Physics rigid body component. More...

#include <Urho3D/Physics/RigidBody.h>

Inheritance diagram for Urho3D::RigidBody:
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Collaboration diagram for Urho3D::RigidBody:
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Public Member Functions

 RigidBody (Context *context)
 Construct.
 
 ~RigidBody () override
 Destruct. Free the rigid body and geometries.
 
void ApplyAttributes () override
 Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
 
void OnSetEnabled () override
 Handle enabled/disabled state change.
 
void getWorldTransform (btTransform &worldTrans) const override
 
void setWorldTransform (const btTransform &worldTrans) override
 
void DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
 Visualize the component as debug geometry.
 
void SetMass (float mass)
 
void SetPosition (const Vector3 &position)
 
void SetRotation (const Quaternion &rotation)
 
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)
 
void SetLinearFactor (const Vector3 &factor)
 
void SetLinearRestThreshold (float threshold)
 
void SetLinearDamping (float damping)
 
void SetAngularVelocity (const Vector3 &velocity)
 
void SetAngularFactor (const Vector3 &factor)
 
void SetAngularRestThreshold (float threshold)
 
void SetAngularDamping (float damping)
 
void SetFriction (float friction)
 
void SetAnisotropicFriction (const Vector3 &friction)
 
void SetRollingFriction (float friction)
 
void SetRestitution (float restitution)
 
void SetContactProcessingThreshold (float threshold)
 
void SetCcdRadius (float radius)
 
void SetCcdMotionThreshold (float threshold)
 
void SetUseGravity (bool enable)
 
void SetGravityOverride (const Vector3 &gravity)
 
void SetKinematic (bool enable)
 
void SetTrigger (bool enable)
 
void SetCollisionLayer (unsigned layer)
 
void SetCollisionMask (unsigned mask)
 
void SetCollisionLayerAndMask (unsigned layer, unsigned mask)
 Set collision group and mask.
 
void SetCollisionEventMode (CollisionEventMode mode)
 
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.
 
PhysicsWorldGetPhysicsWorld () const
 Return physics world.
 
btRigidBody * GetBody () const
 Return Bullet rigid body.
 
btCompoundShape * GetCompoundShape () const
 Return Bullet compound collision shape.
 
float GetMass () const
 
Vector3 GetPosition () const
 
Quaternion GetRotation () const
 
Vector3 GetLinearVelocity () const
 
Vector3 GetLinearFactor () const
 
Vector3 GetVelocityAtPoint (const Vector3 &position) const
 Return linear velocity at local point.
 
float GetLinearRestThreshold () const
 
float GetLinearDamping () const
 
Vector3 GetAngularVelocity () const
 
Vector3 GetAngularFactor () const
 
float GetAngularRestThreshold () const
 
float GetAngularDamping () const
 
float GetFriction () const
 
Vector3 GetAnisotropicFriction () const
 
float GetRollingFriction () const
 
float GetRestitution () const
 
float GetContactProcessingThreshold () const
 
float GetCcdRadius () const
 
float GetCcdMotionThreshold () const
 
bool GetUseGravity () const
 
const Vector3GetGravityOverride () const
 
const Vector3GetCenterOfMass () const
 
bool IsKinematic () const
 
bool IsTrigger () const
 
bool IsActive () const
 
unsigned GetCollisionLayer () const
 
unsigned GetCollisionMask () const
 
CollisionEventMode GetCollisionEventMode () const
 
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.
 
 ~Component () override
 Destruct.
 
bool Save (Serializer &dest) const override
 Save as binary data. Return true if successful.
 
bool SaveXML (XMLElement &dest) const override
 Save as XML data. Return true if successful.
 
bool SaveJSON (JSONValue &dest) const override
 Save as JSON data. Return true if successful.
 
void MarkNetworkUpdate () override
 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)
 
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
 
unsigned GetID () const
 
bool IsReplicated () const
 
NodeGetNode () const
 
SceneGetScene () const
 Return the scene the node belongs to.
 
bool IsEnabled () const
 
bool IsEnabledEffective () const
 
ComponentGetComponent (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.
 
