btRigidBody Class Reference

The btRigidBody is the main class for rigid body objects. More...

#include <btRigidBody.h>

Inheritance diagram for btRigidBody:

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Collaboration diagram for btRigidBody:

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List of all members.

Classes
struct	btRigidBodyConstructionInfo
	The btRigidBodyConstructionInfo structure provides information to create a rigid body. More...
Public Member Functions
	btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	btRigidBody constructor using construction info
	btRigidBody (btScalar mass, btMotionState motionState, btCollisionShape collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
	btRigidBody constructor for backwards compatibility.
virtual	~btRigidBody ()
void	proceedToTransform (const btTransform &newTrans)
void	predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
	continuous collision detection needs prediction
void	saveKinematicState (btScalar step)
void	applyGravity ()
void	setGravity (const btVector3 &acceleration)
const btVector3 &	getGravity () const
void	setDamping (btScalar lin_damping, btScalar ang_damping)
btScalar	getLinearDamping () const
btScalar	getAngularDamping () const
btScalar	getLinearSleepingThreshold () const
btScalar	getAngularSleepingThreshold () const
void	applyDamping (btScalar timeStep)
	applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
SIMD_FORCE_INLINE const btCollisionShape *	getCollisionShape () const
SIMD_FORCE_INLINE btCollisionShape *	getCollisionShape ()
void	setMassProps (btScalar mass, const btVector3 &inertia)
const btVector3 &	getLinearFactor () const
void	setLinearFactor (const btVector3 &linearFactor)
btScalar	getInvMass () const
const btMatrix3x3 &	getInvInertiaTensorWorld () const
void	integrateVelocities (btScalar step)
void	setCenterOfMassTransform (const btTransform &xform)
void	applyCentralForce (const btVector3 &force)
const btVector3 &	getTotalForce ()
const btVector3 &	getTotalTorque ()
const btVector3 &	getInvInertiaDiagLocal () const
void	setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
void	setSleepingThresholds (btScalar linear, btScalar angular)
void	applyTorque (const btVector3 &torque)
void	applyForce (const btVector3 &force, const btVector3 &rel_pos)
void	applyCentralImpulse (const btVector3 &impulse)
void	applyTorqueImpulse (const btVector3 &torque)
void	applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
void	clearForces ()
void	updateInertiaTensor ()
const btVector3 &	getCenterOfMassPosition () const
btQuaternion	getOrientation () const
const btTransform &	getCenterOfMassTransform () const
const btVector3 &	getLinearVelocity () const
const btVector3 &	getAngularVelocity () const
void	setLinearVelocity (const btVector3 &lin_vel)
void	setAngularVelocity (const btVector3 &ang_vel)
btVector3	getVelocityInLocalPoint (const btVector3 &rel_pos) const
void	translate (const btVector3 &v)
void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
SIMD_FORCE_INLINE btScalar	computeImpulseDenominator (const btVector3 &pos, const btVector3 &normal) const
SIMD_FORCE_INLINE btScalar	computeAngularImpulseDenominator (const btVector3 &axis) const
SIMD_FORCE_INLINE void	updateDeactivation (btScalar timeStep)
SIMD_FORCE_INLINE bool	wantsSleeping ()
const btBroadphaseProxy *	getBroadphaseProxy () const
btBroadphaseProxy *	getBroadphaseProxy ()
void	setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
btMotionState *	getMotionState ()
const btMotionState *	getMotionState () const
void	setMotionState (btMotionState *motionState)
void	setAngularFactor (const btVector3 &angFac)
void	setAngularFactor (btScalar angFac)
const btVector3 &	getAngularFactor () const
bool	isInWorld () const
virtual bool	checkCollideWithOverride (btCollisionObject *co)
void	addConstraintRef (btTypedConstraint *c)
void	removeConstraintRef (btTypedConstraint *c)
btTypedConstraint *	getConstraintRef (int index)
int	getNumConstraintRefs ()
void	setFlags (int flags)
int	getFlags () const
btVector3 &	internalGetDeltaLinearVelocity ()
	some internal methods, don't use them
btVector3 &	internalGetDeltaAngularVelocity ()
const btVector3 &	internalGetAngularFactor () const
const btVector3 &	internalGetInvMass () const
btVector3 &	internalGetPushVelocity ()
btVector3 &	internalGetTurnVelocity ()
SIMD_FORCE_INLINE void	internalGetVelocityInLocalPointObsolete (const btVector3 &rel_pos, btVector3 &velocity) const
SIMD_FORCE_INLINE void	internalGetAngularVelocity (btVector3 &angVel) const
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)
void	internalWritebackVelocity ()
void	internalWritebackVelocity (btScalar timeStep)
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
Static Public Member Functions
static const btRigidBody *	upcast (const btCollisionObject *colObj)
	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
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_deltaAngularVelocity
btVector3	m_angularFactor
btVector3	m_invMass
btVector3	m_pushVelocity
btVector3	m_turnVelocity
Private Attributes
btMatrix3x3	m_invInertiaTensorWorld
btVector3	m_linearVelocity
btVector3	m_angularVelocity
btScalar	m_inverseMass
btVector3	m_linearFactor
btVector3	m_gravity
btVector3	m_gravity_acceleration
btVector3	m_invInertiaLocal
btVector3	m_totalForce
btVector3	m_totalTorque
btScalar	m_linearDamping
btScalar	m_angularDamping
bool	m_additionalDamping
btScalar	m_additionalDampingFactor
btScalar	m_additionalLinearDampingThresholdSqr
btScalar	m_additionalAngularDampingThresholdSqr
btScalar	m_additionalAngularDampingFactor
btScalar	m_linearSleepingThreshold
btScalar	m_angularSleepingThreshold
btMotionState *	m_optionalMotionState
btAlignedObjectArray < btTypedConstraint * >	m_constraintRefs
int	m_rigidbodyFlags
int	m_debugBodyId

