#include <btRigidBody.h>

Classes
struct	btRigidBodyConstructionInfo
Public Member Functions
void	addConstraintRef (btTypedConstraint *c)
void	applyCentralForce (const btVector3 &force)
void	applyCentralImpulse (const btVector3 &impulse)
void	applyDamping (btScalar timeStep)
void	applyForce (const btVector3 &force, const btVector3 &rel_pos)
void	applyGravity ()
void	applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
void	applyTorque (const btVector3 &torque)
void	applyTorqueImpulse (const btVector3 &torque)
	btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	btRigidBody constructor using construction info
	btRigidBody (btScalar mass, btMotionState motionState, btCollisionShape collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
virtual int	calculateSerializeBufferSize () const
virtual bool	checkCollideWithOverride (btCollisionObject *co)
void	clearForces ()
SIMD_FORCE_INLINE btScalar	computeAngularImpulseDenominator (const btVector3 &axis) const
SIMD_FORCE_INLINE btScalar	computeImpulseDenominator (const btVector3 &pos, const btVector3 &normal) const
void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
btScalar	getAngularDamping () const
const btVector3 &	getAngularFactor () const
btScalar	getAngularSleepingThreshold () const
const btVector3 &	getAngularVelocity () const
const btBroadphaseProxy *	getBroadphaseProxy () const
btBroadphaseProxy *	getBroadphaseProxy ()
const btVector3 &	getCenterOfMassPosition () const
const btTransform &	getCenterOfMassTransform () const
SIMD_FORCE_INLINE const btCollisionShape *	getCollisionShape () const
SIMD_FORCE_INLINE btCollisionShape *	getCollisionShape ()
btTypedConstraint *	getConstraintRef (int index)
const btVector3 &	getDeltaAngularVelocity () const
const btVector3 &	getDeltaLinearVelocity () const
int	getFlags () const
const btVector3 &	getGravity () const
const btVector3 &	getInvInertiaDiagLocal () const
const btMatrix3x3 &	getInvInertiaTensorWorld () const
btScalar	getInvMass () const
btScalar	getLinearDamping () const
const btVector3 &	getLinearFactor () const
btScalar	getLinearSleepingThreshold () const
const btVector3 &	getLinearVelocity () const
btMotionState *	getMotionState ()
const btMotionState *	getMotionState () const
int	getNumConstraintRefs () const
btQuaternion	getOrientation () const
const btVector3 &	getPushVelocity () const
const btVector3 &	getTotalForce () const
const btVector3 &	getTotalTorque () const
const btVector3 &	getTurnVelocity () const
btVector3	getVelocityInLocalPoint (const btVector3 &rel_pos) const
void	integrateVelocities (btScalar step)
SIMD_FORCE_INLINE void	internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, const btScalar impulseMagnitude)
SIMD_FORCE_INLINE void	internalApplyPushImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
const btVector3 &	internalGetAngularFactor () const
SIMD_FORCE_INLINE void	internalGetAngularVelocity (btVector3 &angVel) const
btVector3 &	internalGetDeltaAngularVelocity ()
btVector3 &	internalGetDeltaLinearVelocity ()
const btVector3 &	internalGetInvMass () const
btVector3 &	internalGetPushVelocity ()
btVector3 &	internalGetTurnVelocity ()
SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
void	internalWritebackVelocity ()
void	internalWritebackVelocity (btScalar timeStep)
bool	isInWorld () const
void	predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
	continuous collision detection needs prediction
void	proceedToTransform (const btTransform &newTrans)
void	removeConstraintRef (btTypedConstraint *c)
void	saveKinematicState (btScalar step)
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
void	setAngularFactor (const btVector3 &angFac)
void	setAngularFactor (btScalar angFac)
void	setAngularVelocity (const btVector3 &ang_vel)
void	setCenterOfMassTransform (const btTransform &xform)
void	setDamping (btScalar lin_damping, btScalar ang_damping)
void	setFlags (int flags)
void	setGravity (const btVector3 &acceleration)
void	setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
void	setLinearFactor (const btVector3 &linearFactor)
void	setLinearVelocity (const btVector3 &lin_vel)
void	setMassProps (btScalar mass, const btVector3 &inertia)
void	setMotionState (btMotionState *motionState)
void	setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
void	setSleepingThresholds (btScalar linear, btScalar angular)
void	translate (const btVector3 &v)
SIMD_FORCE_INLINE void	updateDeactivation (btScalar timeStep)
void	updateInertiaTensor ()
SIMD_FORCE_INLINE bool	wantsSleeping ()
virtual	~btRigidBody ()
Static Public Member Functions
static const btRigidBody *	upcast (const btCollisionObject *colObj)
static btRigidBody *	upcast (btCollisionObject *colObj)
Public Attributes
int	m_contactSolverType
int	m_frictionSolverType
Protected Member Functions
	ATTRIBUTE_ALIGNED64 (btVector3 m_deltaLinearVelocity)
void	setupRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	setupRigidBody is only used internally by the constructor
Protected Attributes
btVector3	m_angularFactor
btVector3	m_deltaAngularVelocity
btVector3	m_invMass
btVector3	m_pushVelocity
btVector3	m_turnVelocity
Private Attributes
btScalar	m_additionalAngularDampingFactor
btScalar	m_additionalAngularDampingThresholdSqr
bool	m_additionalDamping
btScalar	m_additionalDampingFactor
btScalar	m_additionalLinearDampingThresholdSqr
btScalar	m_angularDamping
btScalar	m_angularSleepingThreshold
btVector3	m_angularVelocity
btAlignedObjectArray < btTypedConstraint * >	m_constraintRefs
int	m_debugBodyId
btVector3	m_gravity
btVector3	m_gravity_acceleration
btScalar	m_inverseMass
btVector3	m_invInertiaLocal
btMatrix3x3	m_invInertiaTensorWorld
btScalar	m_linearDamping
btVector3	m_linearFactor
btScalar	m_linearSleepingThreshold
btVector3	m_linearVelocity
btMotionState *	m_optionalMotionState
int	m_rigidbodyFlags
btVector3	m_totalForce
btVector3	m_totalTorque

