iRigidBody Struct Reference

This is the interface for a rigid body. More...

#include <ivaria/dynamics.h>

Inheritance diagram for iRigidBody:


Public Member Functions
virtual void	AddForce (const csVector3 &force)=0
	Add a force (world space) (active for one timestep).
virtual void	AddForceAtPos (const csVector3 &force, const csVector3 &pos)=0
	Add a force (world space) at a specific position (world space) (active for one timestep).
virtual void	AddForceAtRelPos (const csVector3 &force, const csVector3 &pos)=0
	Add a force (world space) at a specific position (local space) (active for one timestep).
virtual void	AddRelForce (const csVector3 &force)=0
	Add a force (local space) (active for one timestep).
virtual void	AddRelForceAtPos (const csVector3 &force, const csVector3 &pos)=0
	Add a force (local space) at a specific position (world space) (active for one timestep).
virtual void	AddRelForceAtRelPos (const csVector3 &force, const csVector3 &pos)=0
	Add a force (local space) at a specific position (loacl space) (active for one timestep).
virtual void	AddRelTorque (const csVector3 &force)=0
	Add a torque (local space) (active for one timestep).
virtual void	AddTorque (const csVector3 &force)=0
	Add a torque (world space) (active for one timestep).
virtual void	AdjustTotalMass (float targetmass)=0
	Set total mass to targetmass, and adjust properties.
virtual void	AttachCamera (iCamera *camera)=0
	Attach an iCamera to this body.
virtual void	AttachCollider (iDynamicsSystemCollider *collider)=0
	Attach collider to rigid body.
virtual bool	AttachColliderBox (const csVector3 &size, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
	Add a collider box with given properties.
virtual bool	AttachColliderCylinder (float length, float radius, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
	Cylinder orientated along its local z axis.
virtual bool	AttachColliderMesh (iMeshWrapper *mesh, const csOrthoTransform &trans, float friction, float density, float elasticity, float softness=0.01f)=0
	Add a collider with a associated friction coefficient.
virtual bool	AttachColliderPlane (const csPlane3 &plane, float friction, float density, float elasticity, float softness=0.01f)=0
	Add a collider plane with given properties.
virtual bool	AttachColliderSphere (float radius, const csVector3 &offset, float friction, float density, float elasticity, float softness=0.01f)=0
	Add a collider sphere with given properties.
virtual void	AttachLight (iLight *light)=0
	Attach an iLight to this body.
virtual void	AttachMesh (iMeshWrapper *mesh)=0
	Attach an iMeshWrapper to this body.
virtual void	Collision (iRigidBody *other, const csVector3 &pos, const csVector3 &normal, float depth)=0
	If there's a collision callback with this body, execute it.
virtual void	DestroyCollider (iDynamicsSystemCollider *collider)=0
	Destroy body collider.
virtual void	DestroyColliders ()=0
	Destroy body colliders.
virtual bool	Disable (void)=0
	Temporarily ignores the body until something collides with it.
virtual bool	Enable (void)=0
	Re-enables a body after calling Disable, or by being auto disabled.
virtual const csVector3	GetAngularVelocity () const =0
	Get the angular velocity (rotation).
virtual iCamera *	GetAttachedCamera ()=0
	Returns the attached camera.
virtual iLight *	GetAttachedLight ()=0
	Returns the attached light.
virtual iMeshWrapper *	GetAttachedMesh ()=0
	Returns the attached MeshWrapper.
virtual csVector3	GetCenter ()=0
	Get center.
virtual csRef< iDynamicsSystemCollider >	GetCollider (unsigned int index)=0
	Get body collider by its index.
virtual int	GetColliderCount ()=0
	Get body colliders count.
virtual const csVector3	GetForce () const =0
	Get total force (world space).
virtual csRef< iBodyGroup >	GetGroup (void)=0
	Returns which group a body belongs to.
virtual csMatrix3	GetInertia ()=0
	Get inertia.
virtual const csVector3	GetLinearVelocity () const =0
	Get the linear velocity (movement).
virtual float	GetMass ()=0
	Get mass.
virtual const csMatrix3	GetOrientation () const =0
	Get the orientation.
virtual const csVector3	GetPosition () const =0
	Get the position.
virtual void	GetProperties (float mass, csVector3 center, csMatrix3 *inertia)=0
	Get the physic properties. 0 parameters are ignored.
virtual const csVector3	GetTorque () const =0
	Get total torque (world space).
virtual const csOrthoTransform	GetTransform () const =0
	Get the transform.
virtual bool	IsEnabled (void)=0
	Returns true if a body is enabled.
virtual bool	IsStatic (void)=0
	Tells whether a body has been made static or not.
virtual bool	MakeDynamic (void)=0
	Returns a static body to a dynamic state.
virtual bool	MakeStatic (void)=0
	Makes a body stop reacting dynamically.
virtual iObject *	QueryObject (void)=0
	returns the underlying object
virtual void	SetAngularVelocity (const csVector3 &vel)=0
	Set the angular velocity (rotation).
virtual void	SetCollisionCallback (iDynamicsCollisionCallback *cb)=0
	Set a callback to be executed when this body collides with another If 0, no callback is executed.
virtual void	SetLinearVelocity (const csVector3 &vel)=0
	Set the linear velocity (movement).
virtual void	SetMoveCallback (iDynamicsMoveCallback *cb)=0
	Set a callback to be executed when this body moves.
virtual void	SetOrientation (const csMatrix3 &trans)=0
	Set the orientation.
virtual void	SetPosition (const csVector3 &trans)=0
	Set the position.
virtual void	SetProperties (float mass, const csVector3 &center, const csMatrix3 &inertia)=0
	Set the physic properties.
virtual void	SetTransform (const csOrthoTransform &trans)=0
	Set the transform.
virtual void	Update ()=0
	Update transforms for mesh and/or bone.

