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btRigidBody Class Reference

#include <btRigidBody.h>

List of all members.

Detailed Description

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:

Definition at line 42 of file btRigidBody.h.

Public Member Functions

void addConstraintRef (btTypedConstraint *c)
void applyCentralForce (const btVector3 &force)
void applyCentralImpulse (const btVector3 &impulse)
void applyDamping (btScalar timeStep)
 applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
void applyForce (const btVector3 &force, const btVector3 &rel_pos)
void applyGravity ()
void applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
void applyTorque (const btVector3 &torque)
void applyTorqueImpulse (const btVector3 &torque)
 btRigidBody (btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
 btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
 btRigidBody constructor using construction info
virtual bool checkCollideWithOverride (btCollisionObject *co)
void clearForces ()
SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator (const btVector3 &axis) const
SIMD_FORCE_INLINE btScalar computeImpulseDenominator (const btPoint3 &pos, const btVector3 &normal) const
void getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
btScalar getAngularDamping () const
btScalar getAngularFactor () const
btScalar getAngularSleepingThreshold () const
const btVector3getAngularVelocity () const
btBroadphaseProxy * getBroadphaseProxy ()
const btBroadphaseProxy * getBroadphaseProxy () const
const btPoint3getCenterOfMassPosition () const
const btTransformgetCenterOfMassTransform () const
getCollisionShape ()
getCollisionShape () const
btTypedConstraintgetConstraintRef (int index)
const btVector3getGravity () const
const btVector3getInvInertiaDiagLocal ()
const btMatrix3x3getInvInertiaTensorWorld () const
btScalar getInvMass () const
btScalar getLinearDamping () const
btScalar getLinearSleepingThreshold () const
const btVector3getLinearVelocity () const
const btMotionStategetMotionState () const
btMotionStategetMotionState ()
int getNumConstraintRefs ()
btQuaternion getOrientation () const
btVector3 getVelocityInLocalPoint (const btVector3 &rel_pos) const
void integrateVelocities (btScalar step)
SIMD_FORCE_INLINE void internalApplyImpulse (const btVector3 &linearComponent, const btVector3 &angularComponent, btScalar impulseMagnitude)
bool isInWorld () const
void predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
 continuous collision detection needs prediction
void proceedToTransform (const btTransform &newTrans)
void removeConstraintRef (btTypedConstraint *c)
void saveKinematicState (btScalar step)
void setAngularFactor (btScalar angFac)
void setAngularVelocity (const btVector3 &ang_vel)
void setCenterOfMassTransform (const btTransform &xform)
void setDamping (btScalar lin_damping, btScalar ang_damping)
void setGravity (const btVector3 &acceleration)
void setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
void setLinearVelocity (const btVector3 &lin_vel)
void setMassProps (btScalar mass, const btVector3 &inertia)
void setMotionState (btMotionState *motionState)
void setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
void setSleepingThresholds (btScalar linear, btScalar angular)
void translate (const btVector3 &v)
SIMD_FORCE_INLINE void updateDeactivation (btScalar timeStep)
void updateInertiaTensor ()
SIMD_FORCE_INLINE 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 Member Functions

void setupRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
 setupRigidBody is only used internally by the constructor

Private Attributes

btScalar m_additionalAngularDampingFactor
btScalar m_additionalAngularDampingThresholdSqr
bool m_additionalDamping
btScalar m_additionalDampingFactor
btScalar m_additionalLinearDampingThresholdSqr
btScalar m_angularDamping
btScalar m_angularFactor
btScalar m_angularSleepingThreshold
btVector3 m_angularVelocity
< btTypedConstraint * > 
btVector3 m_gravity
btScalar m_inverseMass
btVector3 m_invInertiaLocal
btMatrix3x3 m_invInertiaTensorWorld
btScalar m_linearDamping
btScalar m_linearSleepingThreshold
btVector3 m_linearVelocity
btVector3 m_totalForce
btVector3 m_totalTorque


struct  btRigidBodyConstructionInfo

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

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