Dynamic rigid/static rigid/collision body class. More...

#include <tdme/engine/physics/Body.h>

Collaboration diagram for Body:

Public Member Functions
bool	isCloned ()

void	setCloned (bool cloned)
	Set cloned. More...

const string &	getId ()

const string &	getRootId ()

void	setRootId (const string &rootId)
	Set root id. More...

int	getType ()
	Return type, see TYPE_*. More...

uint16_t	getCollisionTypeId ()

void	setCollisionTypeId (uint16_t typeId)
	Set collision type id. More...

uint16_t	getCollisionTypeIds ()

void	setCollisionTypeIds (uint16_t collisionTypeIds)
	Set up collision type ids. More...

bool	isEnabled ()

void	setEnabled (bool enabled)
	Set up if rigid body is enabled. More...

bool	isStatic ()

bool	isSleeping ()

void	setSleeping (bool sleeping)
	Set sleeping. More...

vector< BoundingVolume * > &	getBoundingVolumes ()

void	addBoundingVolume (BoundingVolume *boundingVolume)
	Add bounding volume. More...

BoundingBox	computeBoundingBoxTransformed ()
	Compute bounding box transformed. More...

float	getFriction ()

void	setFriction (float friction)
	Set up friction. More...

float	getRestitution ()

void	setRestitution (float restitution)
	Set up restitution. More...

float	getMass ()

void	setMass (float mass)
	Set up mass. More...

const Vector3	getLinearVelocity ()

void	setLinearVelocity (const Vector3 &linearVelocity)
	Set linear velocity. More...

const Vector3	getAngularVelocity ()

void	setAngularVelocity (const Vector3 &angularVelocity)
	Set angular velocity. More...

float	getLinearDamping ()

void	setLinearDamping (float linearDamping)
	Set linear damping. More...

float	getAngularDamping ()

void	setAngularDamping (float angularDamping)
	Set angular damping. More...

const Transformations &	getTransformations ()

void	fromTransformations (const Transformations &transformations)
	Synchronizes this rigid body with transformations. More...

void	addForce (const Vector3 &forceOrigin, const Vector3 &force)
	Add force. More...

void	addForce (const Vector3 &forceOrigin)
	Add force to center of mass. More...

void	addTorque (const Vector3 &torque)
	Add torque. More...

void	addCollisionListener (CollisionListener *listener)
	Add a collision listener to this rigid body. More...

void	removeCollisionListener (CollisionListener *listener)
	Remove a collision listener to this rigid body. More...

Static Public Member Functions
static const Vector3	getNoRotationInertiaTensor ()

Static Public Attributes
static constexpr int32_t	TYPE_STATIC { 0 }

static constexpr int32_t	TYPE_DYNAMIC { 2 }

static constexpr int32_t	TYPE_KINEMATIC { 1 }

static constexpr int32_t	TYPE_COLLISION { 3 }

static constexpr uint16_t	TYPEID_STATIC { 1 }

static constexpr uint16_t	TYPEID_DYNAMIC { 2 }

static constexpr uint16_t	TYPEIDS_ALL { 65535 }

Private Member Functions
	Body (World world, const string &id, int type, bool enabled, uint16_t collisionTypeId, const Transformations &transformations, float restitution, float friction, float mass, const Vector3 &inertiaTensor, const vector< BoundingVolume > boundingVolumes)
	Protected constructor. More...

	~Body ()
	Destructor. More...

void	resetProxyShapes ()
	Reset proxy shapes. More...

void	fireOnCollision (Body *other, CollisionResponse &collisionResponse)
	Fire on collision. More...

void	fireOnCollisionBegin (Body *other, CollisionResponse &collisionResponse)
	Fire on collision begin. More...

void	fireOnCollisionEnd (Body *other)
	Fire on collision end. More...

Static Private Member Functions
static Matrix4x4	computeInverseInertiaMatrix (BoundingBox *boundingBox, float mass, float scaleXAxis, float scaleYAxis, float scaleZAxis)
	Computes the inverse inertia matrix. More...

Private Attributes
World *	world { nullptr }

reactphysics3d::RigidBody *	rigidBody { nullptr }

reactphysics3d::CollisionBody *	collisionBody { nullptr }

bool	cloned { false }

string	id

string	rootId

int32_t	type

float	mass

uint16_t	collideTypeIds

uint16_t	collisionTypeId

Vector3	inertiaTensor

Transformations	transformations

Vector3	transformationsScale

vector< BoundingVolume * >	boundingVolumes

vector< reactphysics3d::ProxyShape * >	proxyShapes

vector< CollisionListener * >	collisionListener

Friends
class	World

Detailed Description

Dynamic rigid/static rigid/collision body class.