Detailed Description

This is the interface for a rigid body.

It keeps all properties for the body. It can also be attached to a movable or a bone, to automatically update it.

Main creators of instances implementing this interface:

iDynamicSystem::CreateBody()

Main ways to get pointers to this interface:

iDynamicSystem::FindBody()

Main users of this interface:

iDynamicSystem

Definition at line 360 of file dynamics.h.

Member Function Documentation

virtual void iRigidBody::AddForce ( const csVector3 & force ) [pure virtual]

Add a force (world space) (active for one timestep).

virtual void iRigidBody::AddForceAtPos	(	const csVector3 &	force,
		const csVector3 &	pos
	)			`[pure virtual]`

Add a force (world space) at a specific position (world space) (active for one timestep).

virtual void iRigidBody::AddForceAtRelPos	(	const csVector3 &	force,
		const csVector3 &	pos
	)			`[pure virtual]`

Add a force (world space) at a specific position (local space) (active for one timestep).

virtual void iRigidBody::AddRelForce ( const csVector3 & force ) [pure virtual]

Add a force (local space) (active for one timestep).

virtual void iRigidBody::AddRelForceAtPos	(	const csVector3 &	force,
		const csVector3 &	pos
	)			`[pure virtual]`

Add a force (local space) at a specific position (world space) (active for one timestep).

virtual void iRigidBody::AddRelForceAtRelPos	(	const csVector3 &	force,
		const csVector3 &	pos
	)			`[pure virtual]`

Add a force (local space) at a specific position (loacl space) (active for one timestep).

virtual void iRigidBody::AddRelTorque ( const csVector3 & force ) [pure virtual]

Add a torque (local space) (active for one timestep).

virtual void iRigidBody::AddTorque ( const csVector3 & force ) [pure virtual]

Add a torque (world space) (active for one timestep).

virtual void iRigidBody::AdjustTotalMass ( float targetmass ) [pure virtual]

Set total mass to targetmass, and adjust properties.

virtual void iRigidBody::AttachCamera ( iCamera * camera ) [pure virtual]

Attach an iCamera to this body.

virtual void iRigidBody::AttachCollider ( iDynamicsSystemCollider * collider ) [pure virtual]

Attach collider to rigid body.

