_rootCollisionShape
	m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.

int	m_collisionFlags

int	m_islandTag1

int	m_companionId

int	m_worldArrayIndex

int	m_activationState1

btScalar	m_deactivationTime

btScalar	m_friction

btScalar	m_restitution

btScalar	m_rollingFriction

btScalar	m_spinningFriction

btScalar	m_contactDamping

btScalar	m_contactStiffness

int	m_internalType
	m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.

void *	m_userObjectPointer
	users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer

int	m_userIndex2

int	m_userIndex

int	m_userIndex3

btScalar	m_hitFraction
	time of impact calculation

btScalar	m_ccdSweptSphereRadius
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::

btScalar	m_ccdMotionThreshold
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.

int	m_checkCollideWith
	If some object should have elaborate collision filtering by sub-classes.

btAlignedObjectArray< const btCollisionObject * >	m_objectsWithoutCollisionCheck

int	m_updateRevision
	internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.

btVector3	m_customDebugColorRGB

Additional Inherited Members
Public Types inherited from btCollisionObject
enum	CollisionFlags { CF_DYNAMIC_OBJECT = 0 , CF_STATIC_OBJECT = 1 , CF_KINEMATIC_OBJECT = 2 , CF_NO_CONTACT_RESPONSE = 4 , CF_CUSTOM_MATERIAL_CALLBACK = 8 , CF_CHARACTER_OBJECT = 16 , CF_DISABLE_VISUALIZE_OBJECT = 32 , CF_DISABLE_SPU_COLLISION_PROCESSING = 64 , CF_HAS_CONTACT_STIFFNESS_DAMPING = 128 , CF_HAS_CUSTOM_DEBUG_RENDERING_COLOR = 256 , CF_HAS_FRICTION_ANCHOR = 512 , CF_HAS_COLLISION_SOUND_TRIGGER = 1024 }

enum	CollisionObjectTypes { CO_COLLISION_OBJECT = 1 , CO_RIGID_BODY = 2 , CO_GHOST_OBJECT = 4 , CO_SOFT_BODY = 8 , CO_HF_FLUID = 16 , CO_USER_TYPE = 32 , CO_FEATHERSTONE_LINK = 64 }

enum	AnisotropicFrictionFlags { CF_ANISOTROPIC_FRICTION_DISABLED = 0 , CF_ANISOTROPIC_FRICTION = 1 , CF_ANISOTROPIC_ROLLING_FRICTION = 2 }

Detailed Description

The btRigidBody is the main class for rigid body objects.

It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. It is recommended for performance and memory use to share btCollisionShape objects whenever possible. There are 3 types of rigid bodies:

A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
B) Fixed objects with zero mass. They are not moving (basically collision objects)
C) Kinematic objects, which are objects without mass, but the user can move them. There is one-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)

Definition at line 59 of file btRigidBody.h.

Constructor & Destructor Documentation

◆ btRigidBody() [1/2]

btRigidBody::btRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

btRigidBody constructor using construction info

Definition at line 29 of file btRigidBody.cpp.

◆ btRigidBody() [2/2]

btRigidBody::btRigidBody	(	btScalar	mass,
		btMotionState *	motionState,
		btCollisionShape *	collisionShape,
		const btVector3 &	localInertia = `btVector3(0, 0, 0)`
	)

btRigidBody constructor for backwards compatibility.

To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)

Definition at line 34 of file btRigidBody.cpp.

◆ ~btRigidBody()

virtual btRigidBody::~btRigidBody ( )

inlinevirtual

Definition at line 173 of file btRigidBody.h.

Member Function Documentation

◆ addConstraintRef()

void btRigidBody::addConstraintRef ( btTypedConstraint * c )

disable collision with the 'other' body

Definition at line 415 of file btRigidBody.cpp.

◆ applyCentralForce()

void btRigidBody::applyCentralForce ( const btVector3 & force )

inline

Definition at line 274 of file btRigidBody.h.

◆ applyCentralImpulse()

void btRigidBody::applyCentralImpulse ( const btVector3 & impulse )

inline

Definition at line 319 of file btRigidBody.h.

◆ applyCentralPushImpulse()

void btRigidBody::applyCentralPushImpulse ( const btVector3 & impulse )

inline

Definition at line 399 of file btRigidBody.h.