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 on-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 55 of file btRigidBody.h.

Constructor & Destructor Documentation

btRigidBody::btRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

btRigidBody constructor using construction info

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)

virtual btRigidBody::~btRigidBody ( ) [inline, virtual]

Definition at line 171 of file btRigidBody.h.

Member Function Documentation

void btRigidBody::addConstraintRef ( btTypedConstraint * c )

void btRigidBody::applyCentralForce ( const btVector3 & force ) [inline]

Definition at line 268 of file btRigidBody.h.

void btRigidBody::applyCentralImpulse ( const btVector3 & impulse ) [inline]

Definition at line 310 of file btRigidBody.h.

void btRigidBody::applyDamping ( btScalar timeStep )

void btRigidBody::applyForce	(	const btVector3 &	force,
		const btVector3 &	rel_pos
	)		`[inline]`

Definition at line 304 of file btRigidBody.h.

void btRigidBody::applyGravity ( )

void btRigidBody::applyImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos
	)		`[inline]`

Definition at line 320 of file btRigidBody.h.

void btRigidBody::applyTorque ( const btVector3 & torque ) [inline]

Definition at line 299 of file btRigidBody.h.

void btRigidBody::applyTorqueImpulse ( const btVector3 & torque ) [inline]

Definition at line 315 of file btRigidBody.h.

btRigidBody::ATTRIBUTE_ALIGNED64 ( btVector3 m_deltaLinearVelocity ) [protected]

virtual int btRigidBody::calculateSerializeBufferSize ( ) const [virtual]

virtual bool btRigidBody::checkCollideWithOverride ( btCollisionObject * co ) [virtual]

void btRigidBody::clearForces ( ) [inline]

Definition at line 332 of file btRigidBody.h.

SIMD_FORCE_INLINE btScalar btRigidBody::computeAngularImpulseDenominator ( const btVector3 & axis ) const [inline]

Definition at line 399 of file btRigidBody.h.

SIMD_FORCE_INLINE btScalar btRigidBody::computeImpulseDenominator	(	const btVector3 &	pos,
		const btVector3 &	normal
	)		const `[inline]`

Definition at line 387 of file btRigidBody.h.