Author: Andreas Drewke

Version: $Id$

Definition at line 42 of file Body.h.

Constructor & Destructor Documentation

◆ Body()

Body	(	World *	world,
		const string &	id,
		int	type,
		bool	enabled,
		uint16_t	collisionTypeId,
		const Transformations &	transformations,
		float	restitution,
		float	friction,
		float	mass,
		const Vector3 &	inertiaTensor,
		const vector< BoundingVolume * >	boundingVolumes
	)

private

Protected constructor.

Parameters

world	world
id	id
type	type
enabled	enabled
collisionTypeId	collision type id
transformations	transformations
restitution	restitution
friction	friction
mass	mass in kg
inertiaTensor	inertia tensor vector
boundingVolumes	bounding volumes

Definition at line 62 of file Body.cpp.

◆ ~Body()

~Body ( )

private

Destructor.

Definition at line 111 of file Body.cpp.

Member Function Documentation

◆ addBoundingVolume()

void addBoundingVolume ( BoundingVolume * boundingVolume )

Add bounding volume.

Parameters

boundingVolume bounding volume

◆ addCollisionListener()

void addCollisionListener ( CollisionListener * listener )

Add a collision listener to this rigid body.

Parameters

listener listener

Definition at line 544 of file Body.cpp.

◆ addForce() [1/2]

void addForce ( const Vector3 & forceOrigin )

Add force to center of mass.

Parameters

forceOrigin force

Definition at line 522 of file Body.cpp.

◆ addForce() [2/2]

void addForce	(	const Vector3 &	forceOrigin,
		const Vector3 &	force
	)

Add force.

Parameters

forceOrigin	position of world force
force	force

Definition at line 510 of file Body.cpp.

◆ addTorque()

void addTorque ( const Vector3 & torque )

Add torque.

Parameters

torque torque

Definition at line 533 of file Body.cpp.

◆ computeBoundingBoxTransformed()

BoundingBox computeBoundingBoxTransformed ( )

Compute bounding box transformed.

Definition at line 312 of file Body.cpp.

◆ computeInverseInertiaMatrix()

Matrix4x4 computeInverseInertiaMatrix	(	BoundingBox *	boundingBox,
		float	mass,
		float	scaleXAxis,
		float	scaleYAxis,
		float	scaleZAxis
	)

staticprivate

Computes the inverse inertia matrix.

Parameters

boundingBox	bounding box
mass	mass
scaleXAxis	scale x axis
scaleYAxis	scale y axis
scaleZAxis	scale z axis

Returns: inverse inertia matrix

Definition at line 122 of file Body.cpp.

◆ fireOnCollision()

void fireOnCollision	(	Body *	other,
		CollisionResponse &	collisionResponse
	)

private

Fire on collision.

Parameters

other	other
collisionResponse	collision response

Definition at line 554 of file Body.cpp.

◆ fireOnCollisionBegin()

void fireOnCollisionBegin	(	Body *	other,
		CollisionResponse &	collisionResponse
	)

private

Fire on collision begin.

Parameters

other	other
collisionResponse	collision response

Definition at line 561 of file Body.cpp.

◆ fireOnCollisionEnd()

void fireOnCollisionEnd ( Body * other )

private

Fire on collision end.

Parameters

other other

Definition at line 568 of file Body.cpp.

◆ fromTransformations()

void fromTransformations ( const Transformations & transformations )

Synchronizes this rigid body with transformations.

Parameters

transformations transformations

Definition at line 461 of file Body.cpp.

◆ getAngularDamping()

float getAngularDamping ( )

Returns: return angular damping

Definition at line 439 of file Body.cpp.

◆ getAngularVelocity()

const Vector3 getAngularVelocity ( )

Returns: angular velocity

Definition at line 400 of file Body.cpp.

◆ getBoundingVolumes()

vector< BoundingVolume * > & getBoundingVolumes ( )

Returns: bounding volumes

Definition at line 220 of file Body.cpp.

◆ getCollisionTypeId()

uint16_t getCollisionTypeId ( )

Returns: type id

Definition at line 174 of file Body.cpp.

◆ getCollisionTypeIds()

uint16_t getCollisionTypeIds ( )

Returns: collision type ids bitmask

Definition at line 187 of file Body.cpp.

◆ getFriction()

float getFriction ( )

Returns: friction

Definition at line 328 of file Body.cpp.

◆ getId()

const string & getId ( )

Returns: id

Definition at line 156 of file Body.cpp.