◆ applyDamping()

void btRigidBody::applyDamping ( btScalar timeStep )

applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

Definition at line 149 of file btRigidBody.cpp.

◆ applyForce()

void btRigidBody::applyForce	(	const btVector3 &	force,
		const btVector3 &	rel_pos
	)

inline

Definition at line 313 of file btRigidBody.h.

◆ applyGravity()

void btRigidBody::applyGravity ( )

Definition at line 205 of file btRigidBody.cpp.

◆ applyImpulse()

void btRigidBody::applyImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos
	)

inline

Definition at line 335 of file btRigidBody.h.

◆ applyPushImpulse()

void btRigidBody::applyPushImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos
	)

inline

Definition at line 347 of file btRigidBody.h.

◆ applyTorque()

void btRigidBody::applyTorque ( const btVector3 & torque )

inline

Definition at line 305 of file btRigidBody.h.

◆ applyTorqueImpulse()

void btRigidBody::applyTorqueImpulse ( const btVector3 & torque )

inline

Definition at line 327 of file btRigidBody.h.

◆ applyTorqueTurnImpulse()

void btRigidBody::applyTorqueTurnImpulse ( const btVector3 & torque )

inline

Definition at line 407 of file btRigidBody.h.

◆ calculateSerializeBufferSize()

int btRigidBody::calculateSerializeBufferSize ( ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 458 of file btRigidBody.cpp.

◆ clearForces()

void btRigidBody::clearForces ( )

inline

Definition at line 415 of file btRigidBody.h.

◆ clearGravity()

void btRigidBody::clearGravity ( )

Definition at line 213 of file btRigidBody.cpp.

◆ computeAngularImpulseDenominator()

btScalar btRigidBody::computeAngularImpulseDenominator ( const btVector3 & axis ) const

inline

Definition at line 493 of file btRigidBody.h.

◆ computeGyroscopicForceExplicit()

btVector3 btRigidBody::computeGyroscopicForceExplicit ( btScalar maxGyroscopicForce ) const

explicit version is best avoided, it gains energy

Definition at line 283 of file btRigidBody.cpp.

◆ computeGyroscopicImpulseImplicit_Body()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body ( btScalar step ) const

perform implicit force computation in body space (inertial frame)

Definition at line 297 of file btRigidBody.cpp.

◆ computeGyroscopicImpulseImplicit_World()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World ( btScalar dt ) const

perform implicit force computation in world space

Definition at line 336 of file btRigidBody.cpp.

◆ computeImpulseDenominator()

btScalar btRigidBody::computeImpulseDenominator	(	const btVector3 &	pos,
		const btVector3 &	normal
	)		const

inline

Definition at line 482 of file btRigidBody.h.

◆ getAabb()

void btRigidBody::getAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

Definition at line 123 of file btRigidBody.cpp.

◆ getAngularDamping()

btScalar btRigidBody::getAngularDamping ( ) const

inline

Definition at line 225 of file btRigidBody.h.

◆ getAngularFactor()

const btVector3 & btRigidBody::getAngularFactor ( ) const

inline

Definition at line 579 of file btRigidBody.h.

◆ getAngularSleepingThreshold()

btScalar btRigidBody::getAngularSleepingThreshold ( ) const

inline

Definition at line 235 of file btRigidBody.h.

◆ getAngularVelocity()

const btVector3 & btRigidBody::getAngularVelocity ( ) const

inline

Definition at line 437 of file btRigidBody.h.

◆ getBroadphaseProxy() [1/2]

btBroadphaseProxy * btRigidBody::getBroadphaseProxy ( )

inline

Definition at line 539 of file btRigidBody.h.

◆ getBroadphaseProxy() [2/2]

const btBroadphaseProxy * btRigidBody::getBroadphaseProxy ( ) const

inline

Definition at line 535 of file btRigidBody.h.

◆ getCenterOfMassPosition()

const btVector3 & btRigidBody::getCenterOfMassPosition ( ) const

inline

Definition at line 423 of file btRigidBody.h.

◆ getCenterOfMassTransform()

const btTransform & btRigidBody::getCenterOfMassTransform ( ) const

inline

Definition at line 429 of file btRigidBody.h.

