A rigid body. These are created via b2World::CreateBody. More...

#include <b2Body.h>

Public Member Functions
void	ApplyAngularImpulse (float32 impulse, bool wake)
void	ApplyForce (const b2Vec2 &force, const b2Vec2 &point, bool wake)
void	ApplyForceToCenter (const b2Vec2 &force, bool wake)
void	ApplyLinearImpulse (const b2Vec2 &impulse, const b2Vec2 &point, bool wake)
void	ApplyTorque (float32 torque, bool wake)
b2Fixture *	CreateFixture (const b2FixtureDef *def)
b2Fixture *	CreateFixture (const b2Shape *shape, float32 density)
void	DestroyFixture (b2Fixture *fixture)
void	Dump ()
	Dump this body to a log file.
float32	GetAngle () const
float32	GetAngularDamping () const
	Get the angular damping of the body.
float32	GetAngularVelocity () const
b2ContactEdge *	GetContactList ()
const b2ContactEdge *	GetContactList () const
b2Fixture *	GetFixtureList ()
	Get the list of all fixtures attached to this body.
const b2Fixture *	GetFixtureList () const
float32	GetGravityScale () const
	Get the gravity scale of the body.
float32	GetInertia () const
b2JointEdge *	GetJointList ()
	Get the list of all joints attached to this body.
const b2JointEdge *	GetJointList () const
float32	GetLinearDamping () const
	Get the linear damping of the body.
const b2Vec2 &	GetLinearVelocity () const
b2Vec2	GetLinearVelocityFromLocalPoint (const b2Vec2 &localPoint) const
b2Vec2	GetLinearVelocityFromWorldPoint (const b2Vec2 &worldPoint) const
const b2Vec2 &	GetLocalCenter () const
	Get the local position of the center of mass.
b2Vec2	GetLocalPoint (const b2Vec2 &worldPoint) const
b2Vec2	GetLocalVector (const b2Vec2 &worldVector) const
float32	GetMass () const
void	GetMassData (b2MassData *data) const
b2Body *	GetNext ()
	Get the next body in the world's body list.
const b2Body *	GetNext () const
const b2Vec2 &	GetPosition () const
const b2Transform &	GetTransform () const
b2BodyType	GetType () const
	Get the type of this body.
void *	GetUserData () const
	Get the user data pointer that was provided in the body definition.
b2World *	GetWorld ()
	Get the parent world of this body.
const b2World *	GetWorld () const
const b2Vec2 &	GetWorldCenter () const
	Get the world position of the center of mass.
b2Vec2	GetWorldPoint (const b2Vec2 &localPoint) const
b2Vec2	GetWorldVector (const b2Vec2 &localVector) const
bool	IsActive () const
	Get the active state of the body.
bool	IsAwake () const
bool	IsBullet () const
	Is this body treated like a bullet for continuous collision detection?
bool	IsFixedRotation () const
	Does this body have fixed rotation?
bool	IsSleepingAllowed () const
	Is this body allowed to sleep.
void	ResetMassData ()
void	SetActive (bool flag)
void	SetAngularDamping (float32 angularDamping)
	Set the angular damping of the body.
void	SetAngularVelocity (float32 omega)
void	SetAwake (bool flag)
void	SetBullet (bool flag)
	Should this body be treated like a bullet for continuous collision detection?
void	SetFixedRotation (bool flag)
void	SetGravityScale (float32 scale)
	Set the gravity scale of the body.
void	SetLinearDamping (float32 linearDamping)
	Set the linear damping of the body.
void	SetLinearVelocity (const b2Vec2 &v)
void	SetMassData (const b2MassData *data)
void	SetSleepingAllowed (bool flag)
void	SetTransform (const b2Vec2 &position, float32 angle)
void	SetType (b2BodyType type)
	Set the type of this body. This may alter the mass and velocity.
void	SetUserData (void *data)
	Set the user data. Use this to store your application specific data.
Private Types
enum	{ e_islandFlag = 0x0001, e_awakeFlag = 0x0002, e_autoSleepFlag = 0x0004, e_bulletFlag = 0x0008, e_fixedRotationFlag = 0x0010, e_activeFlag = 0x0020, e_toiFlag = 0x0040 }
Private Member Functions
void	Advance (float32 t)
	b2Body (const b2BodyDef bd, b2World world)
bool	ShouldCollide (const b2Body *other) const
void	SynchronizeFixtures ()
void	SynchronizeTransform ()
	~b2Body ()
Private Attributes
float32	m_angularDamping
float32	m_angularVelocity
b2ContactEdge *	m_contactList
int32	m_fixtureCount
b2Fixture *	m_fixtureList
uint16	m_flags
b2Vec2	m_force
float32	m_gravityScale
float32	m_I
float32	m_invI
float32	m_invMass
int32	m_islandIndex
b2JointEdge *	m_jointList
float32	m_linearDamping
b2Vec2	m_linearVelocity
float32	m_mass
b2Body *	m_next
b2Body *	m_prev
float32	m_sleepTime
b2Sweep	m_sweep
float32	m_torque
b2BodyType	m_type
void *	m_userData
b2World *	m_world
b2Transform	m_xf
Friends
class	b2Contact
class	b2ContactManager
class	b2ContactSolver
class	b2DistanceJoint
class	b2FrictionJoint
class	b2GearJoint
class	b2Island
class	b2MotorJoint
class	b2MouseJoint
class	b2PrismaticJoint
class	b2PulleyJoint
class	b2RevoluteJoint
class	b2RopeJoint
class	b2WeldJoint
class	b2WheelJoint
class	b2World