◆ getLinearDamping()

float getLinearDamping ( )

Returns: return linear damping

Definition at line 421 of file Body.cpp.

◆ getLinearVelocity()

const Vector3 getLinearVelocity ( )

Returns: linear velocity

Definition at line 379 of file Body.cpp.

◆ getMass()

float getMass ( )

Returns: mass

Definition at line 364 of file Body.cpp.

◆ getNoRotationInertiaTensor()

const Vector3 getNoRotationInertiaTensor ( )

static

Returns: no rotation inertia tensor

Definition at line 118 of file Body.cpp.

◆ getRestitution()

float getRestitution ( )

Returns: restitution / bouncyness

Definition at line 346 of file Body.cpp.

◆ getRootId()

const string & getRootId ( )

Returns: root id

Definition at line 161 of file Body.cpp.

◆ getTransformations()

const Transformations & getTransformations ( )

Returns: transformations

Definition at line 457 of file Body.cpp.

◆ getType()

int32_t getType ( )

Return type, see TYPE_*.

Returns: type

Definition at line 170 of file Body.cpp.

◆ isCloned()

bool isCloned ( )

Returns: if rigid body has been cloned from another rigid body

Definition at line 148 of file Body.cpp.

◆ isEnabled()

bool isEnabled ( )

Returns: if enabled

Definition at line 200 of file Body.cpp.

◆ isSleeping()

bool isSleeping ( )

Returns: if sleeping

Definition at line 211 of file Body.cpp.

◆ isStatic()

bool isStatic ( )

Returns: object is static

◆ removeCollisionListener()

void removeCollisionListener ( CollisionListener * listener )

Remove a collision listener to this rigid body.

Parameters

listener listener

Definition at line 549 of file Body.cpp.

◆ resetProxyShapes()

void resetProxyShapes ( )

private

Reset proxy shapes.

Definition at line 224 of file Body.cpp.

◆ setAngularDamping()

void setAngularDamping ( float angularDamping )

Set angular damping.

Parameters

angularDamping anuglar damping

Definition at line 448 of file Body.cpp.

◆ setAngularVelocity()

void setAngularVelocity ( const Vector3 & angularVelocity )

Set angular velocity.

Parameters

angularVelocity angular velocity

Definition at line 413 of file Body.cpp.

◆ setCloned()

void setCloned ( bool cloned )

Set cloned.

Parameters

cloned cloned

Definition at line 152 of file Body.cpp.

◆ setCollisionTypeId()

void setCollisionTypeId ( uint16_t typeId )

Set collision type id.

Parameters

typeId type id

Definition at line 179 of file Body.cpp.

◆ setCollisionTypeIds()

void setCollisionTypeIds ( uint16_t collisionTypeIds )

Set up collision type ids.

Parameters

collisionTypeIds collisionTypeIds

Definition at line 192 of file Body.cpp.

◆ setEnabled()

void setEnabled ( bool enabled )

Set up if rigid body is enabled.

Parameters

enabled enabled

Definition at line 205 of file Body.cpp.

◆ setFriction()

void setFriction ( float friction )

Set up friction.

Parameters

friction friction

Definition at line 337 of file Body.cpp.

◆ setLinearDamping()

void setLinearDamping ( float linearDamping )

Set linear damping.

Parameters

linearDamping linear damping

Definition at line 430 of file Body.cpp.

◆ setLinearVelocity()

void setLinearVelocity ( const Vector3 & linearVelocity )

Set linear velocity.

Parameters

linearVelocity velocity

Definition at line 392 of file Body.cpp.

◆ setMass()

void setMass ( float mass )

Set up mass.

Parameters

mass mass

Definition at line 369 of file Body.cpp.

◆ setRestitution()

void setRestitution ( float restitution )

Set up restitution.

Parameters

restitution restitution

Definition at line 355 of file Body.cpp.

◆ setRootId()

void setRootId ( const string & rootId )

Set root id.

Parameters

rootId root id

Definition at line 166 of file Body.cpp.

◆ setSleeping()

void setSleeping ( bool sleeping )

Set sleeping.

Parameters

sleeping sleeping

Definition at line 216 of file Body.cpp.

Friends And Related Function Documentation

◆ World

friend class World

friend

Definition at line 44 of file Body.h.

Member Data Documentation

◆ boundingVolumes

vector<BoundingVolume*> boundingVolumes

private

Definition at line 75 of file Body.h.

◆ cloned

bool cloned { false }

private

Definition at line 65 of file Body.h.

