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btRigidBody Class Reference

#include <btRigidBody.h>

Inheritance diagram for btRigidBody:

Classes

struct  btRigidBodyConstructionInfo
 

Public Member Functions

 btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
 btRigidBody constructor using construction info More...
 
 btRigidBody (btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
 
virtual ~btRigidBody ()
 
void proceedToTransform (const btTransform &newTrans)
 
void predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
 continuous collision detection needs prediction More...
 
void saveKinematicState (btScalar step)
 
void applyGravity ()
 
void clearGravity ()
 
void setGravity (const btVector3 &acceleration)
 
const btVector3getGravity () const
 
void setDamping (btScalar lin_damping, btScalar ang_damping)
 
btScalar getLinearDamping () const
 
btScalar getAngularDamping () const
 
btScalar getLinearSleepingThreshold () const
 
btScalar getAngularSleepingThreshold () const
 
void applyDamping (btScalar timeStep)
 applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping More...
 
SIMD_FORCE_INLINE const btCollisionShapegetCollisionShape () const
 
SIMD_FORCE_INLINE btCollisionShapegetCollisionShape ()
 
void setMassProps (btScalar mass, const btVector3 &inertia)
 
const btVector3getLinearFactor () const
 
void setLinearFactor (const btVector3 &linearFactor)
 
btScalar getInvMass () const
 
btScalar getMass () const
 
const btMatrix3x3getInvInertiaTensorWorld () const
 
void integrateVelocities (btScalar step)
 
void setCenterOfMassTransform (const btTransform &xform)
 
void applyCentralForce (const btVector3 &force)
 
const btVector3getTotalForce () const
 
const btVector3getTotalTorque () const
 
const btVector3getInvInertiaDiagLocal () const
 
void setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
 
void setSleepingThresholds (btScalar linear, btScalar angular)
 
void applyTorque (const btVector3 &torque)
 
void applyForce (const btVector3 &force, const btVector3 &rel_pos)
 
void applyCentralImpulse (const btVector3 &impulse)
 
void applyTorqueImpulse (const btVector3 &torque)
 
void applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
 
void applyPushImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
 
btVector3 getPushVelocity () const
 
btVector3 getTurnVelocity () const
 
void setPushVelocity (const btVector3 &v)
 
void setTurnVelocity (const btVector3 &v)
 
void applyCentralPushImpulse (const btVector3 &impulse)
 
void applyTorqueTurnImpulse (const btVector3 &torque)
 
void clearForces ()
 
void updateInertiaTensor ()
 
const btVector3getCenterOfMassPosition () const
 
btQuaternion getOrientation () const
 
const btTransformgetCenterOfMassTransform () const
 
const btVector3getLinearVelocity () const
 
const btVector3getAngularVelocity () const
 
void setLinearVelocity (const btVector3 &lin_vel)
 
void setAngularVelocity (const btVector3 &ang_vel)
 
btVector3 getVelocityInLocalPoint (const btVector3 &rel_pos) const
 
btVector3 getPushVelocityInLocalPoint (const btVector3 &rel_pos) const
 
void translate (const btVector3 &v)
 
void getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
 
SIMD_FORCE_INLINE btScalar computeImpulseDenominator (const btVector3 &pos, const btVector3 &normal) const
 
SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator (const btVector3 &axis) const
 
SIMD_FORCE_INLINE void updateDeactivation (btScalar timeStep)
 
SIMD_FORCE_INLINE bool wantsSleeping ()
 
const btBroadphaseProxygetBroadphaseProxy () const
 
btBroadphaseProxygetBroadphaseProxy ()
 
void setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
 
btMotionStategetMotionState ()
 
const btMotionStategetMotionState () const
 
void setMotionState (btMotionState *motionState)
 
void setAngularFactor (const btVector3 &angFac)
 
void setAngularFactor (btScalar angFac)
 
const btVector3getAngularFactor () const
 
bool isInWorld () const
 
void addConstraintRef (btTypedConstraint *c)
 
void removeConstraintRef (btTypedConstraint *c)
 
btTypedConstraintgetConstraintRef (int index)
 
int getNumConstraintRefs () const
 
void setFlags (int flags)
 
int getFlags () const
 
btVector3 computeGyroscopicImpulseImplicit_World (btScalar dt) const
 perform implicit force computation in world space More...
 