Detailed Description

A rigid body. These are created via b2World::CreateBody.

Definition at line 126 of file b2Body.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

e_islandFlag
e_awakeFlag
e_autoSleepFlag
e_bulletFlag
e_fixedRotationFlag
e_activeFlag
e_toiFlag

Definition at line 407 of file b2Body.h.

Constructor & Destructor Documentation

b2Body::b2Body	(	const b2BodyDef *	bd,
		b2World *	world
	)		`[private]`

Definition at line 25 of file b2Body.cpp.

b2Body::~b2Body ( ) [private]

Definition at line 108 of file b2Body.cpp.

Member Function Documentation

void b2Body::Advance ( float32 t ) [inline, private]

Definition at line 840 of file b2Body.h.

void b2Body::ApplyAngularImpulse	(	float32	impulse,
		bool	wake
	)		`[inline]`

Apply an angular impulse.

Parameters:

impulse	the angular impulse in units of kgmm/s
wake	also wake up the body

Definition at line 815 of file b2Body.h.

void b2Body::ApplyForce	(	const b2Vec2 &	force,
		const b2Vec2 &	point,
		bool	wake
	)		`[inline]`

Apply a force at a world point. If the force is not applied at the center of mass, it will generate a torque and affect the angular velocity. This wakes up the body.

Parameters:

force	the world force vector, usually in Newtons (N).
point	the world position of the point of application.
wake	also wake up the body

Definition at line 737 of file b2Body.h.

void b2Body::ApplyForceToCenter	(	const b2Vec2 &	force,
		bool	wake
	)		`[inline]`

Apply a force to the center of mass. This wakes up the body.

Parameters:

force	the world force vector, usually in Newtons (N).
wake	also wake up the body

Definition at line 757 of file b2Body.h.

void b2Body::ApplyLinearImpulse	(	const b2Vec2 &	impulse,
		const b2Vec2 &	point,
		bool	wake
	)		`[inline]`

Apply an impulse at a point. This immediately modifies the velocity. It also modifies the angular velocity if the point of application is not at the center of mass. This wakes up the body.

