CrystalSpace

Public API Reference

iRigidBody Struct Reference

This is the interface for a rigid body. More...

#include <ivaria/dynamics.h>

Inheritance diagram for iRigidBody:

List of all members.

Public Member Functions

virtual void AddForce (const csVector3 &force)=0
 Add a force (world space) (active for one timestep).
virtual void AddForceAtPos (const csVector3 &force, const csVector3 &pos)=0
 Add a force (world space) at a specific position (world space) (active for one timestep).
virtual void AddForceAtRelPos (const csVector3 &force, const csVector3 &pos)=0
 Add a force (world space) at a specific position (local space) (active for one timestep).
virtual void AddRelForce (const csVector3 &force)=0
 Add a force (local space) (active for one timestep).
virtual void AddRelForceAtPos (const csVector3 &force, const csVector3 &pos)=0
 Add a force (local space) at a specific position (world space) (active for one timestep).
virtual void AddRelForceAtRelPos (const csVector3 &force, const csVector3 &pos)=0
 Add a force (local space) at a specific position (local space) (active for one timestep).
virtual void AddRelTorque (const csVector3 &force)=0
 Add a torque (local space) (active for one timestep).
virtual void AddTorque (const csVector3 &force)=0
 Add a torque (world space) (active for one timestep).
virtual void AdjustTotalMass (float targetmass)=0
 Set the total mass to targetmass, and adjust the properties (center of mass and matrix of inertia).
virtual void AttachCamera (iCamera *camera)=0
 Attach an iCamera to this body.
virtual void AttachCollider (iDynamicsSystemCollider *collider)=0
 Add a collider to this rigid body.
virtual bool AttachColliderBox (const csVector3 &size, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a box collider to this body.
virtual bool AttachColliderCapsule (float length, float radius, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a capsule collider to this body (oriented along it's Z axis).
virtual bool AttachColliderConvexMesh (iMeshWrapper *mesh, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a convex collider to this body.
virtual bool AttachColliderCylinder (float length, float radius, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a cylinder collider to this body (orientated along its local z axis).
virtual bool AttachColliderMesh (iMeshWrapper *mesh, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a concave collider to this body.
virtual bool AttachColliderPlane (const csPlane3 &plane, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a plane collider to this body.
virtual bool AttachColliderSphere (float radius, const csVector3 &offset, float friction, float density, float elasticity, float softness=0.01f)=0
 Add a sphere collider to this body.
virtual void AttachLight (iLight *light)=0
 Attach an iLight to this body.
virtual void AttachMesh (iMeshWrapper *mesh)=0
 Attach an iMeshWrapper to this body.
virtual void Collision (iRigidBody *other, const csVector3 &pos, const csVector3 &normal, float depth)=0
 If there's a collision callback with this body, execute it.
virtual void DestroyCollider (iDynamicsSystemCollider *collider)=0
 Destroy body collider.
virtual void DestroyColliders ()=0
 Destroy body colliders.
virtual bool Disable (void)=0
 Temporarily ignore the body until something collides with it.
virtual bool Enable (void)=0
 Re-enable a body after calling Disable(), or after being auto disabled.
virtual const csVector3 GetAngularVelocity () const =0
 Get the angular velocity (rotation).
virtual iCameraGetAttachedCamera ()=0
 Return the attached camera.
virtual iLightGetAttachedLight ()=0
 Return the attached light.
virtual iMeshWrapperGetAttachedMesh ()=0
 Return the attached MeshWrapper.
virtual csVector3 GetCenter ()=0
 Get the center of mass of this body.
virtual csRef
< iDynamicsSystemCollider
GetCollider (unsigned int index)=0
 Get body collider by its index.
virtual int GetColliderCount ()=0
 Get the count of colliders of this body.
virtual const csVector3 GetForce () const =0
 Get total force (world space).
virtual csRef< iBodyGroupGetGroup (void)=0
 Return which group a body belongs to.
virtual csMatrix3 GetInertia ()=0
 Get the matrix of inertia of this body.
virtual const csVector3 GetLinearVelocity () const =0
 Get the linear velocity (movement).
virtual float GetMass ()=0
 Get the total mass of this body.
virtual const csMatrix3 GetOrientation () const =0
 Get the orientation.
virtual const csVector3 GetPosition () const =0
 Get the position.
virtual void GetProperties (float *mass, csVector3 *center, csMatrix3 *inertia)=0
 Get the physic properties. 0 parameters are ignored.
virtual const csVector3 GetTorque () const =0
 Get total torque (world space).
virtual const csOrthoTransform GetTransform () const =0
 Get the transform.
virtual bool IsEnabled (void)=0
 Return true if a body is enabled.
virtual bool IsStatic (void)=0
 Tell whether a body has been made static or not.
virtual bool MakeDynamic (void)=0
 Make the body dynamic, ie the motion of the body is controlled by the dynamic simulation.
virtual bool MakeStatic (void)=0
 Make the body static, ie this body won't move anymore but dynamic objects will still collide with it.
virtual iObjectQueryObject (void)=0
 Return the underlying object.
virtual void SetAngularVelocity (const csVector3 &vel)=0
 Set the angular velocity (rotation).
virtual void SetCollisionCallback (iDynamicsCollisionCallback *cb)=0
 Set a callback to be executed when this body collides with another.
virtual void SetLinearVelocity (const csVector3 &vel)=0
 Set the linear velocity (movement).
virtual void SetMoveCallback (iDynamicsMoveCallback *cb)=0
 Set a callback to be executed when this body moves.
virtual void SetOrientation (const csMatrix3 &trans)=0
 Set the orientation.
virtual void SetPosition (const csVector3 &trans)=0
 Set the position.
virtual void SetProperties (float mass, const csVector3 &center, const csMatrix3 &inertia)=0
 Set the physic properties of this body.
virtual void SetTransform (const csOrthoTransform &trans)=0
 Set the transform.
virtual void Update ()=0
 Update transforms for mesh and/or bone.

