The btRigidBody is the main class for rigid body objects. More...
#include <btRigidBody.h>
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:
Definition at line 59 of file btRigidBody.h.
btRigidBody::btRigidBody | ( | const btRigidBodyConstructionInfo & | constructionInfo | ) |
btRigidBody constructor using construction info
Definition at line 30 of file btRigidBody.cpp.
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 35 of file btRigidBody.cpp.
virtual btRigidBody::~btRigidBody | ( | ) | [inline, virtual] |
Definition at line 179 of file btRigidBody.h.
void btRigidBody::addConstraintRef | ( | btTypedConstraint * | c | ) |
Definition at line 339 of file btRigidBody.cpp.
void btRigidBody::applyCentralForce | ( | const btVector3 & | force | ) | [inline] |
Definition at line 276 of file btRigidBody.h.
void btRigidBody::applyCentralImpulse | ( | const btVector3 & | impulse | ) | [inline] |
Definition at line 318 of file btRigidBody.h.
void btRigidBody::applyDamping | ( | btScalar | timeStep | ) |
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
Definition at line 159 of file btRigidBody.cpp.
Definition at line 312 of file btRigidBody.h.
void btRigidBody::applyGravity | ( | ) |
Definition at line 216 of file btRigidBody.cpp.
Definition at line 328 of file btRigidBody.h.
void btRigidBody::applyTorque | ( | const btVector3 & | torque | ) | [inline] |
Definition at line 307 of file btRigidBody.h.
void btRigidBody::applyTorqueImpulse | ( | const btVector3 & | torque | ) | [inline] |
Definition at line 323 of file btRigidBody.h.
btRigidBody::ATTRIBUTE_ALIGNED64 | ( | btVector3 | m_deltaLinearVelocity | ) | [protected] |
int btRigidBody::calculateSerializeBufferSize | ( | ) | const [virtual] |
Reimplemented from btCollisionObject.
Definition at line 354 of file btRigidBody.cpp.
bool btRigidBody::checkCollideWithOverride | ( | const btCollisionObject * | co | ) | const [virtual] |
Reimplemented from btCollisionObject.
Definition at line 320 of file btRigidBody.cpp.
void btRigidBody::clearForces | ( | ) | [inline] |
Definition at line 340 of file btRigidBody.h.
Definition at line 407 of file btRigidBody.h.
Definition at line 260 of file btRigidBody.cpp.
btScalar btRigidBody::computeImpulseDenominator | ( | const btVector3 & | pos, | |
const btVector3 & | normal | |||
) | const [inline] |
Definition at line 395 of file btRigidBody.h.
Definition at line 127 of file btRigidBody.cpp.
btScalar btRigidBody::getAngularDamping | ( | ) | const [inline] |
Definition at line 231 of file btRigidBody.h.
const btVector3& btRigidBody::getAngularFactor | ( | ) | const [inline] |
Definition at line 494 of file btRigidBody.h.
btScalar btRigidBody::getAngularSleepingThreshold | ( | ) | const [inline] |
Definition at line 241 of file btRigidBody.h.
const btVector3& btRigidBody::getAngularVelocity | ( | ) | const [inline] |
Definition at line 359 of file btRigidBody.h.
const btBroadphaseProxy* btRigidBody::getBroadphaseProxy | ( | ) | const [inline] |
Definition at line 452 of file btRigidBody.h.
btBroadphaseProxy* btRigidBody::getBroadphaseProxy | ( | ) | [inline] |
Definition at line 456 of file btRigidBody.h.
const btVector3& btRigidBody::getCenterOfMassPosition | ( | ) | const [inline] |
Definition at line 348 of file btRigidBody.h.
const btTransform& btRigidBody::getCenterOfMassTransform | ( | ) | const [inline] |
Definition at line 353 of file btRigidBody.h.
const btCollisionShape* btRigidBody::getCollisionShape | ( | ) | const [inline] |
Reimplemented from btCollisionObject.
Definition at line 248 of file btRigidBody.h.
btCollisionShape* btRigidBody::getCollisionShape | ( | ) | [inline] |
Reimplemented from btCollisionObject.