◆ getCollisionShape() [1/2]

btCollisionShape * btRigidBody::getCollisionShape ( )

inline

Definition at line 247 of file btRigidBody.h.

◆ getCollisionShape() [2/2]

const btCollisionShape * btRigidBody::getCollisionShape ( ) const

inline

Definition at line 242 of file btRigidBody.h.

◆ getConstraintRef()

btTypedConstraint * btRigidBody::getConstraintRef ( int index )

inline

Definition at line 593 of file btRigidBody.h.

◆ getFlags()

int btRigidBody::getFlags ( ) const

inline

Definition at line 608 of file btRigidBody.h.

◆ getGravity()

const btVector3 & btRigidBody::getGravity ( ) const

inline

Definition at line 213 of file btRigidBody.h.

◆ getInvInertiaDiagLocal()

const btVector3 & btRigidBody::getInvInertiaDiagLocal ( ) const

inline

Definition at line 289 of file btRigidBody.h.

◆ getInvInertiaTensorWorld()

const btMatrix3x3 & btRigidBody::getInvInertiaTensorWorld ( ) const

inline

Definition at line 265 of file btRigidBody.h.

◆ getInvMass()

btScalar btRigidBody::getInvMass ( ) const

inline

Definition at line 263 of file btRigidBody.h.

◆ getLinearDamping()

btScalar btRigidBody::getLinearDamping ( ) const

inline

Definition at line 220 of file btRigidBody.h.

◆ getLinearFactor()

const btVector3 & btRigidBody::getLinearFactor ( ) const

inline

Definition at line 254 of file btRigidBody.h.

◆ getLinearSleepingThreshold()

btScalar btRigidBody::getLinearSleepingThreshold ( ) const

inline

Definition at line 230 of file btRigidBody.h.

◆ getLinearVelocity()

const btVector3 & btRigidBody::getLinearVelocity ( ) const

inline

Definition at line 433 of file btRigidBody.h.

◆ getLocalInertia()

btVector3 btRigidBody::getLocalInertia ( ) const

Definition at line 254 of file btRigidBody.cpp.

◆ getMass()

btScalar btRigidBody::getMass ( ) const

inline

Definition at line 264 of file btRigidBody.h.

◆ getMotionState() [1/2]

btMotionState * btRigidBody::getMotionState ( )

inline

Definition at line 549 of file btRigidBody.h.

◆ getMotionState() [2/2]

const btMotionState * btRigidBody::getMotionState ( ) const

inline

Definition at line 553 of file btRigidBody.h.

◆ getNumConstraintRefs()

int btRigidBody::getNumConstraintRefs ( ) const

inline

Definition at line 598 of file btRigidBody.h.

◆ getOrientation()

btQuaternion btRigidBody::getOrientation ( ) const

Definition at line 392 of file btRigidBody.cpp.

◆ getPushVelocity()

btVector3 btRigidBody::getPushVelocity ( ) const

inline

Definition at line 359 of file btRigidBody.h.

◆ getPushVelocityInLocalPoint()

btVector3 btRigidBody::getPushVelocityInLocalPoint ( const btVector3 & rel_pos ) const

inline

Definition at line 469 of file btRigidBody.h.

◆ getTotalForce()

const btVector3 & btRigidBody::getTotalForce ( ) const

inline

Definition at line 279 of file btRigidBody.h.

◆ getTotalTorque()

const btVector3 & btRigidBody::getTotalTorque ( ) const

inline

Definition at line 284 of file btRigidBody.h.

◆ getTurnVelocity()

btVector3 btRigidBody::getTurnVelocity ( ) const

inline

Definition at line 364 of file btRigidBody.h.

◆ getVelocityInLocalPoint()

btVector3 btRigidBody::getVelocityInLocalPoint ( const btVector3 & rel_pos ) const

inline

Definition at line 460 of file btRigidBody.h.

◆ integrateVelocities()

void btRigidBody::integrateVelocities ( btScalar step )

clamp angular velocity. collision calculations will fail on higher angular velocities

Definition at line 372 of file btRigidBody.cpp.

◆ isInWorld()

bool btRigidBody::isInWorld ( ) const

inline

Definition at line 585 of file btRigidBody.h.