btVector3 computeGyroscopicImpulseImplicit_Body (btScalar step) const
 perform implicit force computation in body space (inertial frame) More...
 
btVector3 computeGyroscopicForceExplicit (btScalar maxGyroscopicForce) const
 explicit version is best avoided, it gains energy More...
 
btVector3 getLocalInertia () const
 
virtual int calculateSerializeBufferSize () const
 
virtual const char * serialize (void *dataBuffer, class btSerializer *serializer) const
 fills the dataBuffer and returns the struct name (and 0 on failure) More...
 
virtual void serializeSingleObject (class btSerializer *serializer) const
 

Static Public Member Functions

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

Public Attributes

int m_contactSolverType
 
int m_frictionSolverType
 

Protected Member Functions

 ATTRIBUTE_ALIGNED16 (btVector3 m_deltaLinearVelocity)
 
void setupRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
 setupRigidBody is only used internally by the constructor More...
 

Protected Attributes

btVector3 m_deltaAngularVelocity
 
btVector3 m_angularFactor
 
btVector3 m_invMass
 
btVector3 m_pushVelocity
 
btVector3 m_turnVelocity
 

Detailed Description

The 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 59 of file btRigidBody.h.

Constructor & Destructor Documentation

◆ btRigidBody() [1/2]

btRigidBody::btRigidBody ( const btRigidBodyConstructionInfo constructionInfo)

btRigidBody constructor using construction info

Definition at line 29 of file btRigidBody.cpp.

References setupRigidBody().

◆ btRigidBody() [2/2]

btRigidBody::btRigidBody ( btScalar  mass,
btMotionState motionState,
btCollisionShape collisionShape,
const btVector3 localInertia = btVector3(0, 0, 0) 
)

btRigidBody constructor for backwards compatibility. To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)

Definition at line 34 of file btRigidBody.cpp.

References setupRigidBody().

◆ ~btRigidBody()

virtual btRigidBody::~btRigidBody ( )
inlinevirtual

Definition at line 173 of file btRigidBody.h.

References btAssert, and btAlignedObjectArray< T >::size().

Member Function Documentation

◆ addConstraintRef()

void btRigidBody::addConstraintRef ( btTypedConstraint c)

◆ applyCentralForce()

void btRigidBody::applyCentralForce ( const btVector3 force)
inline

Definition at line 274 of file btRigidBody.h.

References m_linearFactor.

Referenced by applyForce(), applyGravity(), clearGravity(), and RB_body_apply_central_force().

◆ applyCentralImpulse()

void btRigidBody::applyCentralImpulse ( const btVector3 impulse)
inline

Definition at line 319 of file btRigidBody.h.

References m_linearFactor, and m_linearVelocity.

Referenced by btSoftBody::Body::applyDCImpulse(), and applyImpulse().

◆ applyCentralPushImpulse()

void btRigidBody::applyCentralPushImpulse ( const btVector3 impulse)
inline

Definition at line 399 of file btRigidBody.h.

References m_linearFactor, and m_pushVelocity.

Referenced by applyPushImpulse().

◆ applyDamping()

void btRigidBody::applyDamping ( btScalar  timeStep)

applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

Definition at line 149 of file btRigidBody.cpp.

References btMax(), btPow(), btVector3, m_angularDamping, and m_linearDamping.

Referenced by UpdaterUnconstrainedMotion::forLoop(), and btSimpleDynamicsWorld::predictUnconstraintMotion().

◆ applyForce()

void btRigidBody::applyForce ( const btVector3 force,
const btVector3 rel_pos 
)
inline

Definition at line 313 of file btRigidBody.h.

References applyCentralForce(), applyTorque(), and m_linearFactor.

◆ applyGravity()

void btRigidBody::applyGravity ( )

◆ applyImpulse()

void btRigidBody::applyImpulse ( const btVector3 impulse,
const btVector3 rel_pos 
)
inline

◆ applyPushImpulse()

void btRigidBody::applyPushImpulse ( const btVector3 impulse,
const btVector3 rel_pos 
)
inline

◆ applyTorque()

void btRigidBody::applyTorque ( const btVector3 torque)
inline

Definition at line 305 of file btRigidBody.h.

References m_angularFactor.

Referenced by applyForce().

