btRigidBody Class Reference

#include <btRigidBody.h>

List of all members.

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 (btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
	btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	btRigidBody constructor using construction info
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
btBroadphaseProxy *	getBroadphaseProxy ()
const btBroadphaseProxy *	getBroadphaseProxy () const
const btVector3 &	getCenterOfMassPosition () const
const btTransform &	getCenterOfMassTransform () const
SIMD_FORCE_INLINE btCollisionShape *	getCollisionShape ()
SIMD_FORCE_INLINE const btCollisionShape *	getCollisionShape () const
btTypedConstraint *	getConstraintRef (int index)
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
const btMotionState *	getMotionState () const
btMotionState *	getMotionState ()
int	getNumConstraintRefs ()
btQuaternion	getOrientation () const
const btVector3 &	getTotalForce ()
const btVector3 &	getTotalTorque ()
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 (btScalar timeStep)
void	internalWritebackVelocity ()
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 (btScalar angFac)
void	setAngularFactor (const btVector3 &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 btRigidBody *	upcast (btCollisionObject *colObj)
static const btRigidBody *	upcast (const 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.

btBroadphaseProxy* btRigidBody::getBroadphaseProxy

(

)

[inline]

Definition at line 448 of file btRigidBody.h.

const btBroadphaseProxy* btRigidBody::getBroadphaseProxy

(

)

const [inline]

Definition at line 444 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 btCollisionShape* btRigidBody::getCollisionShape

(

)

[inline]

Definition at line 244 of file btRigidBody.h.

SIMD_FORCE_INLINE const btCollisionShape* btRigidBody::getCollisionShape

(

)

const [inline]

Definition at line 240 of file btRigidBody.h.

btTypedConstraint* btRigidBody::getConstraintRef

(

int

index

)

[inline]

Definition at line 502 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.

const btMotionState* btRigidBody::getMotionState

(

)

const [inline]

Definition at line 462 of file btRigidBody.h.

btMotionState* btRigidBody::getMotionState

(

)

[inline]

Definition at line 458 of file btRigidBody.h.

int btRigidBody::getNumConstraintRefs

(

)

[inline]

Definition at line 507 of file btRigidBody.h.

btQuaternion btRigidBody::getOrientation

(

)

const

const btVector3& btRigidBody::getTotalForce

(

)

[inline]

Definition at line 273 of file btRigidBody.h.

const btVector3& btRigidBody::getTotalTorque

(

)

[inline]

Definition at line 278 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 568 of file btRigidBody.h.

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

Definition at line 577 of file btRigidBody.h.

const btVector3& btRigidBody::internalGetAngularFactor

(

)

const [inline]

Definition at line 536 of file btRigidBody.h.

SIMD_FORCE_INLINE void btRigidBody::internalGetAngularVelocity

(

btVector3 &

angVel

)

const [inline]

Definition at line 561 of file btRigidBody.h.

btVector3& btRigidBody::internalGetDeltaAngularVelocity

(

)

[inline]

Definition at line 531 of file btRigidBody.h.

btVector3& btRigidBody::internalGetDeltaLinearVelocity

(

)

[inline]

some internal methods, don't use them

Definition at line 526 of file btRigidBody.h.

const btVector3& btRigidBody::internalGetInvMass

(

)

const [inline]

Definition at line 541 of file btRigidBody.h.

btVector3& btRigidBody::internalGetPushVelocity

(

)

[inline]

Definition at line 546 of file btRigidBody.h.

btVector3& btRigidBody::internalGetTurnVelocity

(

)

[inline]

Definition at line 551 of file btRigidBody.h.

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

Definition at line 556 of file btRigidBody.h.

void btRigidBody::internalWritebackVelocity

(

btScalar

timeStep

)

void btRigidBody::internalWritebackVelocity

(

)

[inline]

Definition at line 586 of file btRigidBody.h.