 ~Animatable () override
 Destruct.
 
bool LoadXML (const XMLElement &source) override
 Load from XML data. Return true if successful.
 
bool LoadJSON (const JSONValue &source) override
 Load from JSON data. Return true if successful.
 
void SetAnimationEnabled (bool enable)
 
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)
 
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
 
ObjectAnimationGetObjectAnimation () const
 
ValueAnimationGetAttributeAnimation (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.
 
 ~Serializable () override
 Destruct.
 
virtual void OnSetAttribute (const AttributeInfo &attr, const Variant &src)
 Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.
 
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)
 Load from binary data. 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)
 
bool SetAttribute (const String &name, const Variant &value)
 Set attribute by name. Return true if successfully set.
 
void SetInstanceDefault (bool enable)
 Set instance-level default flag.
 
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)
 
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
 
Variant GetAttribute (const String &name) const
 Return attribute value by name. Return empty if not found.
 
Variant GetAttributeDefault (unsigned index) const
 
Variant GetAttributeDefault (const String &name) const
 Return attribute default value by name. Return empty if not found.
 
unsigned GetNumAttributes () const
 
unsigned GetNumNetworkAttributes () const
 Return number of network replication attributes.
 
bool IsTemporary () const
 
bool GetInterceptNetworkUpdate (const String &attributeName) const
 Return whether an attribute's network updates are being intercepted.
 
NetworkStateGetNetworkState () const
 Return the network attribute state, if allocated.
 
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
 Construct.
 
 ~Object () override
 Destruct. Clean up self from event sender & receiver structures.
 
virtual StringHash GetType () const =0
 
virtual const StringGetTypeName () const =0
 
virtual const TypeInfoGetTypeInfo () 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.
 
template<typename T >
T * Cast ()
 Cast the object to specified most derived class.
 
template<typename T >
const T * Cast () const
 Cast the object to specified most derived 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 SubscribeToEvent (StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 Subscribe to an event that can be sent by any sender.
 
void SubscribeToEvent (Object *sender, StringHash eventType, const std::function< void(StringHash, VariantMap &)> &function, void *userData=nullptr)
 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.
 
VariantMapGetEventDataMap () const
 Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
 
template<typename... Args>
void SendEvent (StringHash eventType, Args... args)
 Send event with variadic parameter pairs to all subscribers. The parameter pairs is a list of paramID and paramValue separated by comma, one pair after another.
 
ContextGetContext () const
 Return execution context.
 
const VariantGetGlobalVar (StringHash key) const
 
const VariantMapGetGlobalVars () const
 
void SetGlobalVar (StringHash key, const Variant &value)
 
ObjectGetSubsystem (StringHash type) const
 Return subsystem by type.
 
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
 
EventHandlerGetEventHandler () 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 StringGetCategory () const
 
void SetBlockEvents (bool block)
 Block object from sending and receiving events.
 
bool GetBlockEvents () const
 Return sending and receiving events blocking status.
 
- 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.
 
 RefCounted (const RefCounted &rhs)=delete
 Prevent copy construction.
 
RefCountedoperator= (const RefCounted &rhs)=delete
 Prevent assignment.
 
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
 
int WeakRefs () const
 
RefCountRefCountPtr ()
 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 TypeInfoGetTypeInfoStatic ()
 Return type info static.
 

Protected Member Functions

void OnNodeSet (Node *node) override
 Handle node being assigned.
 
void OnSceneSet (Scene *scene) override
 Handle scene being assigned.
 
void OnMarkedDirty (Node *node) override
 Handle node transform being dirtied.
 
- Protected Member Functions inherited from Urho3D::Component
void OnAttributeAnimationAdded () override
 Handle attribute animation added.
 
void OnAttributeAnimationRemoved () override
 Handle attribute animation removed.
 
virtual void OnNodeSetEnabled (Node *node)
 Handle scene node enabled status changing.
 
void SetID (unsigned id)
 
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.
 
ComponentGetFixedUpdateSource ()
 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 AnimatableFindAttributeAnimationTarget (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.
 
AttributeAnimationInfoGetAttributeAnimationInfo (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.
 
void MarkBodyDirty ()
 Mark body dirty.
 

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< PhysicsWorldphysicsWorld_
 Physics world.
 
WeakPtr< SmoothedTransformsmoothedTransform_
 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
Nodenode_
 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< ObjectAnimationobjectAnimation_
 Animation.
 
HashSet< const AttributeInfo * > animatedNetworkAttributes_
 Animated network attribute set.
 