◆ predictIntegratedTransform()

void btRigidBody::predictIntegratedTransform	(	btScalar	step,
		btTransform &	predictedTransform
	)

continuous collision detection needs prediction

Definition at line 100 of file btRigidBody.cpp.

◆ proceedToTransform()

void btRigidBody::proceedToTransform ( const btTransform & newTrans )

Definition at line 221 of file btRigidBody.cpp.

◆ removeConstraintRef()

void btRigidBody::removeConstraintRef ( btTypedConstraint * c )

Definition at line 438 of file btRigidBody.cpp.

◆ saveKinematicState()

void btRigidBody::saveKinematicState ( btScalar step )

Definition at line 105 of file btRigidBody.cpp.

◆ serialize()

const char * btRigidBody::serialize	(	void *	dataBuffer,
		class btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btCollisionObject.

Definition at line 465 of file btRigidBody.cpp.

◆ serializeSingleObject()

void btRigidBody::serializeSingleObject ( class btSerializer * serializer ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 500 of file btRigidBody.cpp.

◆ setAngularFactor() [1/2]

void btRigidBody::setAngularFactor ( btScalar angFac )

inline

Definition at line 574 of file btRigidBody.h.

◆ setAngularFactor() [2/2]

void btRigidBody::setAngularFactor ( const btVector3 & angFac )

inline

Definition at line 568 of file btRigidBody.h.

◆ setAngularVelocity()

void btRigidBody::setAngularVelocity ( const btVector3 & ang_vel )

inline

Definition at line 451 of file btRigidBody.h.

◆ setCenterOfMassTransform()

void btRigidBody::setCenterOfMassTransform ( const btTransform & xform )

Definition at line 399 of file btRigidBody.cpp.

◆ setDamping()

void btRigidBody::setDamping	(	btScalar	lin_damping,
		btScalar	ang_damping
	)

Definition at line 137 of file btRigidBody.cpp.

◆ setFlags()

void btRigidBody::setFlags ( int flags )

inline

Definition at line 603 of file btRigidBody.h.

◆ setGravity()

void btRigidBody::setGravity ( const btVector3 & acceleration )

Definition at line 128 of file btRigidBody.cpp.

◆ setInvInertiaDiagLocal()

void btRigidBody::setInvInertiaDiagLocal ( const btVector3 & diagInvInertia )

inline

Definition at line 294 of file btRigidBody.h.

◆ setLinearFactor()

void btRigidBody::setLinearFactor ( const btVector3 & linearFactor )

inline

Definition at line 258 of file btRigidBody.h.

◆ setLinearVelocity()

void btRigidBody::setLinearVelocity ( const btVector3 & lin_vel )

inline

Definition at line 442 of file btRigidBody.h.

◆ setMassProps()

void btRigidBody::setMassProps	(	btScalar	mass,
		const btVector3 &	inertia
	)

Definition at line 226 of file btRigidBody.cpp.

◆ setMotionState()

void btRigidBody::setMotionState ( btMotionState * motionState )

inline

Definition at line 557 of file btRigidBody.h.

◆ setNewBroadphaseProxy()

void btRigidBody::setNewBroadphaseProxy ( btBroadphaseProxy * broadphaseProxy )

inline

Definition at line 543 of file btRigidBody.h.

◆ setPushVelocity()

void btRigidBody::setPushVelocity ( const btVector3 & v )

inline

Definition at line 369 of file btRigidBody.h.

◆ setSleepingThresholds()

void btRigidBody::setSleepingThresholds	(	btScalar	linear,
		btScalar	angular
	)

inline

Definition at line 299 of file btRigidBody.h.

◆ setTurnVelocity()

void btRigidBody::setTurnVelocity ( const btVector3 & v )

inline

Definition at line 391 of file btRigidBody.h.

◆ setupRigidBody()

void btRigidBody::setupRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

protected

setupRigidBody is only used internally by the constructor

Definition at line 40 of file btRigidBody.cpp.

◆ translate()

void btRigidBody::translate ( const btVector3 & v )

inline

Definition at line 475 of file btRigidBody.h.

◆ upcast() [1/2]

static btRigidBody * btRigidBody::upcast ( btCollisionObject * colObj )

inlinestatic

Definition at line 195 of file btRigidBody.h.