If you have set colliders transform before then it will be considered as relative to attached body (but still if you will use colliders "GetTransform ()" it will be in the world coordinates. Colider become dynamic (which means that it will follow rigid body).

virtual bool iRigidBody::AttachColliderBox	(	const csVector3 &	size,
		const csOrthoTransform &	trans,
		float	friction,
		float	density,
		float	elasticity,
		float	softness = `0.01f`
	)			`[pure virtual]`

Add a collider box with given properties.

Parameters:

	size	the box's dimensions
	trans	a hard transform to apply to the mesh
	friction	how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
	density	the density of this rigid body (used to calculate mass based on collider volume)
	elasticity	the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
	softness	how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"

virtual bool iRigidBody::AttachColliderCylinder	(	float	length,
		float	radius,
		const csOrthoTransform &	trans,
		float	friction,
		float	density,
		float	elasticity,
		float	softness = `0.01f`
	)			`[pure virtual]`

Cylinder orientated along its local z axis.

Parameters:

	length	length of the cylinder
	radius	radius of the cylinder
	trans	a hard transform to apply to the mesh
	friction	how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
	density	the density of this rigid body (used to calculate mass based on collider volume)
	elasticity	the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
	softness	how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"

virtual bool iRigidBody::AttachColliderMesh	(	iMeshWrapper *	mesh,
		const csOrthoTransform &	trans,
		float	friction,
		float	density,
		float	elasticity,
		float	softness = `0.01f`
	)			`[pure virtual]`

Add a collider with a associated friction coefficient.

Parameters:

	mesh	the mesh object which will act as collider
	trans	a hard transform to apply to the mesh
	friction	how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
	density	the density of this rigid body (used to calculate mass based on collider volume)
	elasticity	the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
	softness	how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"

virtual bool iRigidBody::AttachColliderPlane	(	const csPlane3 &	plane,
		float	friction,
		float	density,
		float	elasticity,
		float	softness = `0.01f`
	)			`[pure virtual]`

Add a collider plane with given properties.

Parameters:

	plane	the plane which will act as collider
	friction	how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
	density	the density of this rigid body (used to calculate mass based on collider volume)
	elasticity	the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
	softness	how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"

virtual bool iRigidBody::AttachColliderSphere	(	float	radius,
		const csVector3 &	offset,
		float	friction,
		float	density,
		float	elasticity,
		float	softness = `0.01f`
	)			`[pure virtual]`

Add a collider sphere with given properties.

Parameters:

	radius	radius of sphere
	offset	position of sphere
	friction	how much friction this body has, ranges from 0 (no friction) to infinity (perfect friction)
	density	the density of this rigid body (used to calculate mass based on collider volume)
	elasticity	the "bouncyness" of this object, from 0 (no bounce) to 1 (maximum bouncyness)
	softness	how "squishy" this object is, in the range 0...1; small values (range of 0.00001 to 0.01) give reasonably stiff collision contacts, larger values are more "mushy"

virtual void iRigidBody::AttachLight ( iLight * light ) [pure virtual]

Attach an iLight to this body.

virtual void iRigidBody::AttachMesh ( iMeshWrapper * mesh ) [pure virtual]

Attach an iMeshWrapper to this body.

virtual void iRigidBody::Collision	(	iRigidBody *	other,
		const csVector3 &	pos,
		const csVector3 &	normal,
		float	depth
	)			`[pure virtual]`

If there's a collision callback with this body, execute it.

Parameters:

	pos	is the position on which the collision occured.
	normal	is the collision normal.
	depth	is the penetration depth.

virtual void iRigidBody::DestroyCollider ( iDynamicsSystemCollider * collider ) [pure virtual]

Destroy body collider.

virtual void iRigidBody::DestroyColliders ( ) [pure virtual]

Destroy body colliders.

virtual bool iRigidBody::Disable ( void ) [pure virtual]

Temporarily ignores the body until something collides with it.

virtual bool iRigidBody::Enable ( void ) [pure virtual]

Re-enables a body after calling Disable, or by being auto disabled.

virtual const csVector3 iRigidBody::GetAngularVelocity ( ) const [pure virtual]

Get the angular velocity (rotation).