◆ applyTorqueImpulse()

void btRigidBody::applyTorqueImpulse ( const btVector3 torque)
inline

◆ applyTorqueTurnImpulse()

void btRigidBody::applyTorqueTurnImpulse ( const btVector3 torque)
inline

Definition at line 407 of file btRigidBody.h.

References m_angularFactor, and m_turnVelocity.

Referenced by applyPushImpulse().

◆ ATTRIBUTE_ALIGNED16()

btRigidBody::ATTRIBUTE_ALIGNED16 ( btVector3  m_deltaLinearVelocity)
protected

◆ calculateSerializeBufferSize()

int btRigidBody::calculateSerializeBufferSize ( ) const
virtual

Definition at line 458 of file btRigidBody.cpp.

References btRigidBodyData.

Referenced by serializeSingleObject().

◆ clearForces()

void btRigidBody::clearForces ( )
inline

Definition at line 415 of file btRigidBody.h.

Referenced by btSimpleDynamicsWorld::clearForces().

◆ clearGravity()

void btRigidBody::clearGravity ( )

◆ computeAngularImpulseDenominator()

SIMD_FORCE_INLINE btScalar btRigidBody::computeAngularImpulseDenominator ( const btVector3 axis) const
inline

Definition at line 493 of file btRigidBody.h.

References btVector3, and getInvInertiaTensorWorld().

Referenced by solveConstraintObsolete().

◆ computeGyroscopicForceExplicit()

btVector3 btRigidBody::computeGyroscopicForceExplicit ( btScalar  maxGyroscopicForce) const

explicit version is best avoided, it gains energy

Definition at line 283 of file btRigidBody.cpp.

References btMatrix3x3, btSqrt(), btVector3, getAngularVelocity(), getLocalInertia(), and getWorldTransform().

Referenced by convertBodies(), and internalConvertBodies().

◆ computeGyroscopicImpulseImplicit_Body()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_Body ( btScalar  step) const

perform implicit force computation in body space (inertial frame)

Definition at line 297 of file btRigidBody.cpp.

References btMatrix3x3, btVector3, getAngularVelocity(), getLocalInertia(), getWorldTransform(), btQuaternion::inverse(), and quatRotate().

Referenced by convertBodies(), and internalConvertBodies().

◆ computeGyroscopicImpulseImplicit_World()

btVector3 btRigidBody::computeGyroscopicImpulseImplicit_World ( btScalar  dt) const

perform implicit force computation in world space

Definition at line 336 of file btRigidBody.cpp.

References btMatrix3x3, btVector3, evalEulerEqn(), evalEulerEqnDeriv(), getAngularVelocity(), getLocalInertia(), I, and m_worldTransform.

Referenced by convertBodies(), and internalConvertBodies().

◆ computeImpulseDenominator()

SIMD_FORCE_INLINE btScalar btRigidBody::computeImpulseDenominator ( const btVector3 pos,
const btVector3 normal 
) const
inline

◆ getAabb()

void btRigidBody::getAabb ( btVector3 aabbMin,
btVector3 aabbMax 
) const

Definition at line 123 of file btRigidBody.cpp.

References getCollisionShape(), and m_worldTransform.

◆ getAngularDamping()

btScalar btRigidBody::getAngularDamping ( ) const
inline

Definition at line 225 of file btRigidBody.h.

References m_angularDamping.

Referenced by RB_body_get_angular_damping().

◆ getAngularFactor()

const btVector3& btRigidBody::getAngularFactor ( ) const
inline

◆ getAngularSleepingThreshold()

btScalar btRigidBody::getAngularSleepingThreshold ( ) const
inline

Definition at line 235 of file btRigidBody.h.

Referenced by RB_body_get_angular_sleep_thresh().

◆ getAngularVelocity()

const btVector3& btRigidBody::getAngularVelocity ( ) const
inline

◆ getBroadphaseProxy() [1/2]

btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( )
inline

Definition at line 539 of file btRigidBody.h.

References m_broadphaseHandle.

◆ getBroadphaseProxy() [2/2]

const btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( ) const
inline

◆ getCenterOfMassPosition()

const btVector3& btRigidBody::getCenterOfMassPosition ( ) const
inline

◆ getCenterOfMassTransform()

const btTransform& btRigidBody::getCenterOfMassTransform ( ) const
inline

◆ getCollisionShape() [1/2]

SIMD_FORCE_INLINE btCollisionShape* btRigidBody::getCollisionShape ( )
inline

Definition at line 247 of file btRigidBody.h.

