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btRigidBody Class Reference

#include <btRigidBody.h>

Inheritance diagram for btRigidBody:


List of all members.

Detailed Description

btRigidBody class for btRigidBody Dynamics

Definition at line 43 of file btRigidBody.h.

Public Types


Public Member Functions

void activate (bool forceActivation=false)
void applyCentralForce (const btVector3 &force)
void applyCentralImpulse (const btVector3 &impulse)
void applyForce (const btVector3 &force, const btVector3 &rel_pos)
void applyForces (btScalar step)
void applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
void applyTorque (const btVector3 &torque)
void applyTorqueImpulse (const btVector3 &torque)
 btRigidBody (float mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0), btScalar linearDamping=0.f, btScalar angularDamping=0.f, btScalar friction=0.5f, btScalar restitution=0.f)
void clearForces ()
float computeAngularImpulseDenominator (const btVector3 &axis) const
float computeImpulseDenominator (const btPoint3 &pos, const btVector3 &normal) const
void forceActivationState (int newState)
void getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
int getActivationState () const
float getAngularFactor () const
const btVector3getAngularVelocity () const
const btBroadphaseProxygetBroadphaseHandle () const
btBroadphaseProxygetBroadphaseHandle ()
btBroadphaseProxygetBroadphaseProxy ()
const btBroadphaseProxygetBroadphaseProxy () const
float getCcdSquareMotionThreshold () const
float getCcdSweptSphereRadius () const
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::.
const btPoint3getCenterOfMassPosition () const
const btTransformgetCenterOfMassTransform () const
const int getCollisionFlags () const
btCollisionShapegetCollisionShape ()
const btCollisionShapegetCollisionShape () const
float getDeactivationTime () const
float getFriction () const
const btVector3getGravity () const
const float getHitFraction () const
const void * getInternalOwner () const
void * getInternalOwner ()
 reserved for Bullet internal usage
const btVector3getInterpolationAngularVelocity () const
const btVector3getInterpolationLinearVelocity () const
btTransformgetInterpolationWorldTransform ()
const btTransformgetInterpolationWorldTransform () const
const btVector3getInvInertiaDiagLocal ()
const btMatrix3x3 & getInvInertiaTensorWorld () const
btScalar getInvMass () const
const int getIslandTag () const
const btVector3getLinearVelocity () const
const btMotionStategetMotionState () const
btMotionStategetMotionState ()
btQuaternion getOrientation () const
float getRestitution () const
void * getUserPointer () const
 users can point to their objects, userPointer is not used by Bullet
btVector3 getVelocityInLocalPoint (const btVector3 &rel_pos) const
const btTransformgetWorldTransform () const
btTransformgetWorldTransform ()
bool hasContactResponse () const
void integrateVelocities (btScalar step)
void internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, float impulseMagnitude)
bool isActive () const
bool isInWorld () const
bool isKinematicObject () const
bool isStaticObject () const
bool isStaticOrKinematicObject () const
bool mergesSimulationIslands () const
void predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
 continuous collision detection needs prediction
void proceedToTransform (const btTransform &newTrans)
void saveKinematicState (btScalar step)
void setActivationState (int newState)
void setAngularFactor (float angFac)
void setAngularVelocity (const btVector3 &ang_vel)
void setBroadphaseHandle (btBroadphaseProxy *handle)
void setCcdSquareMotionThreshold (float ccdSquareMotionThreshold)
 Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold.
void setCcdSweptSphereRadius (float radius)
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::.
void setCenterOfMassTransform (const btTransform &xform)
void setCollisionFlags (int flags)
void setCollisionShape (btCollisionShape *collisionShape)
void setDamping (btScalar lin_damping, btScalar ang_damping)
void setDeactivationTime (float time)
void setFriction (float frict)
void setGravity (const btVector3 &acceleration)
void setHitFraction (float hitFraction)
void setInterpolationWorldTransform (const btTransform &trans)
void setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
void setIslandTag (int tag)
void setLinearVelocity (const btVector3 &lin_vel)
void setMassProps (btScalar mass, const btVector3 &inertia)
void setMotionState (btMotionState *motionState)
void setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
void setRestitution (float rest)
void setUserPointer (void *userPointer)
 users can point to their objects, userPointer is not used by Bullet
void setWorldTransform (const btTransform &worldTrans)
void translate (const btVector3 &v)
void updateDeactivation (float timeStep)
void updateInertiaTensor ()
bool wantsSleeping ()

Static Public Member Functions

static btRigidBodyupcast (btCollisionObject *colObj)
static const btRigidBodyupcast (const btCollisionObject *colObj)

Public Attributes

int m_contactSolverType
int m_debugBodyId
int m_frictionSolverType

Protected Attributes

int m_activationState1
float m_ccdSquareMotionThreshold
 Don't do continuous collision detection if square motion (in one step) is less then m_ccdSquareMotionThreshold.
float m_ccdSweptSphereRadius
 Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::.
int m_collisionFlags
float m_deactivationTime
btScalar m_friction
float m_hitFraction
 time of impact calculation
void * m_internalOwner
 m_internalOwner is reserved to point to Bullet's btRigidBody. Don't use this, use m_userObjectPointer instead.
btVector3 m_interpolationAngularVelocity
btVector3 m_interpolationLinearVelocity
btTransform m_interpolationWorldTransform
int m_islandTag1
btScalar m_restitution
void * m_userObjectPointer
 users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
btTransform m_worldTransform

Private Attributes

btScalar m_angularDamping
btScalar m_angularFactor
btVector3 m_angularVelocity
btVector3 m_gravity
btScalar m_inverseMass
btVector3 m_invInertiaLocal
btMatrix3x3 m_invInertiaTensorWorld
btScalar m_linearDamping
btVector3 m_linearVelocity
btVector3 m_totalForce
btVector3 m_totalTorque

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

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