Parameters:

impulse	the world impulse vector, usually in N-seconds or kg-m/s.
point	the world position of the point of application.
wake	also wake up the body

Definition at line 795 of file b2Body.h.

void b2Body::ApplyTorque	(	float32	torque,
		bool	wake
	)		`[inline]`

Apply a torque. This affects the angular velocity without affecting the linear velocity of the center of mass. This wakes up the body.

Parameters:

torque	about the z-axis (out of the screen), usually in N-m.
wake	also wake up the body

Definition at line 776 of file b2Body.h.

b2Fixture * b2Body::CreateFixture ( const b2FixtureDef * def )

Creates a fixture and attach it to this body. Use this function if you need to set some fixture parameters, like friction. Otherwise you can create the fixture directly from a shape. If the density is non-zero, this function automatically updates the mass of the body. Contacts are not created until the next time step.

Parameters:

def	the fixture definition.

Warning:: This function is locked during callbacks.

Definition at line 166 of file b2Body.cpp.

b2Fixture * b2Body::CreateFixture	(	const b2Shape *	shape,
		float32	density
	)

Creates a fixture from a shape and attach it to this body. This is a convenience function. Use b2FixtureDef if you need to set parameters like friction, restitution, user data, or filtering. If the density is non-zero, this function automatically updates the mass of the body.

Parameters:

shape	the shape to be cloned.
density	the shape density (set to zero for static bodies).

Warning:: This function is locked during callbacks.

Definition at line 205 of file b2Body.cpp.

void b2Body::DestroyFixture ( b2Fixture * fixture )

Destroy a fixture. This removes the fixture from the broad-phase and destroys all contacts associated with this fixture. This will automatically adjust the mass of the body if the body is dynamic and the fixture has positive density. All fixtures attached to a body are implicitly destroyed when the body is destroyed.

Parameters:

fixture the fixture to be removed.

Warning:: This function is locked during callbacks.

Definition at line 214 of file b2Body.cpp.

void b2Body::Dump ( )

Dump this body to a log file.

Definition at line 521 of file b2Body.cpp.

float32 b2Body::GetAngle ( ) const [inline]

Get the angle in radians.

Returns:: the current world rotation angle in radians.

Definition at line 484 of file b2Body.h.

float32 b2Body::GetAngularDamping ( ) const [inline]

Get the angular damping of the body.

Definition at line 596 of file b2Body.h.

float32 b2Body::GetAngularVelocity ( ) const [inline]

Get the angular velocity.

Returns:: the angular velocity in radians/second.

Definition at line 534 of file b2Body.h.

b2ContactEdge * b2Body::GetContactList ( ) [inline]

Get the list of all contacts attached to this body.

Warning:: this list changes during the time step and you may miss some collisions if you don't use b2ContactListener.

Definition at line 707 of file b2Body.h.

const b2ContactEdge * b2Body::GetContactList ( ) const [inline]

Definition at line 712 of file b2Body.h.

b2Fixture * b2Body::GetFixtureList ( ) [inline]

Get the list of all fixtures attached to this body.

Definition at line 687 of file b2Body.h.

const b2Fixture * b2Body::GetFixtureList ( ) const [inline]

Definition at line 692 of file b2Body.h.

float32 b2Body::GetGravityScale ( ) const [inline]

Get the gravity scale of the body.

Definition at line 606 of file b2Body.h.

float32 b2Body::GetInertia ( ) const [inline]

Get the rotational inertia of the body about the local origin.

Returns:: the rotational inertia, usually in kg-m^2.

Definition at line 544 of file b2Body.h.

b2JointEdge * b2Body::GetJointList ( ) [inline]

Get the list of all joints attached to this body.

Definition at line 697 of file b2Body.h.

const b2JointEdge * b2Body::GetJointList ( ) const [inline]

Definition at line 702 of file b2Body.h.

float32 b2Body::GetLinearDamping ( ) const [inline]

Get the linear damping of the body.

