btRigidBody Class Reference

#include <btRigidBody.h>

Inherits btCollisionObject.

Classes
struct	btRigidBodyConstructionInfo

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))
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	clearGravity ()
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
btScalar	getMass () const
const btMatrix3x3 &	getInvInertiaTensorWorld () const
void	integrateVelocities (btScalar step)
void	setCenterOfMassTransform (const btTransform &xform)
void	applyCentralForce (const btVector3 &force)
const btVector3 &	getTotalForce () const
const btVector3 &	getTotalTorque () const
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	applyPushImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
btVector3	getPushVelocity () const
btVector3	getTurnVelocity () const
void	setPushVelocity (const btVector3 &v)
void	setTurnVelocity (const btVector3 &v)
void	applyCentralPushImpulse (const btVector3 &impulse)
void	applyTorqueTurnImpulse (const btVector3 &torque)
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
btVector3	getPushVelocityInLocalPoint (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
void	addConstraintRef (btTypedConstraint *c)
void	removeConstraintRef (btTypedConstraint *c)
btTypedConstraint *	getConstraintRef (int index)
int	getNumConstraintRefs () const
void	setFlags (int flags)
int	getFlags () const
btVector3	computeGyroscopicImpulseImplicit_World (btScalar dt) const
	perform implicit force computation in world space
btVector3	computeGyroscopicImpulseImplicit_Body (btScalar step) const
	perform implicit force computation in body space (inertial frame)
btVector3	computeGyroscopicForceExplicit (btScalar maxGyroscopicForce) const
	explicit version is best avoided, it gains energy
btVector3	getLocalInertia () const
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)
virtual void	serializeSingleObject (class btSerializer *serializer) const

Static Public Member Functions
static const btRigidBody *	upcast (const btCollisionObject *colObj)
static btRigidBody *	upcast (btCollisionObject *colObj)

Public Attributes
int	m_contactSolverType
int	m_frictionSolverType

Protected Member Functions
	ATTRIBUTE_ALIGNED16 (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

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 one-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 59 of file btRigidBody.h.

Constructor & Destructor Documentation

btRigidBody() [1/2]

btRigidBody::btRigidBody

(

const btRigidBodyConstructionInfo &

constructionInfo

)

btRigidBody constructor using construction info

Definition at line 29 of file btRigidBody.cpp.

References setupRigidBody().

btRigidBody() [2/2]

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.

References setupRigidBody().

~btRigidBody()

virtual btRigidBody::~btRigidBody ( )

inlinevirtual

Definition at line 173 of file btRigidBody.h.

References btAssert, and btAlignedObjectArray< T >::size().

Member Function Documentation

addConstraintRef()

void btRigidBody::addConstraintRef

(

btTypedConstraint *

c

)

disable collision with the 'other' body

Definition at line 415 of file btRigidBody.cpp.

References btAlignedObjectArray< T >::findLinearSearch(), btAlignedObjectArray< T >::push_back(), and btAlignedObjectArray< T >::size().

applyCentralForce()

void btRigidBody::applyCentralForce ( const btVector3 & force )

inline

Definition at line 274 of file btRigidBody.h.

References m_linearFactor.

Referenced by applyForce(), applyGravity(), clearGravity(), and RB_body_apply_central_force().

applyCentralImpulse()

void btRigidBody::applyCentralImpulse ( const btVector3 & impulse )

inline

Definition at line 319 of file btRigidBody.h.

References m_linearFactor, and m_linearVelocity.

Referenced by btSoftBody::Body::applyDCImpulse(), and applyImpulse().

applyCentralPushImpulse()

void btRigidBody::applyCentralPushImpulse ( const btVector3 & impulse )

inline

Definition at line 399 of file btRigidBody.h.

References m_linearFactor, and m_pushVelocity.

Referenced by applyPushImpulse().

applyDamping()

void btRigidBody::applyDamping

(

btScalar

timeStep

)

applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

Definition at line 149 of file btRigidBody.cpp.

References btMax(), btPow(), m_angularDamping, and m_linearDamping.

Referenced by UpdaterUnconstrainedMotion::forLoop(), and btSimpleDynamicsWorld::predictUnconstraintMotion().

applyForce()

void btRigidBody::applyForce ( const btVector3 & force, const btVector3 & rel_pos )

inline

Definition at line 313 of file btRigidBody.h.

