Torque Game Engine Documentation
TGE Version 1.5.2

Rigid Class Reference

#include <rigid.h>

Public Member Functions

Rigid ()

void clearForces ()

void integrate (F32 delta)

void updateInertialTensor ()

void updateVelocity ()

void updateCenterOfMass ()

void applyImpulse (const Point3F &v, const Point3F &impulse)

bool resolveCollision (const Point3F &p, const Point3F &normal, Rigid *)

bool resolveCollision (const Point3F &p, const Point3F &normal)

F32 getZeroImpulse (const Point3F &r, const Point3F &normal)

F32 getKineticEnergy ()

void getOriginVector (const Point3F &r, Point3F *v)

void setCenterOfMass (const Point3F &v)

void getVelocity (const Point3F &p, Point3F *r)

void getTransform (MatrixF *mat)

void setTransform (const MatrixF &mat)

void setObjectInertia (const Point3F &r)

void setObjectInertia ()

void invertObjectInertia ()

bool checkRestCondition ()

void setAtRest ()

Data Fields

Point3F force

Point3F torque

Point3F linVelocity

Linear velocity.

Point3F linPosition

Current position.

Point3F linMomentum

Linear momentum.

Point3F angVelocity

Angular velocity.

QuatF angPosition

Current rotation.

Point3F angMomentum

Angular momentum.

MatrixF objectInertia

Moment of inertia.

MatrixF invObjectInertia

Inverse moment of inertia.

MatrixF invWorldInertia

Inverse moment of inertia in world space.

Point3F centerOfMass

Center of mass in object space.

Point3F worldCenterOfMass

CofM in world space.

F32 mass

Rigid body mass.

F32 oneOverMass

1 / mass

F32 restitution

Collision restitution.

F32 friction

Friction coefficient.

bool atRest

Private Member Functions

void translateCenterOfMass (const Point3F &oldPos, const Point3F &newPos)

Constructor & Destructor Documentation

Rigid::Rigid ( )

Member Function Documentation

void Rigid::translateCenterOfMass	(	const Point3F &	oldPos,
		const Point3F &	newPos
	)			`[private]`

void Rigid::clearForces ( )

void Rigid::integrate ( F32 delta )

void Rigid::updateInertialTensor ( )

void Rigid::updateVelocity ( )

void Rigid::updateCenterOfMass ( )

void Rigid::applyImpulse	(	const Point3F &	v,
		const Point3F &	impulse
	)

bool Rigid::resolveCollision	(	const Point3F &	p,
		const Point3F &	normal,
		Rigid *
	)

bool Rigid::resolveCollision	(	const Point3F &	p,
		const Point3F &	normal
	)

F32 Rigid::getZeroImpulse	(	const Point3F &	r,
		const Point3F &	normal
	)

F32 Rigid::getKineticEnergy ( )

void Rigid::getOriginVector	(	const Point3F &	r,
		Point3F *	v
	)

void Rigid::setCenterOfMass ( const Point3F & v )

void Rigid::getVelocity	(	const Point3F &	p,
		Point3F *	r
	)

void Rigid::getTransform ( MatrixF * mat )

void Rigid::setTransform ( const MatrixF & mat )

void Rigid::setObjectInertia ( const Point3F & r )

void Rigid::setObjectInertia ( )

void Rigid::invertObjectInertia ( )

bool Rigid::checkRestCondition ( )

void Rigid::setAtRest ( )

Field Documentation

Point3F Rigid::force

Point3F Rigid::torque

Point3F Rigid::linVelocity

Linear velocity.

Point3F Rigid::linPosition

Current position.

Point3F Rigid::linMomentum

Linear momentum.

Point3F Rigid::angVelocity

Angular velocity.

QuatF Rigid::angPosition

Current rotation.

Point3F Rigid::angMomentum

Angular momentum.

MatrixF Rigid::objectInertia

Moment of inertia.

MatrixF Rigid::invObjectInertia

Inverse moment of inertia.

MatrixF Rigid::invWorldInertia

Inverse moment of inertia in world space.

Point3F Rigid::centerOfMass

Center of mass in object space.

Point3F Rigid::worldCenterOfMass

CofM in world space.

F32 Rigid::mass

Rigid body mass.

F32 Rigid::oneOverMass

1 / mass

F32 Rigid::restitution

Collision restitution.

F32 Rigid::friction

Friction coefficient.

bool Rigid::atRest