Detailed Description

This is the interface for a rigid body.

It keeps all properties for the body. It can also be attached to a movable or a bone, to automatically update it.

Main creators of instances implementing this interface:

Main ways to get pointers to this interface:

Main users of this interface:

See also:
CS::Physics::Bullet::iRigidBody CS::Physics::Bullet::iSoftBody

Definition at line 493 of file dynamics.h.


Member Function Documentation

virtual void iRigidBody::AddForce ( const csVector3 force  )  [pure virtual]

Add a force (world space) (active for one timestep).

virtual void iRigidBody::AddForceAtPos ( const csVector3 force,
const csVector3 pos 
) [pure virtual]

Add a force (world space) at a specific position (world space) (active for one timestep).

virtual void iRigidBody::AddForceAtRelPos ( const csVector3 force,
const csVector3 pos 
) [pure virtual]

Add a force (world space) at a specific position (local space) (active for one timestep).

virtual void iRigidBody::AddRelForce ( const csVector3 force  )  [pure virtual]

Add a force (local space) (active for one timestep).

virtual void iRigidBody::AddRelForceAtPos ( const csVector3 force,
const csVector3 pos 
) [pure virtual]

Add a force (local space) at a specific position (world space) (active for one timestep).

virtual void iRigidBody::AddRelForceAtRelPos ( const csVector3 force,
const csVector3 pos 
) [pure virtual]

Add a force (local space) at a specific position (local space) (active for one timestep).

virtual void iRigidBody::AddRelTorque ( const csVector3 force  )  [pure virtual]

Add a torque (local space) (active for one timestep).

virtual void iRigidBody::AddTorque ( const csVector3 force  )  [pure virtual]

Add a torque (world space) (active for one timestep).

virtual void iRigidBody::AdjustTotalMass ( float  targetmass  )  [pure virtual]

Set the total mass to targetmass, and adjust the properties (center of mass and matrix of inertia).

The given mass will be used in place of the density of the colliders.

virtual void iRigidBody::AttachCamera ( iCamera camera  )  [pure virtual]

Attach an iCamera to this body.

virtual void iRigidBody::AttachCollider ( iDynamicsSystemCollider collider  )  [pure virtual]

Add a collider to this rigid body.