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

Definition at line 29 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 34 of file btRigidBody.cpp.

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

Definition at line 171 of file btRigidBody.h.

Member Function Documentation

void btRigidBody::addConstraintRef ( btTypedConstraint * c )

Definition at line 338 of file btRigidBody.cpp.

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 )

applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

Definition at line 158 of file btRigidBody.cpp.

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

Definition at line 304 of file btRigidBody.h.

void btRigidBody::applyGravity ( )

Definition at line 215 of file btRigidBody.cpp.

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]

int btRigidBody::calculateSerializeBufferSize ( ) const [virtual]

Reimplemented from btCollisionObject.

Definition at line 353 of file btRigidBody.cpp.

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

Definition at line 300 of file btRigidBody.cpp.

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

Definition at line 126 of file btRigidBody.cpp.

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]

Reimplemented from btCollisionObject.

Definition at line 244 of file btRigidBody.h.

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

Reimplemented from btCollisionObject.

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

Definition at line 275 of file btRigidBody.cpp.

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 )

clamp angular velocity. collision calculations will fail on higher angular velocities

Definition at line 257 of file btRigidBody.cpp.

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 )

Definition at line 316 of file btRigidBody.cpp.

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

Definition at line 103 of file btRigidBody.cpp.

void btRigidBody::proceedToTransform ( const btTransform & newTrans )

Definition at line 224 of file btRigidBody.cpp.

void btRigidBody::removeConstraintRef ( btTypedConstraint * c )

Definition at line 347 of file btRigidBody.cpp.

void btRigidBody::saveKinematicState ( btScalar step )

Definition at line 108 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 360 of file btRigidBody.cpp.

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 )

Definition at line 283 of file btRigidBody.cpp.

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

Definition at line 148 of file btRigidBody.cpp.

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

Definition at line 512 of file btRigidBody.h.

void btRigidBody::setGravity ( const btVector3 & acceleration )

Definition at line 134 of file btRigidBody.cpp.

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
	)

Definition at line 230 of file btRigidBody.cpp.

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

Definition at line 40 of file btRigidBody.cpp.

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 ( )

Definition at line 251 of file btRigidBody.cpp.

SIMD_FORCE_INLINE bool btRigidBody::wantsSleeping ( ) [inline]

Definition at line 422 of file btRigidBody.h.