References m_collisionShape.

◆ getCollisionShape() [2/2]

SIMD_FORCE_INLINE const btCollisionShape* btRigidBody::getCollisionShape ( ) const
inline

◆ getConstraintRef()

btTypedConstraint* btRigidBody::getConstraintRef ( int  index)
inline

Definition at line 593 of file btRigidBody.h.

Referenced by RB_body_delete().

◆ getFlags()

int btRigidBody::getFlags ( ) const
inline

Definition at line 608 of file btRigidBody.h.

Referenced by convertBodies(), and internalConvertBodies().

◆ getGravity()

const btVector3& btRigidBody::getGravity ( ) const
inline

Definition at line 213 of file btRigidBody.h.

◆ getInvInertiaDiagLocal()

const btVector3& btRigidBody::getInvInertiaDiagLocal ( ) const
inline

◆ getInvInertiaTensorWorld()

const btMatrix3x3& btRigidBody::getInvInertiaTensorWorld ( ) const
inline

◆ getInvMass()

btScalar btRigidBody::getInvMass ( ) const
inline

◆ getLinearDamping()

btScalar btRigidBody::getLinearDamping ( ) const
inline

Definition at line 220 of file btRigidBody.h.

References m_linearDamping.

Referenced by RB_body_get_linear_damping().

◆ getLinearFactor()

const btVector3& btRigidBody::getLinearFactor ( ) const
inline

Definition at line 254 of file btRigidBody.h.

References m_linearFactor.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

◆ getLinearSleepingThreshold()

btScalar btRigidBody::getLinearSleepingThreshold ( ) const
inline

Definition at line 230 of file btRigidBody.h.

Referenced by RB_body_get_linear_sleep_thresh().

◆ getLinearVelocity()

const btVector3& btRigidBody::getLinearVelocity ( ) const
inline

◆ getLocalInertia()

btVector3 btRigidBody::getLocalInertia ( ) const

◆ getMass()

btScalar btRigidBody::getMass ( ) const
inline

Definition at line 264 of file btRigidBody.h.

◆ getMotionState() [1/2]

btMotionState* btRigidBody::getMotionState ( )
inline

◆ getMotionState() [2/2]

const btMotionState* btRigidBody::getMotionState ( ) const
inline

Definition at line 553 of file btRigidBody.h.

◆ getNumConstraintRefs()

int btRigidBody::getNumConstraintRefs ( ) const
inline

Definition at line 598 of file btRigidBody.h.

References btAlignedObjectArray< T >::size().

Referenced by RB_body_delete().

◆ getOrientation()

btQuaternion btRigidBody::getOrientation ( ) const

◆ getPushVelocity()

btVector3 btRigidBody::getPushVelocity ( ) const
inline

Definition at line 359 of file btRigidBody.h.

References m_pushVelocity.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

◆ getPushVelocityInLocalPoint()

btVector3 btRigidBody::getPushVelocityInLocalPoint ( const btVector3 rel_pos) const
inline

Definition at line 469 of file btRigidBody.h.

References m_pushVelocity, and m_turnVelocity.

Referenced by btDeformableRigidContactConstraint::getSplitVa().

◆ getTotalForce()

const btVector3& btRigidBody::getTotalForce ( ) const
inline

Definition at line 279 of file btRigidBody.h.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

◆ getTotalTorque()

const btVector3& btRigidBody::getTotalTorque ( ) const
inline

Definition at line 284 of file btRigidBody.h.

Referenced by initSolverBody(), and setupMultiBodyContactConstraint().

◆ getTurnVelocity()

btVector3 btRigidBody::getTurnVelocity ( ) const
inline

Definition at line 364 of file btRigidBody.h.

References m_turnVelocity.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

◆ getVelocityInLocalPoint()

btVector3 btRigidBody::getVelocityInLocalPoint ( const btVector3 rel_pos) const
inline

◆ integrateVelocities()

void btRigidBody::integrateVelocities ( btScalar  step)

clamp angular velocity. collision calculations will fail on higher angular velocities

Definition at line 372 of file btRigidBody.cpp.

References isStaticOrKinematicObject(), m_angularVelocity, and MAX_ANGVEL.

Referenced by btDeformableMultiBodyDynamicsWorld::applyRigidBodyGravity(), and btSimpleDynamicsWorld::predictUnconstraintMotion().