HashMap< String, SharedPtr< AttributeAnimationInfo > > attributeAnimationInfos_
 Attribute animation infos.
 
- Protected Attributes inherited from Urho3D::Serializable
UniquePtr< NetworkStatenetworkState_
 Network attribute state.
 
- Protected Attributes inherited from Urho3D::Object
Contextcontext_
 Execution context.
 

Detailed Description

Physics rigid body component.

Member Function Documentation

◆ GetAngularDamping()

float Urho3D::RigidBody::GetAngularDamping ( ) const

Return angular velocity damping factor.

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◆ GetAngularFactor()

Vector3 Urho3D::RigidBody::GetAngularFactor ( ) const

Return angular degrees of freedom.

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◆ GetAngularRestThreshold()

float Urho3D::RigidBody::GetAngularRestThreshold ( ) const

Return angular velocity deactivation threshold.

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◆ GetAngularVelocity()

Vector3 Urho3D::RigidBody::GetAngularVelocity ( ) const

Return angular velocity.

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◆ GetAnisotropicFriction()

Vector3 Urho3D::RigidBody::GetAnisotropicFriction ( ) const

Return anisotropic friction.

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◆ GetCcdMotionThreshold()

float Urho3D::RigidBody::GetCcdMotionThreshold ( ) const

Return continuous collision detection motion-per-simulation-step threshold.

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◆ GetCcdRadius()

float Urho3D::RigidBody::GetCcdRadius ( ) const

Return continuous collision detection swept sphere radius.

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◆ GetCenterOfMass()

const Vector3& Urho3D::RigidBody::GetCenterOfMass ( ) const
inline

Return center of mass offset.

◆ GetCollisionEventMode()

CollisionEventMode Urho3D::RigidBody::GetCollisionEventMode ( ) const
inline

Return collision event signaling mode.

◆ GetCollisionLayer()

unsigned Urho3D::RigidBody::GetCollisionLayer ( ) const
inline

Return collision layer.

◆ GetCollisionMask()

unsigned Urho3D::RigidBody::GetCollisionMask ( ) const
inline

Return collision mask.

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◆ GetContactProcessingThreshold()

float Urho3D::RigidBody::GetContactProcessingThreshold ( ) const

Return contact processing threshold.

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◆ GetFriction()

float Urho3D::RigidBody::GetFriction ( ) const

Return friction coefficient.

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◆ GetGravityOverride()

const Vector3& Urho3D::RigidBody::GetGravityOverride ( ) const
inline

Return gravity override. If zero (default), uses the physics world's gravity.

◆ GetLinearDamping()

float Urho3D::RigidBody::GetLinearDamping ( ) const

Return linear velocity damping factor.

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◆ GetLinearFactor()

Vector3 Urho3D::RigidBody::GetLinearFactor ( ) const

Return linear degrees of freedom.

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◆ GetLinearRestThreshold()

float Urho3D::RigidBody::GetLinearRestThreshold ( ) const

Return linear velocity deactivation threshold.

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◆ GetLinearVelocity()

Vector3 Urho3D::RigidBody::GetLinearVelocity ( ) const

Return linear velocity.

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◆ GetMass()

float Urho3D::RigidBody::GetMass ( ) const
inline

Return mass.

◆ GetPosition()

Vector3 Urho3D::RigidBody::GetPosition ( ) const

Return rigid body position in world space.

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◆ GetRestitution()

float Urho3D::RigidBody::GetRestitution ( ) const

Return restitution coefficient.

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◆ GetRollingFriction()

float Urho3D::RigidBody::GetRollingFriction ( ) const

Return rolling friction coefficient.

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◆ GetRotation()

Quaternion Urho3D::RigidBody::GetRotation ( ) const

Return rigid body rotation in world space.

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◆ GetUseGravity()

bool Urho3D::RigidBody::GetUseGravity ( ) const
inline

Return whether rigid body uses gravity.

◆ getWorldTransform()

void Urho3D::RigidBody::getWorldTransform ( btTransform &  worldTrans) const
override

Return initial world transform to Bullet.

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◆ IsActive()

bool Urho3D::RigidBody::IsActive ( ) const

Return whether rigid body is active (not sleeping).

