Urho3D::RigidBody Class Reference

Physics rigid body component. More...

#include <Urho3D/Physics/RigidBody.h>

Inheritance diagram for Urho3D::RigidBody:

Collaboration diagram for Urho3D::RigidBody:

Public Member Functions
	RigidBody (Context *context)
	Construct.
virtual	~RigidBody ()
	Destruct. Free the rigid body and geometries.
virtual void	OnSetAttribute (const AttributeInfo &attr, const Variant &src)
	Handle attribute write access.
virtual void	ApplyAttributes ()
	Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual void	OnSetEnabled ()
	Handle enabled/disabled state change.
virtual void	getWorldTransform (btTransform &worldTrans) const
	Return initial world transform to Bullet.
virtual void	setWorldTransform (const btTransform &worldTrans)
	Update world transform from Bullet.
virtual void	DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
	Visualize the component as debug geometry.
void	SetMass (float mass)
	Set mass. Zero mass makes the body static.
void	SetPosition (const Vector3 &position)
	Set rigid body position in world space.
void	SetRotation (const Quaternion &rotation)
	Set rigid body rotation in world space.
void	SetTransform (const Vector3 &position, const Quaternion &rotation)
	Set rigid body position and rotation in world space as an atomic operation.
void	SetLinearVelocity (const Vector3 &velocity)
	Set linear velocity.
void	SetLinearFactor (const Vector3 &factor)
	Set linear degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).
void	SetLinearRestThreshold (float threshold)
	Set linear velocity deactivation threshold.
void	SetLinearDamping (float damping)
	Set linear velocity damping factor.
void	SetAngularVelocity (const Vector3 &angularVelocity)
	Set angular velocity.
void	SetAngularFactor (const Vector3 &factor)
	Set angular degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).
void	SetAngularRestThreshold (float threshold)
	Set angular velocity deactivation threshold.
void	SetAngularDamping (float factor)
	Set angular velocity damping factor.
void	SetFriction (float friction)
	Set friction coefficient.
void	SetAnisotropicFriction (const Vector3 &friction)
	Set anisotropic friction.
void	SetRollingFriction (float friction)
	Set rolling friction coefficient.
void	SetRestitution (float restitution)
	Set restitution coefficient.
void	SetContactProcessingThreshold (float threshold)
	Set contact processing threshold.
void	SetCcdRadius (float radius)
	Set continuous collision detection swept sphere radius.
void	SetCcdMotionThreshold (float threshold)
	Set continuous collision detection motion-per-simulation-step threshold. 0 disables, which is the default.
void	SetUseGravity (bool enable)
	Set whether gravity is applied to rigid body.
void	SetGravityOverride (const Vector3 &gravity)
	Set gravity override. If zero, uses physics world's gravity.
void	SetKinematic (bool enable)
	Set rigid body kinematic mode. In kinematic mode forces are not applied to the rigid body.
void	SetTrigger (bool enable)
	Set rigid body trigger mode. In trigger mode collisions are reported but do not apply forces.
void	SetCollisionLayer (unsigned layer)
	Set collision layer.
void	SetCollisionMask (unsigned mask)
	Set collision mask.
void	SetCollisionLayerAndMask (unsigned layer, unsigned mask)
	Set collision group and mask.
void	SetCollisionEventMode (CollisionEventMode mode)
	Set collision event signaling mode. Default is to signal when rigid bodies are active.
void	ApplyForce (const Vector3 &force)
	Apply force to center of mass.
void	ApplyForce (const Vector3 &force, const Vector3 &position)
	Apply force at local position.
void	ApplyTorque (const Vector3 &torque)
	Apply torque.
void	ApplyImpulse (const Vector3 &impulse)
	Apply impulse to center of mass.
void	ApplyImpulse (const Vector3 &impulse, const Vector3 &position)
	Apply impulse at local position.
void	ApplyTorqueImpulse (const Vector3 &torque)
	Apply torque impulse.
void	ResetForces ()
	Reset accumulated forces.
void	Activate ()
	Activate rigid body if it was resting.
void	ReAddBodyToWorld ()
	Readd rigid body to the physics world to clean up internal state like stale contacts.
void	DisableMassUpdate ()
	Disable mass update. Call this to optimize performance when adding or editing multiple collision shapes in the same node.
void	EnableMassUpdate ()
	Re-enable mass update and recalculate the mass/inertia by calling UpdateMass(). Call when collision shape changes are finished.
PhysicsWorld *	GetPhysicsWorld () const
	Return physics world.
btRigidBody *	GetBody () const
	Return Bullet rigid body.
btCompoundShape *	GetCompoundShape () const
	Return Bullet compound collision shape.
float	GetMass () const
	Return mass.
Vector3	GetPosition () const
	Return rigid body position in world space.
Quaternion	GetRotation () const
	Return rigid body rotation in world space.
Vector3	GetLinearVelocity () const
	Return linear velocity.
Vector3	GetLinearFactor () const
	Return linear degrees of freedom.
Vector3	GetVelocityAtPoint (const Vector3 &position) const
	Return linear velocity at local point.
float	GetLinearRestThreshold () const
	Return linear velocity deactivation threshold.
float	GetLinearDamping () const
	Return linear velocity damping factor.
Vector3	GetAngularVelocity () const
	Return angular velocity.
Vector3	GetAngularFactor () const
	Return angular degrees of freedom.
float	GetAngularRestThreshold () const
	Return angular velocity deactivation threshold.
float	GetAngularDamping () const
	Return angular velocity damping factor.
float	GetFriction () const
	Return friction coefficient.
Vector3	GetAnisotropicFriction () const
	Return anisotropic friction.
float	GetRollingFriction () const
	Return rolling friction coefficient.
float	GetRestitution () const
	Return restitution coefficient.
float	GetContactProcessingThreshold () const
	Return contact processing threshold.
float	GetCcdRadius () const
	Return continuous collision detection swept sphere radius.
float	GetCcdMotionThreshold () const
	Return continuous collision detection motion-per-simulation-step threshold.
bool	GetUseGravity () const