◆ isInWorld()

bool btRigidBody::isInWorld ( ) const
inline

Definition at line 585 of file btRigidBody.h.

References getBroadphaseProxy().

◆ predictIntegratedTransform()

void btRigidBody::predictIntegratedTransform ( btScalar  step,
btTransform predictedTransform 
)

◆ proceedToTransform()

void btRigidBody::proceedToTransform ( const btTransform newTrans)

◆ removeConstraintRef()

void btRigidBody::removeConstraintRef ( btTypedConstraint c)

◆ saveKinematicState()

void btRigidBody::saveKinematicState ( btScalar  step)

◆ serialize()

const char * btRigidBody::serialize ( void dataBuffer,
class btSerializer serializer 
) const
virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Definition at line 465 of file btRigidBody.cpp.

References btRigidBodyData, btRigidBodyDataName, m_angularFactor, and serialize().

Referenced by serializeSingleObject().

◆ serializeSingleObject()

void btRigidBody::serializeSingleObject ( class btSerializer serializer) const
virtual

◆ setAngularFactor() [1/2]

void btRigidBody::setAngularFactor ( btScalar  angFac)
inline

Definition at line 574 of file btRigidBody.h.

References m_angularFactor, and m_updateRevision.

◆ setAngularFactor() [2/2]

void btRigidBody::setAngularFactor ( const btVector3 angFac)
inline

Definition at line 568 of file btRigidBody.h.

References m_angularFactor, and m_updateRevision.

Referenced by RB_body_set_angular_factor().

◆ setAngularVelocity()

void btRigidBody::setAngularVelocity ( const btVector3 ang_vel)
inline

Definition at line 451 of file btRigidBody.h.

References m_angularVelocity, and m_updateRevision.

Referenced by RB_body_set_angular_velocity().

◆ setCenterOfMassTransform()

void btRigidBody::setCenterOfMassTransform ( const btTransform xform)

◆ setDamping()

void btRigidBody::setDamping ( btScalar  lin_damping,
btScalar  ang_damping 
)

Definition at line 137 of file btRigidBody.cpp.

References btClamped(), and btMax().

Referenced by RB_body_set_damping(), and setupRigidBody().

◆ setFlags()

void btRigidBody::setFlags ( int  flags)
inline

Definition at line 603 of file btRigidBody.h.

◆ setGravity()

void btRigidBody::setGravity ( const btVector3 acceleration)

◆ setInvInertiaDiagLocal()

void btRigidBody::setInvInertiaDiagLocal ( const btVector3 diagInvInertia)
inline

Definition at line 294 of file btRigidBody.h.

◆ setLinearFactor()

void btRigidBody::setLinearFactor ( const btVector3 linearFactor)
inline

Definition at line 258 of file btRigidBody.h.

References m_invMass, and m_linearFactor.

Referenced by RB_body_set_linear_factor().

◆ setLinearVelocity()

void btRigidBody::setLinearVelocity ( const btVector3 lin_vel)
inline

◆ setMassProps()

void btRigidBody::setMassProps ( btScalar  mass,
const btVector3 inertia 
)

◆ setMotionState()

void btRigidBody::setMotionState ( btMotionState motionState)
inline

Definition at line 557 of file btRigidBody.h.

References btMotionState::getWorldTransform(), and m_worldTransform.

◆ setNewBroadphaseProxy()

void btRigidBody::setNewBroadphaseProxy ( btBroadphaseProxy broadphaseProxy)
inline

Definition at line 543 of file btRigidBody.h.

References m_broadphaseHandle.

◆ setPushVelocity()

void btRigidBody::setPushVelocity ( const btVector3 v)
inline

Definition at line 369 of file btRigidBody.h.

References m_pushVelocity, and v.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

◆ setSleepingThresholds()

void btRigidBody::setSleepingThresholds ( btScalar  linear,
btScalar  angular 
)
inline

Definition at line 299 of file btRigidBody.h.

Referenced by RB_body_set_sleep_thresh().

◆ setTurnVelocity()

void btRigidBody::setTurnVelocity ( const btVector3 v)
inline

Definition at line 391 of file btRigidBody.h.

References m_turnVelocity, and v.

Referenced by btDeformableMultiBodyDynamicsWorld::positionCorrection().