Definition at line 252 of file btRigidBody.h.
btTypedConstraint* btRigidBody::getConstraintRef | ( | int | index | ) | [inline] |
Definition at line 510 of file btRigidBody.h.
int btRigidBody::getFlags | ( | ) | const [inline] |
Definition at line 525 of file btRigidBody.h.
const btVector3& btRigidBody::getGravity | ( | ) | const [inline] |
Definition at line 219 of file btRigidBody.h.
const btVector3& btRigidBody::getInvInertiaDiagLocal | ( | ) | const [inline] |
Definition at line 291 of file btRigidBody.h.
const btMatrix3x3& btRigidBody::getInvInertiaTensorWorld | ( | ) | const [inline] |
Definition at line 268 of file btRigidBody.h.
btScalar btRigidBody::getInvMass | ( | ) | const [inline] |
Definition at line 267 of file btRigidBody.h.
btScalar btRigidBody::getLinearDamping | ( | ) | const [inline] |
Definition at line 226 of file btRigidBody.h.
const btVector3& btRigidBody::getLinearFactor | ( | ) | const [inline] |
Definition at line 258 of file btRigidBody.h.
btScalar btRigidBody::getLinearSleepingThreshold | ( | ) | const [inline] |
Definition at line 236 of file btRigidBody.h.
const btVector3& btRigidBody::getLinearVelocity | ( | ) | const [inline] |
Definition at line 356 of file btRigidBody.h.
btMotionState* btRigidBody::getMotionState | ( | ) | [inline] |
Definition at line 466 of file btRigidBody.h.
const btMotionState* btRigidBody::getMotionState | ( | ) | const [inline] |
Definition at line 470 of file btRigidBody.h.
int btRigidBody::getNumConstraintRefs | ( | ) | const [inline] |
Definition at line 515 of file btRigidBody.h.
btQuaternion btRigidBody::getOrientation | ( | ) | const |
Definition at line 295 of file btRigidBody.cpp.
const btVector3& btRigidBody::getTotalForce | ( | ) | const [inline] |
Definition at line 281 of file btRigidBody.h.
const btVector3& btRigidBody::getTotalTorque | ( | ) | const [inline] |
Definition at line 286 of file btRigidBody.h.
Definition at line 374 of file btRigidBody.h.
void btRigidBody::integrateVelocities | ( | btScalar | step | ) |
clamp angular velocity. collision calculations will fail on higher angular velocities
Definition at line 277 of file btRigidBody.cpp.
bool btRigidBody::isInWorld | ( | ) | const [inline] |
Definition at line 500 of file btRigidBody.h.
void btRigidBody::predictIntegratedTransform | ( | btScalar | step, | |
btTransform & | predictedTransform | |||
) |
continuous collision detection needs prediction
Definition at line 104 of file btRigidBody.cpp.
void btRigidBody::proceedToTransform | ( | const btTransform & | newTrans | ) |
Definition at line 225 of file btRigidBody.cpp.
void btRigidBody::removeConstraintRef | ( | btTypedConstraint * | c | ) |
Definition at line 348 of file btRigidBody.cpp.
void btRigidBody::saveKinematicState | ( | btScalar | step | ) |
Definition at line 109 of file btRigidBody.cpp.
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 361 of file btRigidBody.cpp.
void btRigidBody::serializeSingleObject | ( | class btSerializer * | serializer | ) | const [virtual] |
Reimplemented from btCollisionObject.
Definition at line 393 of file btRigidBody.cpp.
void btRigidBody::setAngularFactor | ( | const btVector3 & | angFac | ) | [inline] |
Definition at line 485 of file btRigidBody.h.
void btRigidBody::setAngularFactor | ( | btScalar | angFac | ) | [inline] |
Definition at line 490 of file btRigidBody.h.
void btRigidBody::setAngularVelocity | ( | const btVector3 & | ang_vel | ) | [inline] |
Definition at line 369 of file btRigidBody.h.
void btRigidBody::setCenterOfMassTransform | ( | const btTransform & | xform | ) |
Definition at line 303 of file btRigidBody.cpp.
Definition at line 149 of file btRigidBody.cpp.
void btRigidBody::setFlags | ( | int | flags | ) | [inline] |
Definition at line 520 of file btRigidBody.h.
void btRigidBody::setGravity | ( | const btVector3 & | acceleration | ) |
Definition at line 135 of file btRigidBody.cpp.
void btRigidBody::setInvInertiaDiagLocal | ( | const btVector3 & | diagInvInertia | ) | [inline] |
Definition at line 296 of file btRigidBody.h.
void btRigidBody::setLinearFactor | ( | const btVector3 & | linearFactor | ) | [inline] |
Definition at line 262 of file btRigidBody.h.
void btRigidBody::setLinearVelocity | ( | const btVector3 & | lin_vel | ) | [inline] |
Definition at line 364 of file btRigidBody.h.