◆ upcast() [2/2]

static const btRigidBody * btRigidBody::upcast ( const btCollisionObject * colObj )

inlinestatic

to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast

Definition at line 189 of file btRigidBody.h.

◆ updateDeactivation()

void btRigidBody::updateDeactivation ( btScalar timeStep )

inline

Definition at line 499 of file btRigidBody.h.

◆ updateInertiaTensor()

void btRigidBody::updateInertiaTensor ( )

Definition at line 249 of file btRigidBody.cpp.

◆ wantsSleeping()

bool btRigidBody::wantsSleeping ( )

inline

Definition at line 516 of file btRigidBody.h.

Member Data Documentation

◆ m_additionalAngularDampingFactor

btScalar btRigidBody::m_additionalAngularDampingFactor

private

Definition at line 80 of file btRigidBody.h.

◆ m_additionalAngularDampingThresholdSqr

btScalar btRigidBody::m_additionalAngularDampingThresholdSqr

private

Definition at line 79 of file btRigidBody.h.

◆ m_additionalDamping

bool btRigidBody::m_additionalDamping

private

Definition at line 76 of file btRigidBody.h.

◆ m_additionalDampingFactor

btScalar btRigidBody::m_additionalDampingFactor

private

Definition at line 77 of file btRigidBody.h.

◆ m_additionalLinearDampingThresholdSqr

btScalar btRigidBody::m_additionalLinearDampingThresholdSqr

private

Definition at line 78 of file btRigidBody.h.

◆ m_angularDamping

btScalar btRigidBody::m_angularDamping

private

Definition at line 74 of file btRigidBody.h.

◆ m_angularFactor

btVector3 btRigidBody::m_angularFactor

protected

Definition at line 98 of file btRigidBody.h.

◆ m_angularSleepingThreshold

btScalar btRigidBody::m_angularSleepingThreshold

private

Definition at line 83 of file btRigidBody.h.

◆ m_angularVelocity

btVector3 btRigidBody::m_angularVelocity

private

Definition at line 63 of file btRigidBody.h.

◆ m_constraintRefs

btAlignedObjectArray<btTypedConstraint*> btRigidBody::m_constraintRefs

private

Definition at line 89 of file btRigidBody.h.

◆ m_contactSolverType

int btRigidBody::m_contactSolverType

Definition at line 565 of file btRigidBody.h.

◆ m_debugBodyId

int btRigidBody::m_debugBodyId

private

Definition at line 93 of file btRigidBody.h.

◆ m_deltaAngularVelocity

btVector3 btRigidBody::m_deltaAngularVelocity

protected

Definition at line 97 of file btRigidBody.h.

◆ m_deltaLinearVelocity

btVector3 btRigidBody::m_deltaLinearVelocity

protected

Definition at line 96 of file btRigidBody.h.

◆ m_frictionSolverType

int btRigidBody::m_frictionSolverType

Definition at line 566 of file btRigidBody.h.

◆ m_gravity

btVector3 btRigidBody::m_gravity

private

Definition at line 67 of file btRigidBody.h.

◆ m_gravity_acceleration

btVector3 btRigidBody::m_gravity_acceleration

private

Definition at line 68 of file btRigidBody.h.

◆ m_inverseMass

btScalar btRigidBody::m_inverseMass

private

Definition at line 64 of file btRigidBody.h.

◆ m_invInertiaLocal

btVector3 btRigidBody::m_invInertiaLocal

private

Definition at line 69 of file btRigidBody.h.

◆ m_invInertiaTensorWorld

btMatrix3x3 btRigidBody::m_invInertiaTensorWorld

private

Definition at line 61 of file btRigidBody.h.

◆ m_invMass

btVector3 btRigidBody::m_invMass

protected

Definition at line 99 of file btRigidBody.h.

◆ m_linearDamping

btScalar btRigidBody::m_linearDamping

private

Definition at line 73 of file btRigidBody.h.

◆ m_linearFactor

btVector3 btRigidBody::m_linearFactor

private

Definition at line 65 of file btRigidBody.h.

◆ m_linearSleepingThreshold

btScalar btRigidBody::m_linearSleepingThreshold

private

Definition at line 82 of file btRigidBody.h.

◆ m_linearVelocity

btVector3 btRigidBody::m_linearVelocity

private

Definition at line 62 of file btRigidBody.h.