◆ setupRigidBody()

void btRigidBody::setupRigidBody ( const btRigidBodyConstructionInfo constructionInfo)
protected

setupRigidBody is only used internally by the constructor

Definition at line 40 of file btRigidBody.cpp.

References BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY, CO_RIGID_BODY, btMotionState::getWorldTransform(), btRigidBody::btRigidBodyConstructionInfo::m_additionalAngularDampingFactor, btRigidBody::btRigidBodyConstructionInfo::m_additionalAngularDampingThresholdSqr, btRigidBody::btRigidBodyConstructionInfo::m_additionalDamping, btRigidBody::btRigidBodyConstructionInfo::m_additionalDampingFactor, btRigidBody::btRigidBodyConstructionInfo::m_additionalLinearDampingThresholdSqr, btRigidBody::btRigidBodyConstructionInfo::m_angularDamping, m_angularFactor, btRigidBody::btRigidBodyConstructionInfo::m_angularSleepingThreshold, btRigidBody::btRigidBodyConstructionInfo::m_collisionShape, m_contactSolverType, m_deltaAngularVelocity, m_deltaLinearVelocity, m_friction, btRigidBody::btRigidBodyConstructionInfo::m_friction, m_frictionSolverType, m_internalType, m_interpolationAngularVelocity, m_interpolationLinearVelocity, m_interpolationWorldTransform, m_invMass, btRigidBody::btRigidBodyConstructionInfo::m_linearDamping, btRigidBody::btRigidBodyConstructionInfo::m_linearSleepingThreshold, btRigidBody::btRigidBodyConstructionInfo::m_localInertia, btRigidBody::btRigidBodyConstructionInfo::m_mass, btRigidBody::btRigidBodyConstructionInfo::m_motionState, m_pushVelocity, m_restitution, btRigidBody::btRigidBodyConstructionInfo::m_restitution, m_rollingFriction, btRigidBody::btRigidBodyConstructionInfo::m_rollingFriction, m_spinningFriction, btRigidBody::btRigidBodyConstructionInfo::m_spinningFriction, btRigidBody::btRigidBodyConstructionInfo::m_startWorldTransform, m_turnVelocity, m_worldTransform, setCollisionShape(), setDamping(), setMassProps(), uniqueId, and updateInertiaTensor().

Referenced by btRigidBody().

◆ translate()

void btRigidBody::translate ( const btVector3 v)
inline

Definition at line 475 of file btRigidBody.h.

References m_worldTransform, and v.

◆ upcast() [1/2]

static btRigidBody* btRigidBody::upcast ( btCollisionObject colObj)
inlinestatic

Definition at line 195 of file btRigidBody.h.

References CO_RIGID_BODY.

◆ upcast() [2/2]

static const btRigidBody* btRigidBody::upcast ( const btCollisionObject colObj)
inlinestatic

◆ updateDeactivation()

SIMD_FORCE_INLINE void btRigidBody::updateDeactivation ( btScalar  timeStep)
inline

◆ updateInertiaTensor()

void btRigidBody::updateInertiaTensor ( )

Definition at line 249 of file btRigidBody.cpp.

References m_worldTransform.

Referenced by RB_body_set_mass(), setCenterOfMassTransform(), and setupRigidBody().

◆ wantsSleeping()

SIMD_FORCE_INLINE bool btRigidBody::wantsSleeping ( )
inline

Member Data Documentation

◆ m_angularFactor

btVector3 btRigidBody::m_angularFactor
protected

◆ m_contactSolverType

int btRigidBody::m_contactSolverType

Definition at line 565 of file btRigidBody.h.

Referenced by setupRigidBody().

◆ m_deltaAngularVelocity

btVector3 btRigidBody::m_deltaAngularVelocity
protected

Definition at line 97 of file btRigidBody.h.

Referenced by setupRigidBody().

◆ m_frictionSolverType

int btRigidBody::m_frictionSolverType

Definition at line 566 of file btRigidBody.h.

Referenced by setupRigidBody().

◆ m_invMass

btVector3 btRigidBody::m_invMass
protected

Definition at line 99 of file btRigidBody.h.

Referenced by setLinearFactor(), setMassProps(), and setupRigidBody().

◆ m_pushVelocity

btVector3 btRigidBody::m_pushVelocity
protected

◆ m_turnVelocity

btVector3 btRigidBody::m_turnVelocity
protected

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