Definition at line 586 of file b2Body.h.

const b2Vec2 & b2Body::GetLinearVelocity ( ) const [inline]

Get the linear velocity of the center of mass.

Returns:: the linear velocity of the center of mass.

Definition at line 514 of file b2Body.h.

b2Vec2 b2Body::GetLinearVelocityFromLocalPoint ( const b2Vec2 & localPoint ) const [inline]

Get the world velocity of a local point.

Parameters:

a	point in local coordinates.

Returns:: the world velocity of a point.

Definition at line 581 of file b2Body.h.

b2Vec2 b2Body::GetLinearVelocityFromWorldPoint ( const b2Vec2 & worldPoint ) const [inline]

Get the world linear velocity of a world point attached to this body.

Parameters:

a	point in world coordinates.

Returns:: the world velocity of a point.

Definition at line 576 of file b2Body.h.

const b2Vec2 & b2Body::GetLocalCenter ( ) const [inline]

Get the local position of the center of mass.

Definition at line 494 of file b2Body.h.

b2Vec2 b2Body::GetLocalPoint ( const b2Vec2 & worldPoint ) const [inline]

Gets a local point relative to the body's origin given a world point.

Parameters:

a	point in world coordinates.

Returns:: the corresponding local point relative to the body's origin.

Definition at line 566 of file b2Body.h.

b2Vec2 b2Body::GetLocalVector ( const b2Vec2 & worldVector ) const [inline]

Gets a local vector given a world vector.

Parameters:

a	vector in world coordinates.

Returns:: the corresponding local vector.

Definition at line 571 of file b2Body.h.

float32 b2Body::GetMass ( ) const [inline]

Get the total mass of the body.

Returns:: the mass, usually in kilograms (kg).

Definition at line 539 of file b2Body.h.

void b2Body::GetMassData ( b2MassData * data ) const [inline]

Get the mass data of the body.

Returns:: a struct containing the mass, inertia and center of the body.

Definition at line 549 of file b2Body.h.

b2Body * b2Body::GetNext ( ) [inline]

Get the next body in the world's body list.

Definition at line 717 of file b2Body.h.

const b2Body * b2Body::GetNext ( ) const [inline]

Definition at line 722 of file b2Body.h.

const b2Vec2 & b2Body::GetPosition ( ) const [inline]

Get the world body origin position.

Returns:: the world position of the body's origin.

Definition at line 479 of file b2Body.h.

const b2Transform & b2Body::GetTransform ( ) const [inline]

Get the body transform for the body's origin.

Returns:: the world transform of the body's origin.

Definition at line 474 of file b2Body.h.

b2BodyType b2Body::GetType ( ) const [inline]

Get the type of this body.

Definition at line 469 of file b2Body.h.

void * b2Body::GetUserData ( ) const [inline]

Get the user data pointer that was provided in the body definition.

Definition at line 732 of file b2Body.h.

b2World * b2Body::GetWorld ( ) [inline]

Get the parent world of this body.

Definition at line 850 of file b2Body.h.

const b2World * b2Body::GetWorld ( ) const [inline]

Definition at line 855 of file b2Body.h.

const b2Vec2 & b2Body::GetWorldCenter ( ) const [inline]

Get the world position of the center of mass.

Definition at line 489 of file b2Body.h.

b2Vec2 b2Body::GetWorldPoint ( const b2Vec2 & localPoint ) const [inline]

Get the world coordinates of a point given the local coordinates.

Parameters:

localPoint a point on the body measured relative the the body's origin.

Returns:: the same point expressed in world coordinates.

Definition at line 556 of file b2Body.h.

b2Vec2 b2Body::GetWorldVector ( const b2Vec2 & localVector ) const [inline]

Get the world coordinates of a vector given the local coordinates.

Parameters:

localVector a vector fixed in the body.

Returns:: the same vector expressed in world coordinates.