◆ m_optionalMotionState

btMotionState* btRigidBody::m_optionalMotionState

private

Definition at line 86 of file btRigidBody.h.

◆ m_pushVelocity

btVector3 btRigidBody::m_pushVelocity

protected

Definition at line 100 of file btRigidBody.h.

◆ m_rigidbodyFlags

int btRigidBody::m_rigidbodyFlags

private

Definition at line 91 of file btRigidBody.h.

◆ m_totalForce

btVector3 btRigidBody::m_totalForce

private

Definition at line 70 of file btRigidBody.h.

◆ m_totalTorque

btVector3 btRigidBody::m_totalTorque

private

Definition at line 71 of file btRigidBody.h.

◆ m_turnVelocity

btVector3 btRigidBody::m_turnVelocity

protected

Definition at line 101 of file btRigidBody.h.

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

Private Attributes
btMatrix3x3	m_invInertiaTensorWorld

btVector3	m_linearVelocity

btVector3	m_angularVelocity

btScalar	m_inverseMass

btVector3	m_linearFactor

btVector3	m_gravity

btVector3	m_gravity_acceleration

btVector3	m_invInertiaLocal

btVector3	m_totalForce

btVector3	m_totalTorque

btScalar	m_linearDamping

btScalar	m_angularDamping

bool	m_additionalDamping

btScalar	m_additionalDampingFactor

btScalar	m_additionalLinearDampingThresholdSqr

btScalar	m_additionalAngularDampingThresholdSqr

btScalar	m_additionalAngularDampingFactor

btScalar	m_linearSleepingThreshold

btScalar	m_angularSleepingThreshold

btMotionState *	m_optionalMotionState

btAlignedObjectArray< btTypedConstraint * >	m_constraintRefs

int	m_rigidbodyFlags

int	m_debugBodyId

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ btRigidBody() [1/2]

◆ btRigidBody() [2/2]

◆ ~btRigidBody()

Member Function Documentation

◆ addConstraintRef()

◆ applyCentralForce()

◆ applyCentralImpulse()

◆ applyCentralPushImpulse()

◆ applyDamping()

◆ applyForce()

◆ applyGravity()

◆ applyImpulse()

◆ applyPushImpulse()

◆ applyTorque()

◆ applyTorqueImpulse()

◆ applyTorqueTurnImpulse()

◆ calculateSerializeBufferSize()

◆ clearForces()

◆ clearGravity()

◆ computeAngularImpulseDenominator()

◆ computeGyroscopicForceExplicit()

◆ computeGyroscopicImpulseImplicit_Body()

◆ computeGyroscopicImpulseImplicit_World()

◆ computeImpulseDenominator()

◆ getAabb()

◆ getAngularDamping()

◆ getAngularFactor()

◆ getAngularSleepingThreshold()

◆ getAngularVelocity()

◆ getBroadphaseProxy() [1/2]

◆ getBroadphaseProxy() [2/2]

◆ getCenterOfMassPosition()

◆ getCenterOfMassTransform()

◆ getCollisionShape() [1/2]

◆ getCollisionShape() [2/2]

◆ getConstraintRef()

◆ getFlags()

◆ getGravity()

◆ getInvInertiaDiagLocal()

◆ getInvInertiaTensorWorld()

◆ getInvMass()

◆ getLinearDamping()

◆ getLinearFactor()

◆ getLinearSleepingThreshold()

◆ getLinearVelocity()

◆ getLocalInertia()

◆ getMass()

◆ getMotionState() [1/2]

◆ getMotionState() [2/2]

◆ getNumConstraintRefs()

◆ getOrientation()

◆ getPushVelocity()

◆ getPushVelocityInLocalPoint()

◆ getTotalForce()

◆ getTotalTorque()

◆ getTurnVelocity()

◆ getVelocityInLocalPoint()

◆ integrateVelocities()

◆ isInWorld()

◆ predictIntegratedTransform()

◆ proceedToTransform()

◆ removeConstraintRef()

◆ saveKinematicState()

◆ serialize()

◆ serializeSingleObject()

◆ setAngularFactor() [1/2]

◆ setAngularFactor() [2/2]

◆ setAngularVelocity()

◆ setCenterOfMassTransform()

◆ setDamping()