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

btScalar btRigidBody::getAngularDamping ( ) const [inline]

Definition at line 223 of file btRigidBody.h.

const btVector3& btRigidBody::getAngularFactor ( ) const [inline]

Definition at line 486 of file btRigidBody.h.

btScalar btRigidBody::getAngularSleepingThreshold ( ) const [inline]

Definition at line 233 of file btRigidBody.h.

const btVector3& btRigidBody::getAngularVelocity ( ) const [inline]

Definition at line 351 of file btRigidBody.h.

const btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( ) const [inline]

Definition at line 444 of file btRigidBody.h.

btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( ) [inline]

Definition at line 448 of file btRigidBody.h.

const btVector3& btRigidBody::getCenterOfMassPosition ( ) const [inline]

Definition at line 340 of file btRigidBody.h.

const btTransform& btRigidBody::getCenterOfMassTransform ( ) const [inline]

Definition at line 345 of file btRigidBody.h.

SIMD_FORCE_INLINE const btCollisionShape* btRigidBody::getCollisionShape ( ) const [inline]

Definition at line 240 of file btRigidBody.h.

SIMD_FORCE_INLINE btCollisionShape* btRigidBody::getCollisionShape ( ) [inline]

Definition at line 244 of file btRigidBody.h.

btTypedConstraint* btRigidBody::getConstraintRef ( int index ) [inline]

Definition at line 502 of file btRigidBody.h.

const btVector3& btRigidBody::getDeltaAngularVelocity ( ) const [inline]

Definition at line 527 of file btRigidBody.h.

const btVector3& btRigidBody::getDeltaLinearVelocity ( ) const [inline]

Definition at line 522 of file btRigidBody.h.

int btRigidBody::getFlags ( ) const [inline]

Definition at line 517 of file btRigidBody.h.

const btVector3& btRigidBody::getGravity ( ) const [inline]

Definition at line 211 of file btRigidBody.h.

const btVector3& btRigidBody::getInvInertiaDiagLocal ( ) const [inline]

Definition at line 283 of file btRigidBody.h.

const btMatrix3x3& btRigidBody::getInvInertiaTensorWorld ( ) const [inline]

Definition at line 260 of file btRigidBody.h.

btScalar btRigidBody::getInvMass ( ) const [inline]

Definition at line 259 of file btRigidBody.h.

btScalar btRigidBody::getLinearDamping ( ) const [inline]

Definition at line 218 of file btRigidBody.h.

const btVector3& btRigidBody::getLinearFactor ( ) const [inline]

Definition at line 250 of file btRigidBody.h.

btScalar btRigidBody::getLinearSleepingThreshold ( ) const [inline]

Definition at line 228 of file btRigidBody.h.

const btVector3& btRigidBody::getLinearVelocity ( ) const [inline]

Definition at line 348 of file btRigidBody.h.

btMotionState* btRigidBody::getMotionState ( ) [inline]

Definition at line 458 of file btRigidBody.h.

const btMotionState* btRigidBody::getMotionState ( ) const [inline]

Definition at line 462 of file btRigidBody.h.

int btRigidBody::getNumConstraintRefs ( ) const [inline]

Definition at line 507 of file btRigidBody.h.

btQuaternion btRigidBody::getOrientation ( ) const

const btVector3& btRigidBody::getPushVelocity ( ) const [inline]

Definition at line 532 of file btRigidBody.h.

const btVector3& btRigidBody::getTotalForce ( ) const [inline]

Definition at line 273 of file btRigidBody.h.

const btVector3& btRigidBody::getTotalTorque ( ) const [inline]

Definition at line 278 of file btRigidBody.h.

const btVector3& btRigidBody::getTurnVelocity ( ) const [inline]

Definition at line 537 of file btRigidBody.h.

btVector3 btRigidBody::getVelocityInLocalPoint ( const btVector3 & rel_pos ) const [inline]

Definition at line 366 of file btRigidBody.h.

void btRigidBody::integrateVelocities ( btScalar step )

SIMD_FORCE_INLINE void btRigidBody::internalApplyImpulse	(	const btVector3 &	linearComponent,
		const btVector3 &	angularComponent,
		const btScalar	impulseMagnitude
	)		`[inline]`

Definition at line 588 of file btRigidBody.h.

SIMD_FORCE_INLINE void btRigidBody::internalApplyPushImpulse	(	const btVector3 &	linearComponent,
		const btVector3 &	angularComponent,
		btScalar	impulseMagnitude
	)		`[inline]`

Definition at line 597 of file btRigidBody.h.

const btVector3& btRigidBody::internalGetAngularFactor ( ) const [inline]

Definition at line 556 of file btRigidBody.h.