If you have set the collider transform before then it will be considered as relative to the attached body (but still if you will use colliders "GetTransform ()" it will be in the world coordinates. The collider becomes dynamic (which means that it will follow the rigid body).

virtual bool iRigidBody::AttachColliderBox ( const csVector3 size,
const csOrthoTransform trans,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a box collider to this body.

Parameters:
size the box's dimensions
trans a hard transform to apply to the mesh
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderCapsule ( float  length,
float  radius,
const csOrthoTransform trans,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a capsule collider to this body (oriented along it's Z axis).

A capsule is a cylinder with an halph-sphere at each end. It is less costly to compute collisions with a capsule than with a cylinder.

Parameters:
length the capsule length along the axis (i.e. the distance between the two halph-sphere's centers)
radius the capsule radius
trans a hard transform to apply to the mesh
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderConvexMesh ( iMeshWrapper mesh,
const csOrthoTransform trans,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a convex collider to this body.

Parameters:
mesh the mesh object which will act as collider. This must be a convex mesh.
trans a hard transform to apply to the mesh
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderCylinder ( float  length,
float  radius,
const csOrthoTransform trans,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a cylinder collider to this body (orientated along its local z axis).

Parameters:
length length of the cylinder
radius radius of the cylinder
trans a hard transform to apply to the mesh
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderMesh ( iMeshWrapper mesh,
const csOrthoTransform trans,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a concave collider to this body.

Concave colliders should be avoided because it is most costly to compute the collisions with them, and the simulation of their movement is less stable. It is safer to use a combination of convex colliders.

Parameters:
mesh the mesh object which will act as collider
trans a hard transform to apply to the mesh
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderPlane ( const csPlane3 plane,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a plane collider to this body.

Parameters:
plane the plane which will act as collider
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual bool iRigidBody::AttachColliderSphere ( float  radius,
const csVector3 offset,
float  friction,
float  density,
float  elasticity,
float  softness = 0.01f 
) [pure virtual]

Add a sphere collider to this body.

Parameters:
radius radius of sphere
offset position of sphere
friction how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
density the density of this rigid body (used to calculate mass based on collider volume)
elasticity the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
softness how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"
virtual void iRigidBody::AttachLight ( iLight light  )  [pure virtual]

Attach an iLight to this body.

virtual void iRigidBody::AttachMesh ( iMeshWrapper mesh  )  [pure virtual]

Attach an iMeshWrapper to this body.

virtual void iRigidBody::Collision ( iRigidBody other,
const csVector3 pos,
const csVector3 normal,
float  depth 
) [pure virtual]

If there's a collision callback with this body, execute it.

Parameters:
other The body that collided.
pos is the position on which the collision occured.
normal is the collision normal.
depth is the penetration depth.
virtual void iRigidBody::DestroyCollider ( iDynamicsSystemCollider collider  )  [pure virtual]

Destroy body collider.

virtual void iRigidBody::DestroyColliders (  )  [pure virtual]

Destroy body colliders.

virtual bool iRigidBody::Disable ( void   )  [pure virtual]

Temporarily ignore the body until something collides with it.

virtual bool iRigidBody::Enable ( void   )  [pure virtual]

Re-enable a body after calling Disable(), or after being auto disabled.

virtual const csVector3 iRigidBody::GetAngularVelocity (  )  const [pure virtual]

Get the angular velocity (rotation).

virtual iCamera* iRigidBody::GetAttachedCamera (  )  [pure virtual]

Return the attached camera.

virtual iLight* iRigidBody::GetAttachedLight (  )  [pure virtual]

Return the attached light.

virtual iMeshWrapper* iRigidBody::GetAttachedMesh (  )  [pure virtual]

Return the attached MeshWrapper.

virtual csVector3 iRigidBody::GetCenter (  )  [pure virtual]

Get the center of mass of this body.

virtual csRef<iDynamicsSystemCollider> iRigidBody::GetCollider ( unsigned int  index  )  [pure virtual]

Get body collider by its index.

virtual int iRigidBody::GetColliderCount (  )  [pure virtual]

Get the count of colliders of this body.