References applyCentralForce(), applyTorque(), and m_linearFactor.

applyGravity()

void btRigidBody::applyGravity

(

)

Definition at line 205 of file btRigidBody.cpp.

References applyCentralForce(), and isStaticOrKinematicObject().

Referenced by btSimpleDynamicsWorld::predictUnconstraintMotion().

applyImpulse()

void btRigidBody::applyImpulse ( const btVector3 & impulse, const btVector3 & rel_pos )

inline

Definition at line 335 of file btRigidBody.h.

References applyCentralImpulse(), applyTorqueImpulse(), m_angularFactor, and m_linearFactor.

Referenced by btSoftBody::Body::applyDImpulse(), btSoftBody::Body::applyVImpulse(), btSoftBody::PSolve_RContacts(), resolveSingleCollision(), btDeformableNodeAnchorConstraint::solveConstraint(), btDeformableRigidContactConstraint::solveConstraint(), btTranslationalLimitMotor::solveLinearAxis(), btRaycastVehicle::updateFriction(), and btRaycastVehicle::updateVehicle().

applyPushImpulse()

void btRigidBody::applyPushImpulse ( const btVector3 & impulse, const btVector3 & rel_pos )

inline

Definition at line 347 of file btRigidBody.h.

References applyCentralPushImpulse(), applyTorqueTurnImpulse(), m_angularFactor, and m_linearFactor.

Referenced by btDeformableRigidContactConstraint::solveSplitImpulse().

applyTorque()

void btRigidBody::applyTorque ( const btVector3 & torque )

inline

Definition at line 305 of file btRigidBody.h.

References m_angularFactor.

Referenced by applyForce().

applyTorqueImpulse()

void btRigidBody::applyTorqueImpulse ( const btVector3 & torque )

inline

Definition at line 327 of file btRigidBody.h.

References m_angularFactor, and m_angularVelocity.

Referenced by btSoftBody::Body::applyDAImpulse(), applyImpulse(), btSoftBody::Body::applyVAImpulse(), and btRotationalLimitMotor::solveAngularLimits().

applyTorqueTurnImpulse()

void btRigidBody::applyTorqueTurnImpulse ( const btVector3 & torque )

inline

Definition at line 407 of file btRigidBody.h.

References m_angularFactor, and m_turnVelocity.

Referenced by applyPushImpulse().

ATTRIBUTE_ALIGNED16()

btRigidBody::ATTRIBUTE_ALIGNED16 ( btVector3 m_deltaLinearVelocity )

protected

calculateSerializeBufferSize()

int btRigidBody::calculateSerializeBufferSize ( ) const

virtual

Definition at line 458 of file btRigidBody.cpp.

References btRigidBodyData.

Referenced by serializeSingleObject().

clearForces()

void btRigidBody::clearForces ( )

inline

Definition at line 415 of file btRigidBody.h.

Referenced by btSimpleDynamicsWorld::clearForces().

clearGravity()

void btRigidBody::clearGravity

(

)

Definition at line 213 of file btRigidBody.cpp.

References applyCentralForce(), and isStaticOrKinematicObject().

Referenced by btDeformableMultiBodyDynamicsWorld::clearGravity().

computeAngularImpulseDenominator()

SIMD_FORCE_INLINE btScalar btRigidBody::computeAngularImpulseDenominator ( const btVector3 & axis ) const

inline

Definition at line 493 of file btRigidBody.h.

References getInvInertiaTensorWorld().

Referenced by solveConstraintObsolete().

computeGyroscopicForceExplicit()

btVector3 btRigidBody::computeGyroscopicForceExplicit

(

btScalar

maxGyroscopicForce

)

const

explicit version is best avoided, it gains energy

Definition at line 283 of file btRigidBody.cpp.

References btMatrix3x3, btSqrt(), getAngularVelocity(), getLocalInertia(), and getWorldTransform().

Referenced by convertBodies(), and internalConvertBodies().

computeGyroscopicImpulseImplicit_Body()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body

(

btScalar

step

)

const

perform implicit force computation in body space (inertial frame)

Definition at line 297 of file btRigidBody.cpp.

References btMatrix3x3, getAngularVelocity(), getLocalInertia(), getWorldTransform(), btQuaternion::inverse(), and quatRotate().

Referenced by convertBodies(), and internalConvertBodies().

computeGyroscopicImpulseImplicit_World()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World

(

btScalar

dt

)

const

perform implicit force computation in world space

Definition at line 336 of file btRigidBody.cpp.

References btMatrix3x3, btVector3, evalEulerEqn(), evalEulerEqnDeriv(), getAngularVelocity(), getLocalInertia(), I, and m_worldTransform.

Referenced by convertBodies(), and internalConvertBodies().

computeImpulseDenominator()

SIMD_FORCE_INLINE btScalar btRigidBody::computeImpulseDenominator ( const btVector3 & pos, const btVector3 & normal ) const

inline

Definition at line 482 of file btRigidBody.h.

References cross(), getCenterOfMassPosition(), getInvInertiaTensorWorld(), and pos.

Referenced by btWheelContactPoint::btWheelContactPoint(), resolveSingleCollision(), and setupContactConstraint().

getAabb()

void btRigidBody::getAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax ) const

Definition at line 123 of file btRigidBody.cpp.

References getCollisionShape(), and m_worldTransform.

getAngularDamping()

btScalar btRigidBody::getAngularDamping ( ) const

inline

Definition at line 225 of file btRigidBody.h.

References m_angularDamping.

Referenced by RB_body_get_angular_damping().

getAngularFactor()

const btVector3 & btRigidBody::getAngularFactor ( ) const

inline

Definition at line 579 of file btRigidBody.h.

References m_angularFactor.

Referenced by fillMultiBodyConstraint(), initSolverBody(), setupContactConstraint(), setupFrictionConstraint(), setupMultiBodyContactConstraint(), setupMultiBodyTorsionalFrictionConstraint(), and setupTorsionalFrictionConstraint().

getAngularSleepingThreshold()

btScalar btRigidBody::getAngularSleepingThreshold ( ) const

inline

Definition at line 235 of file btRigidBody.h.

Referenced by RB_body_get_angular_sleep_thresh().

getAngularVelocity()

const btVector3 & btRigidBody::getAngularVelocity ( ) const

inline

Definition at line 437 of file btRigidBody.h.

References m_angularVelocity.

Referenced by btSoftBody::Body::angularVelocity(), btSoftBody::Body::angularVelocity(), computeGyroscopicForceExplicit(), computeGyroscopicImpulseImplicit_Body(), computeGyroscopicImpulseImplicit_World(), convertJoint(), fillMultiBodyConstraint(), getInfo2NonVirtual(), initSolverBody(), RB_body_get_angular_velocity(), resolveSingleBilateral(), setCenterOfMassTransform(), btRotationalLimitMotor::solveAngularLimits(), updateDeactivation(), and writeToSolverBody().

getBroadphaseProxy() [1/2]

btBroadphaseProxy * btRigidBody::getBroadphaseProxy ( )

inline

Definition at line 539 of file btRigidBody.h.

References m_broadphaseHandle.

getBroadphaseProxy() [2/2]

const btBroadphaseProxy * btRigidBody::getBroadphaseProxy ( ) const

inline

Definition at line 535 of file btRigidBody.h.

References m_broadphaseHandle.

Referenced by createPredictiveContactsInternal(), integrateTransformsInternal(), and isInWorld().

getCenterOfMassPosition()

const btVector3 & btRigidBody::getCenterOfMassPosition ( ) const

inline

Definition at line 423 of file btRigidBody.h.

References m_worldTransform.

Referenced by buildJacobian(), buildLinearJacobian(), calcRollingFriction(), computeImpulseDenominator(), btRaycastVehicle::rayCast(), resolveSingleBilateral(), solveConstraintObsolete(), btTranslationalLimitMotor::solveLinearAxis(), btRaycastVehicle::updateFriction(), btRaycastVehicle::updateVehicle(), and btWheelInfo::updateWheel().

getCenterOfMassTransform()

const btTransform & btRigidBody::getCenterOfMassTransform ( ) const

inline

Definition at line 429 of file btRigidBody.h.

References m_worldTransform.

Referenced by btGeneric6DofConstraint(), btGeneric6DofSpring2Constraint(), btHinge2Constraint(), btHingeConstraint(), btHingeConstraint(), btHingeConstraint(), btSliderConstraint(), btUniversalConstraint(), buildAngularJacobian(), buildJacobian(), buildLinearJacobian(), calcAngleInfo(), calculateTransforms(), btMultiBodyFixedConstraint::createConstraintRows(), btMultiBodySliderConstraint::createConstraintRows(), btMultiBodyFixedConstraint::debugDraw(), btMultiBodySliderConstraint::debugDraw(), getAncorInA(), btRaycastVehicle::getChassisWorldTransform(), getHingeAngle(), initParams(), resolveSingleBilateral(), setAxis(), setAxis(), setFrames(), setMotorTarget(), solveConstraintObsolete(), and btRaycastVehicle::updateFriction().

getCollisionShape() [1/2]

SIMD_FORCE_INLINE btCollisionShape * btRigidBody::getCollisionShape ( )

inline

Definition at line 247 of file btRigidBody.h.

References m_collisionShape.

getCollisionShape() [2/2]

SIMD_FORCE_INLINE const btCollisionShape * btRigidBody::getCollisionShape ( ) const

inline

Definition at line 242 of file btRigidBody.h.

References m_collisionShape.

Referenced by btSimpleDynamicsWorld::addRigidBody(), btSimpleDynamicsWorld::addRigidBody(), btSoftBody::appendDeformableAnchor(), createPredictiveContactsInternal(), getAabb(), integrateTransformsInternal(), RB_body_get_scale(), RB_body_set_mass(), RB_body_set_scale(), and RB_world_convex_sweep_test().

getConstraintRef()

btTypedConstraint * btRigidBody::getConstraintRef ( int index )

inline

Definition at line 593 of file btRigidBody.h.

Referenced by RB_body_delete().

getFlags()

int btRigidBody::getFlags ( ) const

inline

Definition at line 608 of file btRigidBody.h.

Referenced by convertBodies(), and internalConvertBodies().

getGravity()

const btVector3 & btRigidBody::getGravity ( ) const

inline

Definition at line 213 of file btRigidBody.h.

getInvInertiaDiagLocal()

const btVector3 & btRigidBody::getInvInertiaDiagLocal ( ) const

inline

Definition at line 289 of file btRigidBody.h.

Referenced by buildAngularJacobian(), buildJacobian(), buildLinearJacobian(), and resolveSingleBilateral().

getInvInertiaTensorWorld()

const btMatrix3x3 & btRigidBody::getInvInertiaTensorWorld ( ) const

inline

Definition at line 265 of file btRigidBody.h.

Referenced by btSoftBody::appendDeformableAnchor(), buildJacobian(), computeAngularImpulseDenominator(), computeImpulseDenominator(), convertBodies(), convertJoint(), btMLCPSolver::createMLCP(), btMLCPSolver::createMLCPFast(), btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), fillMultiBodyConstraint(), get_limit_motor_info2(), initSolverBody(), internalConvertBodies(), btSoftBody::Body::invWorldInertia(), setupContactConstraint(), setupFrictionConstraint(), setupMultiBodyContactConstraint(), setupMultiBodyTorsionalFrictionConstraint(), setupTorsionalFrictionConstraint(), and solveConstraintObsolete().

getInvMass()

btScalar btRigidBody::getInvMass ( ) const

inline

Definition at line 263 of file btRigidBody.h.

Referenced by btSoftBody::appendDeformableAnchor(), buildJacobian(), buildLinearJacobian(), calcAnchorPos(), calculateTransforms(), convertBodies(), convertJoint(), btMLCPSolver::createMLCPFast(), btMultiBodyMLCPConstraintSolver::createMLCPFastRigidBody(), btSoftColliders::CollideSDF_RD::DoNode(), btSoftColliders::CollideSDF_RDF::DoNode(), btSoftColliders::CollideSDF_RS::DoNode(), fillMultiBodyConstraint(), get_limit_motor_info2(), getInfo2InternalUsingFrameOffset(), getOrInitSolverBody(), initSolverBody(), internalConvertBodies(), btSoftBody::Body::invMass(), RB_body_get_mass(), resolveSingleBilateral(), setupContactConstraint(), setupFrictionConstraint(), setupMultiBodyContactConstraint(), solveConstraintObsolete(), btRaycastVehicle::updateSuspension(), and writeToSolverBody().

getLinearDamping()

btScalar btRigidBody::getLinearDamping ( ) const

inline

Definition at line 220 of file btRigidBody.h.

References m_linearDamping.

Referenced by RB_body_get_linear_damping().

getLinearFactor()

const btVector3 & btRigidBody::getLinearFactor ( ) const

inline

Definition at line 254 of file btRigidBody.h.

References m_linearFactor.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

getLinearSleepingThreshold()

btScalar btRigidBody::getLinearSleepingThreshold ( ) const

inline

Definition at line 230 of file btRigidBody.h.

Referenced by RB_body_get_linear_sleep_thresh().

getLinearVelocity()

const btVector3 & btRigidBody::getLinearVelocity ( ) const

inline

Definition at line 433 of file btRigidBody.h.

References m_linearVelocity.

Referenced by convertJoint(), fillMultiBodyConstraint(), initSolverBody(), integrateTransformsInternal(), btSoftBody::Body::linearVelocity(), RB_body_get_linear_velocity(), resolveSingleBilateral(), setCenterOfMassTransform(), updateDeactivation(), btRaycastVehicle::updateVehicle(), and writeToSolverBody().

getLocalInertia()

btVector3 btRigidBody::getLocalInertia

(

)

const

Definition at line 254 of file btRigidBody.cpp.

Referenced by computeGyroscopicForceExplicit(), computeGyroscopicImpulseImplicit_Body(), and computeGyroscopicImpulseImplicit_World().

getMass()

btScalar btRigidBody::getMass ( ) const

inline

Definition at line 264 of file btRigidBody.h.

getMotionState() [1/2]

btMotionState * btRigidBody::getMotionState ( )

inline

Definition at line 549 of file btRigidBody.h.

Referenced by RB_body_delete(), RB_body_get_transform_matrix(), RB_body_set_loc_rot(), saveKinematicState(), btSimpleDynamicsWorld::synchronizeMotionStates(), synchronizeSingleMotionState(), and btRaycastVehicle::updateWheelTransformsWS().

getMotionState() [2/2]

const btMotionState * btRigidBody::getMotionState ( ) const

inline

Definition at line 553 of file btRigidBody.h.

getNumConstraintRefs()

int btRigidBody::getNumConstraintRefs ( ) const

inline

Definition at line 598 of file btRigidBody.h.

References btAlignedObjectArray< T >::size().

Referenced by RB_body_delete().

getOrientation()

btQuaternion btRigidBody::getOrientation

(

)

const

Definition at line 392 of file btRigidBody.cpp.

References m_worldTransform.

Referenced by btMultiBodyFixedConstraint::createConstraintRows(), and btMultiBodySliderConstraint::createConstraintRows().

getPushVelocity()

btVector3 btRigidBody::getPushVelocity ( ) const

inline

Definition at line 359 of file btRigidBody.h.

References m_pushVelocity.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

getPushVelocityInLocalPoint()

btVector3 btRigidBody::getPushVelocityInLocalPoint ( const btVector3 & rel_pos ) const

inline

Definition at line 469 of file btRigidBody.h.

References m_pushVelocity, and m_turnVelocity.

Referenced by btDeformableRigidContactConstraint::getSplitVa().

getTotalForce()

const btVector3 & btRigidBody::getTotalForce ( ) const

inline

Definition at line 279 of file btRigidBody.h.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

getTotalTorque()

const btVector3 & btRigidBody::getTotalTorque ( ) const

inline

Definition at line 284 of file btRigidBody.h.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

getTurnVelocity()

btVector3 btRigidBody::getTurnVelocity ( ) const

inline

Definition at line 364 of file btRigidBody.h.

References m_turnVelocity.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

getVelocityInLocalPoint()

btVector3 btRigidBody::getVelocityInLocalPoint ( const btVector3 & rel_pos ) const

inline

Definition at line 460 of file btRigidBody.h.

References m_angularVelocity, and m_linearVelocity.

Referenced by calcRollingFriction(), btSoftColliders::CollideSDF_RS::DoNode(), btDeformableNodeAnchorConstraint::getVa(), btDeformableRigidContactConstraint::getVa(), btSoftBody::PSolve_RContacts(), btRaycastVehicle::rayCast(), btSolve2LinearConstraint::resolveBilateralPairConstraint(), resolveSingleBilateral(), resolveSingleCollision(), btSolve2LinearConstraint::resolveUnilateralPairConstraint(), setupContactConstraint(), setupMultiBodyContactConstraint(), btTranslationalLimitMotor::solveLinearAxis(), btRaycastVehicle::updateVehicle(), and btWheelInfo::updateWheel().

integrateVelocities()

void btRigidBody::integrateVelocities

(

btScalar

step

)

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

Definition at line 372 of file btRigidBody.cpp.

References isStaticOrKinematicObject(), m_angularVelocity, and MAX_ANGVEL.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), and btSimpleDynamicsWorld::predictUnconstraintMotion().

isInWorld()

bool btRigidBody::isInWorld ( ) const

inline

Definition at line 585 of file btRigidBody.h.

References getBroadphaseProxy().

predictIntegratedTransform()

void btRigidBody::predictIntegratedTransform	(	btScalar	step,
		btTransform &	predictedTransform )

continuous collision detection needs prediction

Definition at line 100 of file btRigidBody.cpp.

References btTransformUtil::integrateTransform(), and m_worldTransform.

Referenced by createPredictiveContactsInternal(), UpdaterUnconstrainedMotion::forLoop(), btSimpleDynamicsWorld::integrateTransforms(), integrateTransformsInternal(), and btSimpleDynamicsWorld::predictUnconstraintMotion().

proceedToTransform()

void btRigidBody::proceedToTransform

(

const btTransform &

newTrans

)

Definition at line 221 of file btRigidBody.cpp.

References setCenterOfMassTransform().

Referenced by btSimpleDynamicsWorld::integrateTransforms(), and integrateTransformsInternal().

removeConstraintRef()

void btRigidBody::removeConstraintRef

(

btTypedConstraint *

c

)

Definition at line 438 of file btRigidBody.cpp.

References btAlignedObjectArray< T >::findLinearSearch(), btAlignedObjectArray< T >::remove(), and btAlignedObjectArray< T >::size().

Referenced by RB_body_delete().

saveKinematicState()

void btRigidBody::saveKinematicState

(

btScalar

step

)

Definition at line 105 of file btRigidBody.cpp.

References btTransformUtil::calculateVelocity(), getMotionState(), btMotionState::getWorldTransform(), m_interpolationAngularVelocity, m_interpolationLinearVelocity, m_interpolationWorldTransform, and m_worldTransform.

serialize()

const char * btRigidBody::serialize ( void * dataBuffer, class btSerializer * serializer ) const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 465 of file btRigidBody.cpp.

References btRigidBodyData, btRigidBodyDataName, and m_angularFactor.

Referenced by serializeSingleObject().

serializeSingleObject()

void btRigidBody::serializeSingleObject ( class btSerializer * serializer ) const

virtual

Definition at line 500 of file btRigidBody.cpp.

References btSerializer::allocate(), BT_RIGIDBODY_CODE, calculateSerializeBufferSize(), btSerializer::finalizeChunk(), btChunk::m_oldPtr, and serialize().

setAngularFactor() [1/2]

void btRigidBody::setAngularFactor ( btScalar angFac )

inline

Definition at line 574 of file btRigidBody.h.

References m_angularFactor, and m_updateRevision.

setAngularFactor() [2/2]

void btRigidBody::setAngularFactor ( const btVector3 & angFac )

inline

Definition at line 568 of file btRigidBody.h.

References m_angularFactor, and m_updateRevision.

Referenced by RB_body_set_angular_factor().

setAngularVelocity()

void btRigidBody::setAngularVelocity ( const btVector3 & ang_vel )

inline

Definition at line 451 of file btRigidBody.h.

References m_angularVelocity, and m_updateRevision.

Referenced by RB_body_set_angular_velocity().

setCenterOfMassTransform()

void btRigidBody::setCenterOfMassTransform

(

const btTransform &

xform

)

Definition at line 399 of file btRigidBody.cpp.

References getAngularVelocity(), getLinearVelocity(), isKinematicObject(), m_interpolationAngularVelocity, m_interpolationLinearVelocity, m_interpolationWorldTransform, m_worldTransform, and updateInertiaTensor().

Referenced by proceedToTransform().

setDamping()

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

Definition at line 137 of file btRigidBody.cpp.

References btClamped(), and btMax().

Referenced by RB_body_set_damping(), and setupRigidBody().

setFlags()

void btRigidBody::setFlags ( int flags )

inline

Definition at line 603 of file btRigidBody.h.

setGravity()

void btRigidBody::setGravity

(

const btVector3 &

acceleration

)

Definition at line 128 of file btRigidBody.cpp.

Referenced by btSimpleDynamicsWorld::addRigidBody(), btSimpleDynamicsWorld::addRigidBody(), and btSimpleDynamicsWorld::setGravity().

setInvInertiaDiagLocal()

void btRigidBody::setInvInertiaDiagLocal ( const btVector3 & diagInvInertia )

inline

Definition at line 294 of file btRigidBody.h.

setLinearFactor()

void btRigidBody::setLinearFactor ( const btVector3 & linearFactor )

inline

Definition at line 258 of file btRigidBody.h.

References m_invMass, and m_linearFactor.

Referenced by RB_body_set_linear_factor().

setLinearVelocity()

void btRigidBody::setLinearVelocity ( const btVector3 & lin_vel )

inline

Definition at line 442 of file btRigidBody.h.

References m_linearVelocity, and m_updateRevision.

Referenced by integrateTransformsInternal(), RB_body_set_linear_velocity(), solverBodyWriteBack(), and writeBackBodies().

setMassProps()

void btRigidBody::setMassProps	(	btScalar	mass,
		const btVector3 &	inertia )

Definition at line 226 of file btRigidBody.cpp.

References CF_STATIC_OBJECT, m_collisionFlags, m_invMass, and ~btCollisionObject().

Referenced by btActionInterface::getFixedBody(), RB_body_set_mass(), and setupRigidBody().

setMotionState()

void btRigidBody::setMotionState ( btMotionState * motionState )

inline

Definition at line 557 of file btRigidBody.h.

References btMotionState::getWorldTransform(), and m_worldTransform.

setNewBroadphaseProxy()

void btRigidBody::setNewBroadphaseProxy ( btBroadphaseProxy * broadphaseProxy )

inline

Definition at line 543 of file btRigidBody.h.

References m_broadphaseHandle.

setPushVelocity()

void btRigidBody::setPushVelocity ( const btVector3 & v )

inline

Definition at line 369 of file btRigidBody.h.

References m_pushVelocity, and v.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

setSleepingThresholds()

void btRigidBody::setSleepingThresholds ( btScalar linear, btScalar angular )

inline

Definition at line 299 of file btRigidBody.h.

Referenced by RB_body_set_sleep_thresh().

setTurnVelocity()

void btRigidBody::setTurnVelocity ( const btVector3 & v )

inline

Definition at line 391 of file btRigidBody.h.

References m_turnVelocity, and v.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

setupRigidBody()

void btRigidBody::setupRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

protected

setupRigidBody is only used internally by the constructor

Definition at line 40 of file btRigidBody.cpp.

References BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY, CO_RIGID_BODY, btMotionState::getWorldTransform(), btRigidBody::btRigidBodyConstructionInfo::m_additionalAngularDampingFactor, btRigidBody::btRigidBodyConstructionInfo::m_additionalAngularDampingThresholdSqr, btRigidBody::btRigidBodyConstructionInfo::m_additionalDamping, btRigidBody::btRigidBodyConstructionInfo::m_additionalDampingFactor, btRigidBody::btRigidBodyConstructionInfo::m_additionalLinearDampingThresholdSqr, btRigidBody::btRigidBodyConstructionInfo::m_angularDamping, m_angularFactor, btRigidBody::btRigidBodyConstructionInfo::m_angularSleepingThreshold, btRigidBody::btRigidBodyConstructionInfo::m_collisionShape, m_contactSolverType, m_deltaAngularVelocity, m_deltaLinearVelocity, btRigidBody::btRigidBodyConstructionInfo::m_friction, m_friction, m_frictionSolverType, m_internalType, m_interpolationAngularVelocity, m_interpolationLinearVelocity, m_interpolationWorldTransform, m_invMass, btRigidBody::btRigidBodyConstructionInfo::m_linearDamping, btRigidBody::btRigidBodyConstructionInfo::m_linearSleepingThreshold, btRigidBody::btRigidBodyConstructionInfo::m_localInertia, btRigidBody::btRigidBodyConstructionInfo::m_mass, btRigidBody::btRigidBodyConstructionInfo::m_motionState, m_pushVelocity, btRigidBody::btRigidBodyConstructionInfo::m_restitution, m_restitution, btRigidBody::btRigidBodyConstructionInfo::m_rollingFriction, m_rollingFriction, btRigidBody::btRigidBodyConstructionInfo::m_spinningFriction, m_spinningFriction, btRigidBody::btRigidBodyConstructionInfo::m_startWorldTransform, m_turnVelocity, m_worldTransform, setCollisionShape(), setDamping(), setMassProps(), uniqueId, and updateInertiaTensor().

Referenced by btRigidBody(), and btRigidBody().

translate()

void btRigidBody::translate ( const btVector3 & v )

inline

Definition at line 475 of file btRigidBody.h.

References m_worldTransform, and v.

upcast() [1/2]

static btRigidBody * btRigidBody::upcast ( btCollisionObject * colObj )

inlinestatic

Definition at line 195 of file btRigidBody.h.

upcast() [2/2]

static const btRigidBody * btRigidBody::upcast ( const btCollisionObject * colObj )

inlinestatic

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.

Referenced by btSoftBody::Body::Body(), btDefaultVehicleRaycaster::castRay(), btSimpleDynamicsWorld::clearForces(), convertBodies(), btSoftBody::defaultCollisionHandler(), getOrInitSolverBody(), getOrInitSolverBodyThreadsafe(), btDeformableRigidContactConstraint::getSplitVa(), btDeformableNodeAnchorConstraint::getVa(), btDeformableRigidContactConstraint::getVa(), initSolverBody(), btSimpleDynamicsWorld::integrateTransforms(), internalConvertBodies(), btSimpleDynamicsWorld::predictUnconstraintMotion(), btSoftBody::PSolve_RContacts(), btSimpleDynamicsWorld::removeCollisionObject(), resolveSingleCollision(), btSimpleDynamicsWorld::setGravity(), btDeformableNodeAnchorConstraint::solveConstraint(), btDeformableRigidContactConstraint::solveConstraint(), btDeformableRigidContactConstraint::solveSplitImpulse(), btSimpleDynamicsWorld::synchronizeMotionStates(), btSimpleDynamicsWorld::updateAabbs(), and writeToSolverBody().

updateDeactivation()

SIMD_FORCE_INLINE void btRigidBody::updateDeactivation ( btScalar timeStep )

inline

Definition at line 499 of file btRigidBody.h.

References DISABLE_DEACTIVATION, getActivationState(), getAngularVelocity(), getLinearVelocity(), ISLAND_SLEEPING, length2(), m_deactivationTime, and setActivationState().

updateInertiaTensor()

void btRigidBody::updateInertiaTensor

(

)

Definition at line 249 of file btRigidBody.cpp.

References m_worldTransform.

Referenced by RB_body_set_mass(), setCenterOfMassTransform(), and setupRigidBody().

wantsSleeping()

SIMD_FORCE_INLINE bool btRigidBody::wantsSleeping ( )

inline

Definition at line 516 of file btRigidBody.h.

References DISABLE_DEACTIVATION, gDeactivationTime, gDisableDeactivation, getActivationState(), ISLAND_SLEEPING, m_deactivationTime, and WANTS_DEACTIVATION.

Member Data Documentation

m_angularFactor

btVector3 btRigidBody::m_angularFactor

protected

Definition at line 98 of file btRigidBody.h.

Referenced by applyImpulse(), applyPushImpulse(), applyTorque(), applyTorqueImpulse(), applyTorqueTurnImpulse(), getAngularFactor(), initSolverBody(), serialize(), setAngularFactor(), setAngularFactor(), and setupRigidBody().

m_contactSolverType

int btRigidBody::m_contactSolverType

Definition at line 565 of file btRigidBody.h.

Referenced by setupRigidBody().

m_deltaAngularVelocity

btVector3 btRigidBody::m_deltaAngularVelocity

protected

Definition at line 97 of file btRigidBody.h.

Referenced by setupRigidBody().

m_frictionSolverType

int btRigidBody::m_frictionSolverType

Definition at line 566 of file btRigidBody.h.

Referenced by setupRigidBody().

m_invMass

btVector3 btRigidBody::m_invMass

protected

Definition at line 99 of file btRigidBody.h.

Referenced by setLinearFactor(), setMassProps(), and setupRigidBody().

m_pushVelocity

btVector3 btRigidBody::m_pushVelocity

protected

Definition at line 100 of file btRigidBody.h.

Referenced by applyCentralPushImpulse(), getPushVelocity(), getPushVelocityInLocalPoint(), setPushVelocity(), and setupRigidBody().

m_turnVelocity

btVector3 btRigidBody::m_turnVelocity

protected

Definition at line 101 of file btRigidBody.h.

Referenced by applyTorqueTurnImpulse(), getPushVelocityInLocalPoint(), getTurnVelocity(), setTurnVelocity(), and setupRigidBody().

---

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

• btRigidBody.h
• btRigidBody.cpp