virtual iCamera* iRigidBody::GetAttachedCamera ( ) [pure virtual]

Returns the attached camera.

virtual iLight* iRigidBody::GetAttachedLight ( ) [pure virtual]

Returns the attached light.

virtual iMeshWrapper* iRigidBody::GetAttachedMesh ( ) [pure virtual]

Returns the attached MeshWrapper.

virtual csVector3 iRigidBody::GetCenter ( ) [pure virtual]

Get center.

virtual csRef<iDynamicsSystemCollider> iRigidBody::GetCollider ( unsigned int index ) [pure virtual]

Get body collider by its index.

virtual int iRigidBody::GetColliderCount ( ) [pure virtual]

Get body colliders count.

virtual const csVector3 iRigidBody::GetForce ( ) const [pure virtual]

Get total force (world space).

virtual csRef<iBodyGroup> iRigidBody::GetGroup ( void ) [pure virtual]

Returns which group a body belongs to.

virtual csMatrix3 iRigidBody::GetInertia ( ) [pure virtual]

Get inertia.

virtual const csVector3 iRigidBody::GetLinearVelocity ( ) const [pure virtual]

Get the linear velocity (movement).

virtual float iRigidBody::GetMass ( ) [pure virtual]

Get mass.

virtual const csMatrix3 iRigidBody::GetOrientation ( ) const [pure virtual]

Get the orientation.

virtual const csVector3 iRigidBody::GetPosition ( ) const [pure virtual]

Get the position.

virtual void iRigidBody::GetProperties	(	float *	mass,
		csVector3 *	center,
		csMatrix3 *	inertia
	)			`[pure virtual]`

Get the physic properties. 0 parameters are ignored.

virtual const csVector3 iRigidBody::GetTorque ( ) const [pure virtual]

Get total torque (world space).

virtual const csOrthoTransform iRigidBody::GetTransform ( ) const [pure virtual]

Get the transform.

virtual bool iRigidBody::IsEnabled ( void ) [pure virtual]

Returns true if a body is enabled.

virtual bool iRigidBody::IsStatic ( void ) [pure virtual]

Tells whether a body has been made static or not.

virtual bool iRigidBody::MakeDynamic ( void ) [pure virtual]

Returns a static body to a dynamic state.

virtual bool iRigidBody::MakeStatic ( void ) [pure virtual]

Makes a body stop reacting dynamically.

This is especially useful for environmental objects. It will also increase speed in some cases by ignoring all physics for that body

virtual iObject* iRigidBody::QueryObject ( void ) [pure virtual]

returns the underlying object

virtual void iRigidBody::SetAngularVelocity ( const csVector3 & vel ) [pure virtual]

Set the angular velocity (rotation).

virtual void iRigidBody::SetCollisionCallback ( iDynamicsCollisionCallback * cb ) [pure virtual]

Set a callback to be executed when this body collides with another If 0, no callback is executed.

virtual void iRigidBody::SetLinearVelocity ( const csVector3 & vel ) [pure virtual]

Set the linear velocity (movement).

virtual void iRigidBody::SetMoveCallback ( iDynamicsMoveCallback * cb ) [pure virtual]

Set a callback to be executed when this body moves.

If 0, no callback is executed.

virtual void iRigidBody::SetOrientation ( const csMatrix3 & trans ) [pure virtual]

Set the orientation.

virtual void iRigidBody::SetPosition ( const csVector3 & trans ) [pure virtual]

Set the position.

virtual void iRigidBody::SetProperties	(	float	mass,
		const csVector3 &	center,
		const csMatrix3 &	inertia
	)			`[pure virtual]`

Set the physic properties.

virtual void iRigidBody::SetTransform ( const csOrthoTransform & trans ) [pure virtual]

Set the transform.

virtual void iRigidBody::Update ( ) [pure virtual]

Update transforms for mesh and/or bone.

The documentation for this struct was generated from the following file:

ivaria/dynamics.h

Generated for Crystal Space by doxygen 1.4.7

Public API Reference

iRigidBody Struct Reference

Public Member Functions

Detailed Description

Member Function Documentation