	Return whether rigid body uses gravity.
const Vector3 &	GetGravityOverride () const
	Return gravity override. If zero (default), uses the physics world's gravity.
const Vector3 &	GetCenterOfMass () const
	Return center of mass offset.
bool	IsKinematic () const
	Return kinematic mode flag.
bool	IsTrigger () const
	Return whether this RigidBody is acting as a trigger.
bool	IsActive () const
	Return whether rigid body is active (not sleeping.)
unsigned	GetCollisionLayer () const
	Return collision layer.
unsigned	GetCollisionMask () const
	Return collision mask.
CollisionEventMode	GetCollisionEventMode () const
	Return collision event signaling mode.
void	GetCollidingBodies (PODVector< RigidBody * > &result) const
	Return colliding rigid bodies from the last simulation step. Only returns collisions that were sent as events (depends on collision event mode) and excludes e.g. static-static collisions.
void	ApplyWorldTransform (const Vector3 &newWorldPosition, const Quaternion &newWorldRotation)
	Apply new world transform after a simulation step. Called internally.
void	UpdateMass ()
	Update mass and inertia to the Bullet rigid body. Readd body to world if necessary: if was in world and the Bullet collision shape to use changed.
void	UpdateGravity ()
	Update gravity parameters to the Bullet rigid body.
void	SetNetAngularVelocityAttr (const PODVector< unsigned char > &value)
	Set network angular velocity attribute.
const PODVector< unsigned char > &	GetNetAngularVelocityAttr () const
	Return network angular velocity attribute.
void	AddConstraint (Constraint *constraint)
	Add a constraint that refers to this rigid body.
void	RemoveConstraint (Constraint *constraint)
	Remove a constraint that refers to this rigid body.
void	ReleaseBody ()
	Remove the rigid body.
Public Member Functions inherited from Urho3D::Component
	Component (Context *context)
	Construct.
virtual	~Component ()
	Destruct.
virtual bool	Save (Serializer &dest) const
	Save as binary data. Return true if successful.
virtual bool	SaveXML (XMLElement &dest) const
	Save as XML data. Return true if successful.
virtual bool	SaveJSON (JSONValue &dest) const
	Save as JSON data. Return true if successful.
virtual void	MarkNetworkUpdate ()
	Mark for attribute check on the next network update.
virtual void	GetDependencyNodes (PODVector< Node * > &dest)
	Return the depended on nodes to order network updates.
void	SetEnabled (bool enable)
	Set enabled/disabled state.
void	Remove ()
	Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned	GetID () const
	Return ID.
Node *	GetNode () const
	Return scene node.
Scene *	GetScene () const
	Return the scene the node belongs to.
bool	IsEnabled () const
	Return whether is enabled.
bool	IsEnabledEffective () const
	Return whether is effectively enabled (node is also enabled.)
Component *	GetComponent (StringHash type) const
	Return component in the same scene node by type. If there are several, returns the first.
void	GetComponents (PODVector< Component * > &dest, StringHash type) const
	Return components in the same scene node by type.
template<class T >
T *	GetComponent () const
	Template version of returning a component in the same scene node by type.
template<class T >
void	GetComponents (PODVector< T * > &dest) const
	Template version of returning components in the same scene node by type.
void	AddReplicationState (ComponentReplicationState *state)
	Add a replication state that is tracking this component.
void	PrepareNetworkUpdate ()
	Prepare network update by comparing attributes and marking replication states dirty as necessary.
void	CleanupConnection (Connection *connection)
	Clean up all references to a network connection that is about to be removed.
Public Member Functions inherited from Urho3D::Animatable
	Animatable (Context *context)
	Construct.
virtual	~Animatable ()
	Destruct.
virtual bool	LoadXML (const XMLElement &source, bool setInstanceDefault=false)
	Load from XML data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool	LoadJSON (const JSONValue &source, bool setInstanceDefault=false)
	Load from JSON data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
void	SetAnimationEnabled (bool enable)
	Set automatic update of animation, default true.
void	SetAnimationTime (float time)
	Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
void	SetObjectAnimation (ObjectAnimation *objectAnimation)
	Set object animation.
void	SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
	Set attribute animation.
void	SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
	Set attribute animation wrap mode.
void	SetAttributeAnimationSpeed (const String &name, float speed)
	Set attribute animation speed.
void	SetAttributeAnimationTime (const String &name, float time)
	Set attribute animation time position manually. Automatic update should be disabled in this case.
void	RemoveObjectAnimation ()
	Remove object animation. Same as calling SetObjectAnimation with a null pointer.
void	RemoveAttributeAnimation (const String &name)
	Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
bool	GetAnimationEnabled () const
	Return animation enabled.
ObjectAnimation *	GetObjectAnimation () const
	Return object animation.
ValueAnimation *	GetAttributeAnimation (const String &name) const
	Return attribute animation.
WrapMode	GetAttributeAnimationWrapMode (const String &name) const
	Return attribute animation wrap mode.
float	GetAttributeAnimationSpeed (const String &name) const
	Return attribute animation speed.
float	GetAttributeAnimationTime (const String &name) const
	Return attribute animation time position.
void	SetObjectAnimationAttr (const ResourceRef &value)
	Set object animation attribute.
ResourceRef	GetObjectAnimationAttr () const
	Return object animation attribute.
Public Member Functions inherited from Urho3D::Serializable
	Serializable (Context *context)
	Construct.
virtual	~Serializable ()
	Destruct.
virtual void	OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
	Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual const Vector < AttributeInfo > *	GetAttributes () const
	Return attribute descriptions, or null if none defined.
virtual const Vector < AttributeInfo > *	GetNetworkAttributes () const
	Return network replication attribute descriptions, or null if none defined.
virtual bool	Load (Deserializer &source, bool setInstanceDefault=false)
	Load from binary data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool	SaveDefaultAttributes () const
	Return whether should save default-valued attributes into XML. Default false.
bool	SetAttribute (unsigned index, const Variant &value)
	Set attribute by index. Return true if successfully set.
bool	SetAttribute (const String &name, const Variant &value)
	Set attribute by name. Return true if successfully set.
void	ResetToDefault ()
	Reset all editable attributes to their default values.
void	RemoveInstanceDefault ()
	Remove instance's default values if they are set previously.
void	SetTemporary (bool enable)
	Set temporary flag. Temporary objects will not be saved.
void	SetInterceptNetworkUpdate (const String &attributeName, bool enable)
	Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
void	AllocateNetworkState ()
	Allocate network attribute state.
void	WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
	Write initial delta network update.
void	WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
	Write a delta network update according to dirty attribute bits.
void	WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
	Write a latest data network update.
bool	ReadDeltaUpdate (Deserializer &source)
	Read and apply a network delta update. Return true if attributes were changed.
bool	ReadLatestDataUpdate (Deserializer &source)
	Read and apply a network latest data update. Return true if attributes were changed.
Variant	GetAttribute (unsigned index) const
	Return attribute value by index. Return empty if illegal index.
Variant	GetAttribute (const String &name) const
	Return attribute value by name. Return empty if not found.
Variant	GetAttributeDefault (unsigned index) const
	Return attribute default value by index. Return empty if illegal index.
Variant	GetAttributeDefault (const String &name) const
	Return attribute default value by name. Return empty if not found.
unsigned	GetNumAttributes () const
	Return number of attributes.
unsigned	GetNumNetworkAttributes () const
	Return number of network replication attributes.
bool	IsTemporary () const
	Return whether is temporary.
bool	GetInterceptNetworkUpdate (const String &attributeName) const
	Return whether an attribute's network updates are being intercepted.
NetworkState *	GetNetworkState () const
	Return the network attribute state, if allocated.
Public Member Functions inherited from Urho3D::Object
	Object (Context *context)
	Construct.
virtual	~Object ()
	Destruct. Clean up self from event sender & receiver structures.
virtual StringHash	GetType () const =0
	Return type hash.
virtual const String &	GetTypeName () const =0
	Return type name.
virtual const TypeInfo *	GetTypeInfo () const =0
	Return type info.
virtual void	OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
	Handle event.
bool	IsInstanceOf (StringHash type) const
	Check current instance is type of specified type.
bool	IsInstanceOf (const TypeInfo *typeInfo) const
	Check current instance is type of specified type.
template<typename T >
bool	IsInstanceOf () const
	Check current instance is type of specified class.
void	SubscribeToEvent (StringHash eventType, EventHandler *handler)
	Subscribe to an event that can be sent by any sender.
void	SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
	Subscribe to a specific sender's event.
void	UnsubscribeFromEvent (StringHash eventType)
	Unsubscribe from an event.
void	UnsubscribeFromEvent (Object *sender, StringHash eventType)
	Unsubscribe from a specific sender's event.
void	UnsubscribeFromEvents (Object *sender)
	Unsubscribe from a specific sender's events.
void	UnsubscribeFromAllEvents ()
	Unsubscribe from all events.
void	UnsubscribeFromAllEventsExcept (const PODVector< StringHash > &exceptions, bool onlyUserData)
	Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void	SendEvent (StringHash eventType)
	Send event to all subscribers.
void	SendEvent (StringHash eventType, VariantMap &eventData)
	Send event with parameters to all subscribers.
VariantMap &	GetEventDataMap () const
	Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
Context *	GetContext () const
	Return execution context.
const Variant &	GetGlobalVar (StringHash key) const
	Return global variable based on key.
const VariantMap &	GetGlobalVars () const
	Return all global variables.
void	SetGlobalVar (StringHash key, const Variant &value)
	Set global variable with the respective key and value.
Object *	GetSubsystem (StringHash type) const
	Return subsystem by type.
Object *	GetEventSender () const
	Return active event sender. Null outside event handling.
EventHandler *	GetEventHandler () const
	Return active event handler. Null outside event handling.
bool	HasSubscribedToEvent (StringHash eventType) const
	Return whether has subscribed to an event without specific sender.
bool	HasSubscribedToEvent (Object *sender, StringHash eventType) const
	Return whether has subscribed to a specific sender's event.
bool	HasEventHandlers () const
	Return whether has subscribed to any event.
template<class T >
T *	GetSubsystem () const
	Template version of returning a subsystem.
const String &	GetCategory () const
	Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
Public Member Functions inherited from Urho3D::RefCounted
	RefCounted ()
	Construct. Allocate the reference count structure and set an initial self weak reference.
virtual	~RefCounted ()
	Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
void	AddRef ()
	Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void	ReleaseRef ()
	Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int	Refs () const
	Return reference count.
int	WeakRefs () const
	Return weak reference count.
RefCount *	RefCountPtr ()
	Return pointer to the reference count structure.

Static Public Member Functions
static void	RegisterObject (Context *context)
	Register object factory.
Static Public Member Functions inherited from Urho3D::Animatable
static void	RegisterObject (Context *context)
	Register object factory.
Static Public Member Functions inherited from Urho3D::Object
static const TypeInfo *	GetTypeInfoStatic ()
	Return type info static.

Protected Member Functions
virtual void	OnNodeSet (Node *node)
	Handle node being assigned.
virtual void	OnSceneSet (Scene *scene)
	Handle scene being assigned.
virtual void	OnMarkedDirty (Node *node)
	Handle node transform being dirtied.
Protected Member Functions inherited from Urho3D::Component
virtual void	OnAttributeAnimationAdded ()
	Handle attribute animation added.
virtual void	OnAttributeAnimationRemoved ()
	Handle attribute animation removed.
virtual void	OnNodeSetEnabled (Node *node)
	Handle scene node enabled status changing.
void	SetID (unsigned id)
	Set ID. Called by Scene.
void	SetNode (Node *node)
	Set scene node. Called by Node when creating the component.
void	HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
	Handle scene attribute animation update event.
Component *	GetFixedUpdateSource ()
	Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
void	DoAutoRemove (AutoRemoveMode mode)
	Perform autoremove. Called by subclasses. Caller should keep a weak pointer to itself to check whether was actually removed, and return immediately without further member operations in that case.
Protected Member Functions inherited from Urho3D::Animatable
virtual Animatable *	FindAttributeAnimationTarget (const String &name, String &outName)
	Find target of an attribute animation from object hierarchy by name.
void	SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
	Set object attribute animation internal.
void	OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
	Handle object animation added.
void	OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
	Handle object animation removed.
void	UpdateAttributeAnimations (float timeStep)
	Update attribute animations.
bool	IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
	Is animated network attribute.
AttributeAnimationInfo *	GetAttributeAnimationInfo (const String &name) const
	Return attribute animation info.
void	HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
	Handle attribute animation added.
void	HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
	Handle attribute animation removed.

Private Member Functions
	URHO3D_OBJECT (RigidBody, Component)
void	AddBodyToWorld ()
	Create the rigid body, or re-add to the physics world with changed flags. Calls UpdateMass().
void	RemoveBodyFromWorld ()
	Remove the rigid body from the physics world.
void	HandleTargetPosition (StringHash eventType, VariantMap &eventData)
	Handle SmoothedTransform target position update.
void	HandleTargetRotation (StringHash eventType, VariantMap &eventData)
	Handle SmoothedTransform target rotation update.

Private Attributes
UniquePtr< btRigidBody >	body_
	Bullet rigid body.
UniquePtr< btCompoundShape >	compoundShape_
	Bullet compound collision shape.
UniquePtr< btCompoundShape >	shiftedCompoundShape_
	Compound collision shape with center of mass offset applied.
WeakPtr< PhysicsWorld >	physicsWorld_
	Physics world.
WeakPtr< SmoothedTransform >	smoothedTransform_
	Smoothed transform, if has one.
PODVector< Constraint * >	constraints_
	Constraints that refer to this rigid body.
Vector3	gravityOverride_
	Gravity override vector.
Vector3	centerOfMass_
	Center of mass offset.
float	mass_
	Mass.
VectorBuffer	attrBuffer_
	Attribute buffer for network replication.
unsigned	collisionLayer_
	Collision layer.
unsigned	collisionMask_
	Collision mask.
CollisionEventMode	collisionEventMode_
	Collision event signaling mode.
Vector3	lastPosition_
	Last interpolated position from the simulation.
Quaternion	lastRotation_
	Last interpolated rotation from the simulation.
bool	kinematic_
	Kinematic flag.
bool	trigger_
	Trigger flag.
bool	useGravity_
	Use gravity flag.
bool	readdBody_
	Readd body to world flag.
bool	inWorld_
	Body exists in world flag.
bool	enableMassUpdate_
	Mass update enable flag.
bool	hasSimulated_
	Internal flag whether has simulated at least once.

Additional Inherited Members
Protected Attributes inherited from Urho3D::Component
Node *	node_
	Scene node.
unsigned	id_
	Unique ID within the scene.
bool	networkUpdate_
	Network update queued flag.
bool	enabled_
	Enabled flag.
Protected Attributes inherited from Urho3D::Animatable
bool	animationEnabled_
	Animation enabled.
SharedPtr< ObjectAnimation >	objectAnimation_
	Animation.
HashSet< const AttributeInfo * >	animatedNetworkAttributes_
	Animated network attribute set.
HashMap< String, SharedPtr < AttributeAnimationInfo > >	attributeAnimationInfos_
	Attribute animation infos.
Protected Attributes inherited from Urho3D::Serializable
UniquePtr< NetworkState >	networkState_
	Network attribute state.
Protected Attributes inherited from Urho3D::Object
Context *	context_
	Execution context.

Detailed Description

Physics rigid body component.

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

• Source/Urho3D/Physics/RigidBody.h
• Source/Urho3D/Physics/RigidBody.cpp