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◆ IsKinematic()

bool Urho3D::RigidBody::IsKinematic ( ) const
inline

Return kinematic mode flag.

◆ IsTrigger()

bool Urho3D::RigidBody::IsTrigger ( ) const
inline

Return whether this RigidBody is acting as a trigger.

◆ SetAngularDamping()

void Urho3D::RigidBody::SetAngularDamping ( float  damping)

Set angular velocity damping factor.

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◆ SetAngularFactor()

void Urho3D::RigidBody::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).

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◆ SetAngularRestThreshold()

void Urho3D::RigidBody::SetAngularRestThreshold ( float  threshold)

Set angular velocity deactivation threshold.

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◆ SetAngularVelocity()

void Urho3D::RigidBody::SetAngularVelocity ( const Vector3 velocity)

Set angular velocity.

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◆ SetAnisotropicFriction()

void Urho3D::RigidBody::SetAnisotropicFriction ( const Vector3 friction)

Set anisotropic friction.

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◆ SetCcdMotionThreshold()

void Urho3D::RigidBody::SetCcdMotionThreshold ( float  threshold)

Set continuous collision detection motion-per-simulation-step threshold. 0 disables, which is the default.

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◆ SetCcdRadius()

void Urho3D::RigidBody::SetCcdRadius ( float  radius)

Set continuous collision detection swept sphere radius.

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◆ SetCollisionEventMode()

void Urho3D::RigidBody::SetCollisionEventMode ( CollisionEventMode  mode)

Set collision event signaling mode. Default is to signal when rigid bodies are active.

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◆ SetCollisionLayer()

void Urho3D::RigidBody::SetCollisionLayer ( unsigned  layer)

Set collision layer.

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◆ SetCollisionMask()

void Urho3D::RigidBody::SetCollisionMask ( unsigned  mask)

Set collision mask.

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◆ SetContactProcessingThreshold()

void Urho3D::RigidBody::SetContactProcessingThreshold ( float  threshold)

Set contact processing threshold.

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◆ SetFriction()

void Urho3D::RigidBody::SetFriction ( float  friction)

Set friction coefficient.

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◆ SetGravityOverride()

void Urho3D::RigidBody::SetGravityOverride ( const Vector3 gravity)

Set gravity override. If zero, uses physics world's gravity.

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◆ SetKinematic()

void Urho3D::RigidBody::SetKinematic ( bool  enable)

Set rigid body kinematic mode. In kinematic mode forces are not applied to the rigid body.

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◆ SetLinearDamping()

void Urho3D::RigidBody::SetLinearDamping ( float  damping)

Set linear velocity damping factor.

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◆ SetLinearFactor()

void Urho3D::RigidBody::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).

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◆ SetLinearRestThreshold()

void Urho3D::RigidBody::SetLinearRestThreshold ( float  threshold)

Set linear velocity deactivation threshold.

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◆ SetLinearVelocity()

void Urho3D::RigidBody::SetLinearVelocity ( const Vector3 velocity)

Set linear velocity.

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◆ SetMass()

void Urho3D::RigidBody::SetMass ( float  mass)

Set mass. Zero mass makes the body static.

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◆ SetPosition()

void Urho3D::RigidBody::SetPosition ( const Vector3 position)

Set rigid body position in world space.

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◆ SetRestitution()

void Urho3D::RigidBody::SetRestitution ( float  restitution)

Set restitution coefficient.

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◆ SetRollingFriction()

void Urho3D::RigidBody::SetRollingFriction ( float  friction)

Set rolling friction coefficient.

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◆ SetRotation()

void Urho3D::RigidBody::SetRotation ( const Quaternion rotation)

Set rigid body rotation in world space.

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◆ SetTrigger()

void Urho3D::RigidBody::SetTrigger ( bool  enable)

Set rigid body trigger mode. In trigger mode collisions are reported but do not apply forces.

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◆ SetUseGravity()

void Urho3D::RigidBody::SetUseGravity ( bool  enable)

Set whether gravity is applied to rigid body.

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◆ setWorldTransform()

void Urho3D::RigidBody::setWorldTransform ( const btTransform &  worldTrans)
override

Update world transform from Bullet.


The documentation for this class was generated from the following files:
  • Source/Urho3D/Physics/RigidBody.h
  • Source/Urho3D/Physics/RigidBody.cpp