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

(

btScalar

angFac

)

[inline]

Definition at line 482 of file btRigidBody.h.

void btRigidBody::setAngularFactor

(

const btVector3 &

angFac

)

[inline]

Definition at line 477 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 btRigidBody* btRigidBody::upcast

(

btCollisionObject *

colObj

)

[inline, static]

Definition at line 195 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.

SIMD_FORCE_INLINE void btRigidBody::updateDeactivation

(

btScalar

timeStep

)

[inline]

Definition at line 405 of file btRigidBody.h.

void btRigidBody::updateInertiaTensor

(

)

SIMD_FORCE_INLINE bool btRigidBody::wantsSleeping

(

)

[inline]

Definition at line 422 of file btRigidBody.h.

---

Member Data Documentation

btScalar btRigidBody::m_additionalAngularDampingFactor [private]

Definition at line 77 of file btRigidBody.h.

btScalar btRigidBody::m_additionalAngularDampingThresholdSqr [private]

Definition at line 76 of file btRigidBody.h.

bool btRigidBody::m_additionalDamping [private]

Definition at line 73 of file btRigidBody.h.

btScalar btRigidBody::m_additionalDampingFactor [private]

Definition at line 74 of file btRigidBody.h.

btScalar btRigidBody::m_additionalLinearDampingThresholdSqr [private]

Definition at line 75 of file btRigidBody.h.

btScalar btRigidBody::m_angularDamping [private]

Definition at line 71 of file btRigidBody.h.

btVector3 btRigidBody::m_angularFactor [protected]

Definition at line 98 of file btRigidBody.h.

btScalar btRigidBody::m_angularSleepingThreshold [private]

Definition at line 81 of file btRigidBody.h.

btVector3 btRigidBody::m_angularVelocity [private]

Definition at line 60 of file btRigidBody.h.

btAlignedObjectArray<btTypedConstraint*> btRigidBody::m_constraintRefs [private]

Definition at line 87 of file btRigidBody.h.

int btRigidBody::m_contactSolverType

Definition at line 474 of file btRigidBody.h.

int btRigidBody::m_debugBodyId [private]

Definition at line 91 of file btRigidBody.h.

btVector3 btRigidBody::m_deltaAngularVelocity [protected]

Definition at line 97 of file btRigidBody.h.

int btRigidBody::m_frictionSolverType

Definition at line 475 of file btRigidBody.h.

btVector3 btRigidBody::m_gravity [private]

Definition at line 64 of file btRigidBody.h.

btVector3 btRigidBody::m_gravity_acceleration [private]

Definition at line 65 of file btRigidBody.h.

btScalar btRigidBody::m_inverseMass [private]

Definition at line 61 of file btRigidBody.h.

btVector3 btRigidBody::m_invInertiaLocal [private]

Definition at line 66 of file btRigidBody.h.

btMatrix3x3 btRigidBody::m_invInertiaTensorWorld [private]

Definition at line 58 of file btRigidBody.h.

btVector3 btRigidBody::m_invMass [protected]

Definition at line 99 of file btRigidBody.h.

btScalar btRigidBody::m_linearDamping [private]

Definition at line 70 of file btRigidBody.h.

btVector3 btRigidBody::m_linearFactor [private]

Definition at line 62 of file btRigidBody.h.

btScalar btRigidBody::m_linearSleepingThreshold [private]

Definition at line 80 of file btRigidBody.h.

btVector3 btRigidBody::m_linearVelocity [private]

Definition at line 59 of file btRigidBody.h.

btMotionState* btRigidBody::m_optionalMotionState [private]

Definition at line 84 of file btRigidBody.h.

btVector3 btRigidBody::m_pushVelocity [protected]

Definition at line 100 of file btRigidBody.h.

int btRigidBody::m_rigidbodyFlags [private]

Definition at line 89 of file btRigidBody.h.

btVector3 btRigidBody::m_totalForce [private]

Definition at line 67 of file btRigidBody.h.

btVector3 btRigidBody::m_totalTorque [private]

Definition at line 68 of file btRigidBody.h.

btVector3 btRigidBody::m_turnVelocity [protected]

Definition at line 101 of file btRigidBody.h.

---

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

• btRigidBody.h