Definition at line 561 of file b2Body.h.

bool b2Body::IsActive ( ) const [inline]

Get the active state of the body.

Definition at line 659 of file b2Body.h.

bool b2Body::IsAwake ( ) const [inline]

Get the sleeping state of this body.

Returns:: true if the body is awake.

Definition at line 654 of file b2Body.h.

bool b2Body::IsBullet ( ) const [inline]

Is this body treated like a bullet for continuous collision detection?

Definition at line 628 of file b2Body.h.

bool b2Body::IsFixedRotation ( ) const [inline]

Does this body have fixed rotation?

Definition at line 664 of file b2Body.h.

bool b2Body::IsSleepingAllowed ( ) const [inline]

Is this body allowed to sleep.

Definition at line 682 of file b2Body.h.

void b2Body::ResetMassData ( )

This resets the mass properties to the sum of the mass properties of the fixtures. This normally does not need to be called unless you called SetMassData to override the mass and you later want to reset the mass.

Definition at line 281 of file b2Body.cpp.

void b2Body::SetActive ( bool flag )

Set the active state of the body. An inactive body is not simulated and cannot be collided with or woken up. If you pass a flag of true, all fixtures will be added to the broad-phase. If you pass a flag of false, all fixtures will be removed from the broad-phase and all contacts will be destroyed. Fixtures and joints are otherwise unaffected. You may continue to create/destroy fixtures and joints on inactive bodies. Fixtures on an inactive body are implicitly inactive and will not participate in collisions, ray-casts, or queries. Joints connected to an inactive body are implicitly inactive. An inactive body is still owned by a b2World object and remains in the body list.

Definition at line 454 of file b2Body.cpp.

void b2Body::SetAngularDamping ( float32 angularDamping ) [inline]

Set the angular damping of the body.

Definition at line 601 of file b2Body.h.

void b2Body::SetAngularVelocity ( float32 omega ) [inline]

Set the angular velocity.

Parameters:

omega the new angular velocity in radians/second.

Definition at line 519 of file b2Body.h.

void b2Body::SetAwake ( bool flag ) [inline]

Set the sleep state of the body. A sleeping body has very low CPU cost.

Parameters:

flag	set to true to wake the body, false to put it to sleep.

Definition at line 633 of file b2Body.h.

void b2Body::SetBullet ( bool flag ) [inline]

Should this body be treated like a bullet for continuous collision detection?

Definition at line 616 of file b2Body.h.

void b2Body::SetFixedRotation ( bool flag )

Set this body to have fixed rotation. This causes the mass to be reset.

Definition at line 499 of file b2Body.cpp.

void b2Body::SetGravityScale ( float32 scale ) [inline]

Set the gravity scale of the body.

Definition at line 611 of file b2Body.h.

void b2Body::SetLinearDamping ( float32 linearDamping ) [inline]

Set the linear damping of the body.

Definition at line 591 of file b2Body.h.

void b2Body::SetLinearVelocity ( const b2Vec2 & v ) [inline]

Set the linear velocity of the center of mass.

Parameters:

v	the new linear velocity of the center of mass.

Definition at line 499 of file b2Body.h.

void b2Body::SetMassData ( const b2MassData * data )

Set the mass properties to override the mass properties of the fixtures. Note that this changes the center of mass position. Note that creating or destroying fixtures can also alter the mass. This function has no effect if the body isn't dynamic.

Parameters:

massData the mass properties.

Definition at line 353 of file b2Body.cpp.

void b2Body::SetSleepingAllowed ( bool flag ) [inline]

You can disable sleeping on this body. If you disable sleeping, the body will be woken.

Definition at line 669 of file b2Body.h.

void b2Body::SetTransform	(	const b2Vec2 &	position,
		float32	angle
	)

Set the position of the body's origin and rotation. Manipulating a body's transform may cause non-physical behavior. Note: contacts are updated on the next call to b2World::Step.

Parameters: