This class represents a rigid body of the physics engine. More...

#include <include/reactphysics3d/body/RigidBody.h>

Inheritance diagram for reactphysics3d::RigidBody:

Public Member Functions
	RigidBody (PhysicsWorld &world, Entity entity)
	Constructor.

virtual	~RigidBody () override=default
	Destructor.

	RigidBody (const RigidBody &body)=delete
	Deleted copy-constructor.

RigidBody &	operator= (const RigidBody &body)=delete
	Deleted assignment operator.

virtual void	setTransform (const Transform &transform) override
	Set the current position and orientation.

decimal	getMass () const
	Return the mass of the body.

void	setMass (decimal mass)
	Set the mass of the rigid body.

Vector3	getLinearVelocity () const
	Return the linear velocity.

void	setLinearVelocity (const Vector3 &linearVelocity)
	Set the linear velocity of the body.

Vector3	getAngularVelocity () const
	Return the angular velocity.

void	setAngularVelocity (const Vector3 &angularVelocity)
	Set the angular velocity.

const Vector3 &	getLocalInertiaTensor () const
	Return the local inertia tensor of the body (in body coordinates)

void	setLocalInertiaTensor (const Vector3 &inertiaTensorLocal)
	Set the local inertia tensor of the body (in body coordinates)

const Vector3 &	getLocalCenterOfMass () const
	Return the center of mass of the body (in local-space coordinates)

void	setLocalCenterOfMass (const Vector3 &centerOfMass)
	Set the center of mass of the body (in local-space coordinates)

void	updateLocalCenterOfMassFromColliders ()
	Compute and set the local-space center of mass of the body using its colliders.

void	updateLocalInertiaTensorFromColliders ()
	Compute and set the local-space inertia tensor of the body using its colliders.

void	updateMassFromColliders ()
	Compute and set the mass of the body using its colliders.

void	updateMassPropertiesFromColliders ()
	Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders.

BodyType	getType () const
	Return the type of the body.

void	setType (BodyType type)
	Set the type of the body.

bool	isGravityEnabled () const
	Return true if the gravity needs to be applied to this rigid body.

void	enableGravity (bool isEnabled)
	Set the variable to know if the gravity is applied to this rigid body.

void	setIsSleeping (bool isSleeping)
	Set the variable to know whether or not the body is sleeping.

decimal	getLinearDamping () const
	Return the linear velocity damping factor.

void	setLinearDamping (decimal linearDamping)
	Set the linear damping factor.

decimal	getAngularDamping () const
	Return the angular velocity damping factor.

void	setAngularDamping (decimal angularDamping)
	Set the angular damping factor.

const Vector3 &	getLinearLockAxisFactor () const
	Return the lock translation factor.

void	setLinearLockAxisFactor (const Vector3 &linearLockAxisFactor) const
	Set the linear lock factor.

const Vector3 &	getAngularLockAxisFactor () const
	Return the lock rotation factor.

void	setAngularLockAxisFactor (const Vector3 &angularLockAxisFactor) const
	Set the lock rotation factor.

void	applyLocalForceAtCenterOfMass (const Vector3 &force)
	Manually apply an external force (in local-space) to the body at its center of mass.

void	applyWorldForceAtCenterOfMass (const Vector3 &force)
	Manually apply an external force (in world-space) to the body at its center of mass.

void	applyLocalForceAtLocalPosition (const Vector3 &force, const Vector3 &point)
	Manually apply an external force (in local-space) to the body at a given point (in local-space).

void	applyWorldForceAtLocalPosition (const Vector3 &force, const Vector3 &point)
	Manually apply an external force (in world-space) to the body at a given point (in local-space).

void	applyLocalForceAtWorldPosition (const Vector3 &force, const Vector3 &point)
	Manually apply an external force (in local-space) to the body at a given point (in world-space).

void	applyWorldForceAtWorldPosition (const Vector3 &force, const Vector3 &point)
	Manually apply an external force (in world-space) to the body at a given point (in world-space).

void	applyWorldTorque (const Vector3 &torque)
	Manually apply an external torque to the body (in world-space).

void	applyLocalTorque (const Vector3 &torque)
	Manually apply an external torque to the body (in local-space).

void	resetForce ()
	Reset the manually applied force to zero.

void	resetTorque ()
	Reset the manually applied torque to zero.

const Vector3 &	getForce () const
	Return the total manually applied force on the body (in world-space)

const Vector3 &	getTorque () const
	Return the total manually applied torque on the body (in world-space)

bool	isAllowedToSleep () const
	Return whether or not the body is allowed to sleep.

void	setIsAllowedToSleep (bool isAllowedToSleep)
	Set whether or not the body is allowed to go to sleep.

bool	isSleeping () const
	Return whether or not the body is sleeping.

virtual void	setIsActive (bool isActive) override
	Set whether or not the body is active.

virtual Collider *	addCollider (CollisionShape *collisionShape, const Transform &transform) override
	Create a new collider and add it to the body.

virtual void	removeCollider (Collider *collider) override
	Remove a collider from the body.

Public Member Functions inherited from reactphysics3d::Body
	Body (PhysicsWorld &world, Entity entity)
	Constructor.

virtual	~Body ()
	Destructor.

	Body (const Body &body)=delete
	Deleted copy-constructor.

Body &	operator= (const Body &body)=delete
	Deleted assignment operator.

Entity	getEntity () const
	Return the corresponding entity of the body.

bool	isActive () const
	Return true if the body is active.

void *	getUserData () const
	Return a pointer to the user data attached to this body.

void	setUserData (void *userData)
	Attach user data to this body.

const Transform &	getTransform () const
	Return the current position and orientation.

bool	testPointInside (const Vector3 &worldPoint) const
	Return true if a point is inside the collision body.

bool	raycast (const Ray &ray, RaycastInfo &raycastInfo)
	Raycast method with feedback information.

bool	testAABBOverlap (const AABB &worldAABB) const
	Test if the collision body overlaps with a given AABB.

AABB	getAABB () const
	Compute and return the AABB of the body by merging all colliders AABBs.

const Collider *	getCollider (uint32 colliderIndex) const
	Return a const pointer to a given collider of the body.

Collider *	getCollider (uint32 colliderIndex)
	Return a pointer to a given collider of the body.

uint32	getNbColliders () const
	Return the number of colliders associated with this body.

Vector3	getWorldPoint (const Vector3 &localPoint) const
	Return the world-space coordinates of a point given the local-space coordinates of the body.

Vector3	getWorldVector (const Vector3 &localVector) const
	Return the world-space vector of a vector given in local-space coordinates of the body.

Vector3	getLocalPoint (const Vector3 &worldPoint) const
	Return the body local-space coordinates of a point given in the world-space coordinates.

Vector3	getLocalVector (const Vector3 &worldVector) const
	Return the body local-space coordinates of a vector given in the world-space coordinates.

void	setIsDebugEnabled (bool enabled)
	Set whether or not debug lines are computed for this body.

bool	isDebugEnabled () const
	Return true if debug lines should be computed for this body.

Detailed Description

This class represents a rigid body of the physics engine.

A rigid body is a non-deformable body that has a constant mass. This class inherits from the Body class.

Constructor & Destructor Documentation

◆ RigidBody()

RigidBody::RigidBody	(	PhysicsWorld &	world,
		Entity	entity
	)

Constructor.

Parameters

world	The world where the body has been added
entity	The entity of the rigidbody

Member Function Documentation

◆ addCollider()

Collider * RigidBody::addCollider	(	CollisionShape *	collisionShape,
		const Transform &	transform
	)

overridevirtual

Create a new collider and add it to the body.

This method will return a pointer to a new collider.

A collider is an object with a collision shape that is attached to a body. It is possible to attach multiple colliders to a given body. You can use the returned collider to get and set information about the corresponding collision shape for that body.

Parameters

collisionShape	A pointer to the collision shape of the new collider
transform	The transformation of the collider that transforms the local-space of the collider into the local-space of the body

Returns: A pointer to the collider that has been created

Reimplemented from reactphysics3d::Body.

◆ applyLocalForceAtCenterOfMass()

void RigidBody::applyLocalForceAtCenterOfMass ( const Vector3 & force )

Manually apply an external force (in local-space) to the body at its center of mass.

If the body is sleeping, calling this method will wake it up.

Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force The external force (in local-space of the body) to apply on the center of mass of the body (in Newtons)

◆ applyLocalForceAtLocalPosition()

void RigidBody::applyLocalForceAtLocalPosition	(	const Vector3 &	force,
		const Vector3 &	point
	)

Manually apply an external force (in local-space) to the body at a given point (in local-space).

If the point is not at the center of mass of the body, it will also generate some torque and therefore, change the angular velocity of the body.

If the body is sleeping, calling this method will wake it up. Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force	The force (in local-space of the body) to apply on the body (in Newtons)
point	The point where the force is applied (in local-space of the body)

◆ applyLocalForceAtWorldPosition()

void RigidBody::applyLocalForceAtWorldPosition	(	const Vector3 &	force,
		const Vector3 &	point
	)

Manually apply an external force (in local-space) to the body at a given point (in world-space).

If the point is not at the center of mass of the body, it will also generate some torque and therefore, change the angular velocity of the body.

If the body is sleeping, calling this method will wake it up. Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force	The force (in local-space of the body) to apply on the body (in Newtons)
point	The point where the force is applied (in world-space)

◆ applyLocalTorque()

void RigidBody::applyLocalTorque ( const Vector3 & torque )

Manually apply an external torque to the body (in local-space).

If the body is sleeping, calling this method will wake it up.

Note that the force will we added to the sum of the applied torques and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

torque The external torque to apply on the body (in local-space)

◆ applyWorldForceAtCenterOfMass()

void RigidBody::applyWorldForceAtCenterOfMass ( const Vector3 & force )

Manually apply an external force (in world-space) to the body at its center of mass.

If the body is sleeping, calling this method will wake it up.

Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force The external force (in world-space) to apply on the center of mass of the body (in Newtons)

◆ applyWorldForceAtLocalPosition()

void RigidBody::applyWorldForceAtLocalPosition	(	const Vector3 &	force,
		const Vector3 &	point
	)

Manually apply an external force (in world-space) to the body at a given point (in local-space).

If the point is not at the center of mass of the body, it will also generate some torque and therefore, change the angular velocity of the body.

If the body is sleeping, calling this method will wake it up. Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force	The force (in world-space) to apply on the body (in Newtons)
point	The point where the force is applied (in local-space)

◆ applyWorldForceAtWorldPosition()

void RigidBody::applyWorldForceAtWorldPosition	(	const Vector3 &	force,
		const Vector3 &	point
	)

Manually apply an external force (in world-space) to the body at a given point (in world-space).

If the point is not at the center of mass of the body, it will also generate some torque and therefore, change the angular velocity of the body.

If the body is sleeping, calling this method will wake it up. Note that the force will we added to the sum of the applied forces and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

force	The force (in world-space) to apply on the body (in Newtons)
point	The point where the force is applied (in world-space)

◆ applyWorldTorque()

void RigidBody::applyWorldTorque ( const Vector3 & torque )

Manually apply an external torque to the body (in world-space).

If the body is sleeping, calling this method will wake it up.

Note that the force will we added to the sum of the applied torques and that this sum will be reset to zero at the end of each call of the PhyscisWorld::update() method. You can only apply a force to a dynamic body otherwise, this method will do nothing.

Parameters

torque The external torque to apply on the body (in world-space)

◆ enableGravity()

void RigidBody::enableGravity ( bool isEnabled )

Set the variable to know if the gravity is applied to this rigid body.

Parameters

isEnabled True if you want the gravity to be applied to this body

◆ getAngularDamping()

decimal RigidBody::getAngularDamping ( ) const

Return the angular velocity damping factor.

Returns: The angular damping factor of this body (in range [0; +inf]). Zero means no damping.

◆ getAngularLockAxisFactor()

const Vector3 & RigidBody::getAngularLockAxisFactor ( ) const

Return the lock rotation factor.

The angular lock axis factor specify whether angular motion around world-space axes X,Y,Z is restricted or not.

Returns: A Vector3 with the angular lock axis factor for each X,Y,Z world-space axis

◆ getAngularVelocity()

Vector3 RigidBody::getAngularVelocity ( ) const

Return the angular velocity.

Returns: The angular velocity vector of the body

◆ getForce()

const Vector3 & RigidBody::getForce ( ) const

Return the total manually applied force on the body (in world-space)

Returns: The total manually applied force on the body (in world-space)

◆ getLinearDamping()

decimal RigidBody::getLinearDamping ( ) const

Return the linear velocity damping factor.

Returns: The linear damping factor of this body (in range [0; +inf]). Zero means no damping.

◆ getLinearLockAxisFactor()

const Vector3 & RigidBody::getLinearLockAxisFactor ( ) const

Return the lock translation factor.

The linear lock axis factor specify whether linear motion along world-space axes X,Y,Z is restricted or not.

Returns: A Vector3 with the linear lock axis factor for each X,Y,Z world-space axis

◆ getLinearVelocity()

Vector3 RigidBody::getLinearVelocity ( ) const

Return the linear velocity.

Returns: The linear velocity vector of the body

◆ getLocalCenterOfMass()

const Vector3 & RigidBody::getLocalCenterOfMass ( ) const

Return the center of mass of the body (in local-space coordinates)

Returns: The local-space position of the center of mass of the body

◆ getLocalInertiaTensor()

const Vector3 & RigidBody::getLocalInertiaTensor ( ) const

Return the local inertia tensor of the body (in body coordinates)

Returns: A vector with the three values of the diagonal 3x3 matrix of the local-space inertia tensor

◆ getMass()

decimal RigidBody::getMass ( ) const

Return the mass of the body.

Returns: The mass (in kilograms) of the body

◆ getTorque()

const Vector3 & RigidBody::getTorque ( ) const

Return the total manually applied torque on the body (in world-space)

Returns: The total manually applied torque on the body (in world-space)

◆ getType()

BodyType RigidBody::getType ( ) const

Return the type of the body.

Returns: The type of rigid body (static, kinematic or dynamic)

◆ isAllowedToSleep()

bool RigidBody::isAllowedToSleep ( ) const

Return whether or not the body is allowed to sleep.

Returns: True if the body is allowed to sleep and false otherwise

◆ isGravityEnabled()

bool RigidBody::isGravityEnabled ( ) const

Return true if the gravity needs to be applied to this rigid body.

Returns: True if the gravity is applied to the body

◆ isSleeping()

bool RigidBody::isSleeping ( ) const

Return whether or not the body is sleeping.

Returns: True if the body is currently sleeping and false otherwise

◆ removeCollider()

void RigidBody::removeCollider ( Collider * collider )

overridevirtual

Remove a collider from the body.

To remove a collider, you need to specify its pointer.

Parameters

collider The pointer of the collider you want to remove

Reimplemented from reactphysics3d::Body.

◆ setAngularDamping()

void RigidBody::setAngularDamping ( decimal angularDamping )

Set the angular damping factor.

Parameters

angularDamping The angular damping factor of this body (in range [0; +inf]). Zero means no damping.

◆ setAngularLockAxisFactor()

void RigidBody::setAngularLockAxisFactor ( const Vector3 & angularLockAxisFactor ) const

Set the lock rotation factor.

This method allows to restrict the angular motion of a rigid body around the world-space axes X,Y and Z.

For instance, it's possible to disable the angular motion of a body around a given axis by setting a lock axis factor of zero.

Parameters

angularLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z

◆ setAngularVelocity()

void RigidBody::setAngularVelocity ( const Vector3 & angularVelocity )

Set the angular velocity.

Parameters

angularVelocity The angular velocity vector of the body

◆ setIsActive()

void RigidBody::setIsActive ( bool isActive )

overridevirtual

Set whether or not the body is active.

Parameters

isActive True if you want to activate the body

Reimplemented from reactphysics3d::Body.

◆ setIsAllowedToSleep()

void RigidBody::setIsAllowedToSleep ( bool isAllowedToSleep )

Set whether or not the body is allowed to go to sleep.

Parameters

isAllowedToSleep True if the body is allowed to sleep

◆ setLinearDamping()

void RigidBody::setLinearDamping ( decimal linearDamping )

Set the linear damping factor.

Parameters

linearDamping The linear damping factor of this body (in range [0; +inf]). Zero means no damping.

◆ setLinearLockAxisFactor()

void RigidBody::setLinearLockAxisFactor ( const Vector3 & linearLockAxisFactor ) const

Set the linear lock factor.

This method allows to restrict the linear motion of a rigid body along the world-space axes X,Y and Z.

For instance, it's possible to disable the linear motion of a body along a given axis by setting a lock axis factor of zero.

Parameters

linearLockAxisFactor A Vector3 with the lock factor for each world-space axis X,Y,Z

◆ setLinearVelocity()

void RigidBody::setLinearVelocity ( const Vector3 & linearVelocity )

Set the linear velocity of the body.

Parameters

linearVelocity Linear velocity vector of the body

◆ setLocalCenterOfMass()

void RigidBody::setLocalCenterOfMass ( const Vector3 & centerOfMass )

Set the center of mass of the body (in local-space coordinates)

This method does not move the rigid body in the world.

Parameters

centerOfMass The center of mass of the body in local-space coordinates

◆ setLocalInertiaTensor()

void RigidBody::setLocalInertiaTensor ( const Vector3 & inertiaTensorLocal )

Set the local inertia tensor of the body (in body coordinates)

Note that an inertia tensor with a zero value on its diagonal is interpreted as infinite inertia.

Parameters

inertiaTensorLocal A vector with the three values of the diagonal 3x3 matrix of the local-space inertia tensor

◆ setMass()

void RigidBody::setMass ( decimal mass )

Set the mass of the rigid body.

Note that a mass of zero is interpreted as infinite mass.

Parameters

mass	The mass (in kilograms) of the body

◆ setTransform()

void RigidBody::setTransform ( const Transform & transform )

overridevirtual

Set the current position and orientation.

Parameters

transform The transformation of the body that transforms the local-space of the body into world-space

Reimplemented from reactphysics3d::Body.

◆ setType()

void RigidBody::setType ( BodyType type )

Set the type of the body.

The type of the body can either STATIC, KINEMATIC or DYNAMIC as described bellow: STATIC : A static body is simulated as if it has infinite mass, zero velocity but its position can be changed manually.

A static body does not collide with other static or kinematic bodies. KINEMATIC : A kinematic body is simulated as if it has infinite mass, its velocity can be changed manually and its position is computed by the physics engine. A kinematic body does not collide with other static or kinematic bodies. DYNAMIC : A dynamic body has non-zero mass, its velocity is determined by forces and its position is determined by the physics engine. A dynamic body can collide with other dynamic, static or kinematic bodies.

Parameters

type	The type of the body (STATIC, KINEMATIC, DYNAMIC)

◆ updateLocalCenterOfMassFromColliders()

void RigidBody::updateLocalCenterOfMassFromColliders ( )

Compute and set the local-space center of mass of the body using its colliders.

This method uses the shape, mass density and transforms of the colliders to set the center of mass of the body.

Note that calling this method will overwrite the mass that has been previously set with the RigidBody::setCenterOfMass() method. Moreover, this method does not use the mass set by the user with the RigidBody::setMass() method to compute the center of mass but only the mass density and volume of the colliders.

◆ updateLocalInertiaTensorFromColliders()

void RigidBody::updateLocalInertiaTensorFromColliders ( )

Compute and set the local-space inertia tensor of the body using its colliders.

This method uses the shape, mass density and transforms of the colliders to set the local-space inertia tensor of the body.

Note that calling this method will overwrite the mass that has been set with the RigidBody::setInertiaTensorLocal() method.

◆ updateMassFromColliders()

void RigidBody::updateMassFromColliders ( )

Compute and set the mass of the body using its colliders.

This method uses the shape, mass density and transforms of the colliders to set the total mass of the body.

Note that calling this method will overwrite the mass that has been set with the RigidBody::setMass() method

◆ updateMassPropertiesFromColliders()

void RigidBody::updateMassPropertiesFromColliders ( )

Compute and set the center of mass, the mass and the local-space inertia tensor of the body using its colliders.

This method uses the shape, mass density and transform of the colliders of the body to set the total mass, the center of mass and the local inertia tensor of the body.

Note that calling this method will overwrite the mass that has been set with the RigidBody::setMass(), the center of mass that has been set with RigidBody::setCenterOfMass() and the local inertia tensor that has been set with RigidBody::setInertiaTensorLocal().

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

include/reactphysics3d/body/RigidBody.h
src/body/RigidBody.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RigidBody()

Member Function Documentation

◆ addCollider()

◆ applyLocalForceAtCenterOfMass()

◆ applyLocalForceAtLocalPosition()

◆ applyLocalForceAtWorldPosition()

◆ applyLocalTorque()

◆ applyWorldForceAtCenterOfMass()

◆ applyWorldForceAtLocalPosition()

◆ applyWorldForceAtWorldPosition()

◆ applyWorldTorque()

◆ enableGravity()

◆ getAngularDamping()

◆ getAngularLockAxisFactor()

◆ getAngularVelocity()

◆ getForce()

◆ getLinearDamping()

◆ getLinearLockAxisFactor()

◆ getLinearVelocity()

◆ getLocalCenterOfMass()

◆ getLocalInertiaTensor()

◆ getMass()

◆ getTorque()

◆ getType()

◆ isAllowedToSleep()

◆ isGravityEnabled()

◆ isSleeping()

◆ removeCollider()

◆ setAngularDamping()

◆ setAngularLockAxisFactor()

◆ setAngularVelocity()

◆ setIsActive()

◆ setIsAllowedToSleep()

◆ setLinearDamping()

◆ setLinearLockAxisFactor()

◆ setLinearVelocity()

◆ setLocalCenterOfMass()

◆ setLocalInertiaTensor()

◆ setMass()

◆ setTransform()

◆ setType()

◆ updateLocalCenterOfMassFromColliders()

◆ updateLocalInertiaTensorFromColliders()

◆ updateMassFromColliders()

◆ updateMassPropertiesFromColliders()