Definition at line 231 of file btRigidBody.cpp.
void btRigidBody::setMotionState | ( | btMotionState * | motionState | ) | [inline] |
Definition at line 474 of file btRigidBody.h.
void btRigidBody::setNewBroadphaseProxy | ( | btBroadphaseProxy * | broadphaseProxy | ) | [inline] |
Definition at line 460 of file btRigidBody.h.
Definition at line 301 of file btRigidBody.h.
void btRigidBody::setupRigidBody | ( | const btRigidBodyConstructionInfo & | constructionInfo | ) | [protected] |
setupRigidBody is only used internally by the constructor
Definition at line 41 of file btRigidBody.cpp.
void btRigidBody::translate | ( | const btVector3 & | v | ) | [inline] |
Definition at line 383 of file btRigidBody.h.
static const btRigidBody* btRigidBody::upcast | ( | const btCollisionObject * | colObj | ) | [inline, static] |
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 197 of file btRigidBody.h.
static btRigidBody* btRigidBody::upcast | ( | btCollisionObject * | colObj | ) | [inline, static] |
Definition at line 203 of file btRigidBody.h.
void btRigidBody::updateDeactivation | ( | btScalar | timeStep | ) | [inline] |
Definition at line 413 of file btRigidBody.h.
void btRigidBody::updateInertiaTensor | ( | ) |
Definition at line 254 of file btRigidBody.cpp.
bool btRigidBody::wantsSleeping | ( | ) | [inline] |
Definition at line 430 of file btRigidBody.h.
Definition at line 81 of file btRigidBody.h.
Definition at line 80 of file btRigidBody.h.
bool btRigidBody::m_additionalDamping [private] |
Definition at line 77 of file btRigidBody.h.
Definition at line 78 of file btRigidBody.h.
Definition at line 79 of file btRigidBody.h.
btScalar btRigidBody::m_angularDamping [private] |
Definition at line 75 of file btRigidBody.h.
btVector3 btRigidBody::m_angularFactor [protected] |
Definition at line 102 of file btRigidBody.h.
Definition at line 85 of file btRigidBody.h.
btVector3 btRigidBody::m_angularVelocity [private] |
Definition at line 64 of file btRigidBody.h.
Definition at line 91 of file btRigidBody.h.
Definition at line 482 of file btRigidBody.h.
int btRigidBody::m_debugBodyId [private] |
Definition at line 95 of file btRigidBody.h.
btVector3 btRigidBody::m_deltaAngularVelocity [protected] |
Definition at line 101 of file btRigidBody.h.
Definition at line 483 of file btRigidBody.h.
btVector3 btRigidBody::m_gravity [private] |
Definition at line 68 of file btRigidBody.h.
btVector3 btRigidBody::m_gravity_acceleration [private] |
Definition at line 69 of file btRigidBody.h.
btScalar btRigidBody::m_inverseMass [private] |
Definition at line 65 of file btRigidBody.h.
btVector3 btRigidBody::m_invInertiaLocal [private] |
Definition at line 70 of file btRigidBody.h.
Definition at line 62 of file btRigidBody.h.
btVector3 btRigidBody::m_invMass [protected] |
Definition at line 103 of file btRigidBody.h.
btScalar btRigidBody::m_linearDamping [private] |
Definition at line 74 of file btRigidBody.h.
btVector3 btRigidBody::m_linearFactor [private] |
Definition at line 66 of file btRigidBody.h.
Definition at line 84 of file btRigidBody.h.
btVector3 btRigidBody::m_linearVelocity [private] |
Definition at line 63 of file btRigidBody.h.
btMotionState* btRigidBody::m_optionalMotionState [private] |
Definition at line 88 of file btRigidBody.h.
btVector3 btRigidBody::m_pushVelocity [protected] |
Definition at line 104 of file btRigidBody.h.
int btRigidBody::m_rigidbodyFlags [private] |
Definition at line 93 of file btRigidBody.h.
btVector3 btRigidBody::m_totalForce [private] |
Definition at line 71 of file btRigidBody.h.
btVector3 btRigidBody::m_totalTorque [private] |
Definition at line 72 of file btRigidBody.h.
btVector3 btRigidBody::m_turnVelocity [protected] |
Definition at line 105 of file btRigidBody.h.