SIMD_FORCE_INLINE void btRigidBody::internalGetAngularVelocity ( btVector3 & angVel ) const [inline]

Definition at line 581 of file btRigidBody.h.

btVector3& btRigidBody::internalGetDeltaAngularVelocity ( ) [inline]

Definition at line 551 of file btRigidBody.h.

btVector3& btRigidBody::internalGetDeltaLinearVelocity ( ) [inline]

some internal methods, don't use them

Definition at line 546 of file btRigidBody.h.

const btVector3& btRigidBody::internalGetInvMass ( ) const [inline]

Definition at line 561 of file btRigidBody.h.

btVector3& btRigidBody::internalGetPushVelocity ( ) [inline]

Definition at line 566 of file btRigidBody.h.

btVector3& btRigidBody::internalGetTurnVelocity ( ) [inline]

Definition at line 571 of file btRigidBody.h.

SIMD_FORCE_INLINE void btRigidBody::internalGetVelocityInLocalPointObsolete	(	const btVector3 &	rel_pos,
		btVector3 &	velocity
	)		const `[inline]`

Definition at line 576 of file btRigidBody.h.

void btRigidBody::internalWritebackVelocity ( ) [inline]

Definition at line 606 of file btRigidBody.h.

void btRigidBody::internalWritebackVelocity ( btScalar timeStep )

bool btRigidBody::isInWorld ( ) const [inline]

Definition at line 492 of file btRigidBody.h.

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

continuous collision detection needs prediction

void btRigidBody::proceedToTransform ( const btTransform & newTrans )

void btRigidBody::removeConstraintRef ( btTypedConstraint * c )

void btRigidBody::saveKinematicState ( btScalar step )

virtual const char* btRigidBody::serialize	(	void *	dataBuffer,
		class btSerializer *	serializer
	)		const `[virtual]`

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

virtual void btRigidBody::serializeSingleObject ( class btSerializer * serializer ) const [virtual]

void btRigidBody::setAngularFactor ( const btVector3 & angFac ) [inline]

Definition at line 477 of file btRigidBody.h.

void btRigidBody::setAngularFactor ( btScalar angFac ) [inline]

Definition at line 482 of file btRigidBody.h.

void btRigidBody::setAngularVelocity ( const btVector3 & ang_vel ) [inline]

Definition at line 361 of file btRigidBody.h.

void btRigidBody::setCenterOfMassTransform ( const btTransform & xform )

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

void btRigidBody::setFlags ( int flags ) [inline]

Definition at line 512 of file btRigidBody.h.

void btRigidBody::setGravity ( const btVector3 & acceleration )

void btRigidBody::setInvInertiaDiagLocal ( const btVector3 & diagInvInertia ) [inline]

Definition at line 288 of file btRigidBody.h.

void btRigidBody::setLinearFactor ( const btVector3 & linearFactor ) [inline]

Definition at line 254 of file btRigidBody.h.

void btRigidBody::setLinearVelocity ( const btVector3 & lin_vel ) [inline]

Definition at line 356 of file btRigidBody.h.

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

void btRigidBody::setMotionState ( btMotionState * motionState ) [inline]

Definition at line 466 of file btRigidBody.h.

void btRigidBody::setNewBroadphaseProxy ( btBroadphaseProxy * broadphaseProxy ) [inline]

Definition at line 452 of file btRigidBody.h.

void btRigidBody::setSleepingThresholds	(	btScalar	linear,
		btScalar	angular
	)		`[inline]`

Definition at line 293 of file btRigidBody.h.

void btRigidBody::setupRigidBody ( const btRigidBodyConstructionInfo & constructionInfo ) [protected]

setupRigidBody is only used internally by the constructor

void btRigidBody::translate ( const btVector3 & v ) [inline]

Definition at line 375 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 189 of file btRigidBody.h.

static btRigidBody* btRigidBody::upcast ( btCollisionObject * colObj ) [inline, static]

Definition at line 195 of file btRigidBody.h.

SIMD_FORCE_INLINE void btRigidBody::updateDeactivation ( btScalar timeStep ) [inline]