virtual const csVector3 iRigidBody::GetForce (  )  const [pure virtual]

Get total force (world space).

virtual csRef<iBodyGroup> iRigidBody::GetGroup ( void   )  [pure virtual]

Return which group a body belongs to.

virtual csMatrix3 iRigidBody::GetInertia (  )  [pure virtual]

Get the matrix of inertia of this body.

virtual const csVector3 iRigidBody::GetLinearVelocity (  )  const [pure virtual]

Get the linear velocity (movement).

virtual float iRigidBody::GetMass (  )  [pure virtual]

Get the total mass of this body.

virtual const csMatrix3 iRigidBody::GetOrientation (  )  const [pure virtual]

Get the orientation.

virtual const csVector3 iRigidBody::GetPosition (  )  const [pure virtual]

Get the position.

virtual void iRigidBody::GetProperties ( float *  mass,
csVector3 center,
csMatrix3 inertia 
) [pure virtual]

Get the physic properties. 0 parameters are ignored.

virtual const csVector3 iRigidBody::GetTorque (  )  const [pure virtual]

Get total torque (world space).

virtual const csOrthoTransform iRigidBody::GetTransform (  )  const [pure virtual]

Get the transform.

virtual bool iRigidBody::IsEnabled ( void   )  [pure virtual]

Return true if a body is enabled.

virtual bool iRigidBody::IsStatic ( void   )  [pure virtual]

Tell whether a body has been made static or not.

Warning:
If you are using the Bullet plugin, a 'false' value returned by this method doesn't mean that the body is dynamic, it can also have been made kinematic through CS::Physics::Bullet::iRigidBody::MakeKinematic()
See also:
CS::Physics::Bullet::iRigidBody::GetDynamicState()
virtual bool iRigidBody::MakeDynamic ( void   )  [pure virtual]

Make the body dynamic, ie the motion of the body is controlled by the dynamic simulation.

It will collide and react to any other bodies, whatever they are static or dynamic (or kinematic if you are using the bullet plugin).

See also:
MakeStatic() CS::Physics::Bullet::iRigidBody::MakeKinematic()
virtual bool iRigidBody::MakeStatic ( void   )  [pure virtual]

Make the body static, ie this body won't move anymore but dynamic objects will still collide with it.

This is especially useful for environmental objects.

See also:
MakeDynamic() CS::Physics::Bullet::iRigidBody::MakeKinematic()
virtual iObject* iRigidBody::QueryObject ( void   )  [pure virtual]

Return the underlying object.

virtual void iRigidBody::SetAngularVelocity ( const csVector3 vel  )  [pure virtual]

Set the angular velocity (rotation).

virtual void iRigidBody::SetCollisionCallback ( iDynamicsCollisionCallback cb  )  [pure virtual]

Set a callback to be executed when this body collides with another.

If 0, no callback is executed.

virtual void iRigidBody::SetLinearVelocity ( const csVector3 vel  )  [pure virtual]

Set the linear velocity (movement).

virtual void iRigidBody::SetMoveCallback ( iDynamicsMoveCallback cb  )  [pure virtual]

Set a callback to be executed when this body moves.

If 0, no callback is executed.

virtual void iRigidBody::SetOrientation ( const csMatrix3 trans  )  [pure virtual]

Set the orientation.

virtual void iRigidBody::SetPosition ( const csVector3 trans  )  [pure virtual]

Set the position.

virtual void iRigidBody::SetProperties ( float  mass,
const csVector3 center,
const csMatrix3 inertia 
) [pure virtual]

Set the physic properties of this body.

The given mass will be used in place of the density of the colliders.

If you are using the 'bullet' plugin, it is safer to use AdjustTotalMass() to set only the mass and let the dynamic system compute the center of mass and matrix of inertia.

Parameters:
mass The total mass of this body
center The center of mass of this body
inertia The matrix of inertia of this body
virtual void iRigidBody::SetTransform ( const csOrthoTransform trans  )  [pure virtual]

Set the transform.

virtual void iRigidBody::Update (  )  [pure virtual]

Update transforms for mesh and/or bone.


The documentation for this struct was generated from the following file:

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