◆ collideTypeIds

uint16_t collideTypeIds

private

Definition at line 70 of file Body.h.

◆ collisionBody

reactphysics3d::CollisionBody* collisionBody { nullptr }

private

Definition at line 64 of file Body.h.

◆ collisionListener

vector<CollisionListener*> collisionListener

private

Definition at line 77 of file Body.h.

◆ collisionTypeId

uint16_t collisionTypeId

private

Definition at line 71 of file Body.h.

◆ id

string id

private

Definition at line 66 of file Body.h.

◆ inertiaTensor

Vector3 inertiaTensor

private

Definition at line 72 of file Body.h.

◆ mass

float mass

private

Definition at line 69 of file Body.h.

◆ proxyShapes

vector<reactphysics3d::ProxyShape*> proxyShapes

private

Definition at line 76 of file Body.h.

◆ rigidBody

reactphysics3d::RigidBody* rigidBody { nullptr }

private

Definition at line 63 of file Body.h.

◆ rootId

string rootId

private

Definition at line 67 of file Body.h.

◆ transformations

Transformations transformations

private

Definition at line 73 of file Body.h.

◆ transformationsScale

Vector3 transformationsScale

private

Definition at line 74 of file Body.h.

◆ type

int32_t type

private

Definition at line 68 of file Body.h.

◆ TYPE_COLLISION

constexpr int32_t TYPE_COLLISION { 3 }

staticconstexpr

Definition at line 50 of file Body.h.

◆ TYPE_DYNAMIC

constexpr int32_t TYPE_DYNAMIC { 2 }

staticconstexpr

Definition at line 48 of file Body.h.

◆ TYPE_KINEMATIC

constexpr int32_t TYPE_KINEMATIC { 1 }

staticconstexpr

Definition at line 49 of file Body.h.

◆ TYPE_STATIC

constexpr int32_t TYPE_STATIC { 0 }

staticconstexpr

Definition at line 47 of file Body.h.

◆ TYPEID_DYNAMIC

constexpr uint16_t TYPEID_DYNAMIC { 2 }

staticconstexpr

Definition at line 53 of file Body.h.

◆ TYPEID_STATIC

constexpr uint16_t TYPEID_STATIC { 1 }

staticconstexpr

Definition at line 52 of file Body.h.

◆ TYPEIDS_ALL

constexpr uint16_t TYPEIDS_ALL { 65535 }

staticconstexpr

Definition at line 54 of file Body.h.

◆ world

World* world { nullptr }

private

Definition at line 62 of file Body.h.

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

/home/andreas/Development/drewke.net/tdme2/src/tdme/engine/physics/Body.h
/home/andreas/Development/drewke.net/tdme2/src/tdme/engine/physics/Body.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ Body()

◆ ~Body()

Member Function Documentation

◆ addBoundingVolume()

◆ addCollisionListener()

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addTorque()

◆ computeBoundingBoxTransformed()

◆ computeInverseInertiaMatrix()

◆ fireOnCollision()

◆ fireOnCollisionBegin()

◆ fireOnCollisionEnd()

◆ fromTransformations()

◆ getAngularDamping()

◆ getAngularVelocity()

◆ getBoundingVolumes()

◆ getCollisionTypeId()

◆ getCollisionTypeIds()

◆ getFriction()

◆ getId()

◆ getLinearDamping()

◆ getLinearVelocity()

◆ getMass()

◆ getNoRotationInertiaTensor()

◆ getRestitution()

◆ getRootId()

◆ getTransformations()

◆ getType()

◆ isCloned()

◆ isEnabled()

◆ isSleeping()

◆ isStatic()

◆ removeCollisionListener()

◆ resetProxyShapes()

◆ setAngularDamping()

◆ setAngularVelocity()

◆ setCloned()

◆ setCollisionTypeId()

◆ setCollisionTypeIds()

◆ setEnabled()

◆ setFriction()

◆ setLinearDamping()

◆ setLinearVelocity()

◆ setMass()

◆ setRestitution()

◆ setRootId()

◆ setSleeping()

Friends And Related Function Documentation

◆ World

Member Data Documentation

◆ boundingVolumes

◆ cloned

◆ collideTypeIds

◆ collisionBody

◆ collisionListener

◆ collisionTypeId

◆ id

◆ inertiaTensor

◆ mass

◆ proxyShapes

◆ rigidBody

◆ rootId

◆ transformations

◆ transformationsScale

◆ type

◆ TYPE_COLLISION

◆ TYPE_DYNAMIC

◆ TYPE_KINEMATIC

◆ TYPE_STATIC

◆ TYPEID_DYNAMIC