Rebel Fork Framework
Urho3D::RigidBody Class Reference

Physics rigid body component. More...

#include <Urho3D/Physics/RigidBody.h>

Inheritance diagram for Urho3D::RigidBody:
Urho3D::Component Urho3D::Serializable Urho3D::Object Urho3D::RefCounted

Public Member Functions

 RigidBody (Context *context)
 ~RigidBody () override
 Destruct. Free the rigid body and geometries.
void ApplyAttributes () override
 Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
void OnSetEnabled () override
 Handle enabled/disabled state change.
void getWorldTransform (btTransform &worldTrans) const override
void setWorldTransform (const btTransform &worldTrans) override
void DrawDebugGeometry (DebugRenderer *debug, bool depthTest) override
 Visualize the component as debug geometry.
void SetMass (float mass)
void SetPosition (const Vector3 &position)
void SetRotation (const Quaternion &rotation)
void SetTransform (const Vector3 &position, const Quaternion &rotation)
 Set rigid body position and rotation in world space as an atomic operation.
void SetLinearVelocity (const Vector3 &velocity)
void SetLinearFactor (const Vector3 &factor)
void SetLinearRestThreshold (float threshold)
void SetLinearDamping (float damping)
void SetAngularVelocity (const Vector3 &velocity)
void SetAngularFactor (const Vector3 &factor)
void SetAngularRestThreshold (float threshold)
void SetAngularDamping (float damping)
void SetFriction (float friction)
void SetAnisotropicFriction (const Vector3 &friction)
void SetRollingFriction (float friction)
void SetRestitution (float restitution)
void SetContactProcessingThreshold (float threshold)
void SetCcdRadius (float radius)
void SetCcdMotionThreshold (float threshold)
void SetUseGravity (bool enable)
void SetGravityOverride (const Vector3 &gravity)
void SetKinematic (bool enable)
void SetTrigger (bool enable)
void SetCollisionLayer (unsigned layer)
void SetCollisionMask (unsigned mask)
void SetCollisionLayerAndMask (unsigned layer, unsigned mask)
 Set collision group and mask.
void SetCollisionEventMode (CollisionEventMode mode)
void ApplyForce (const Vector3 &force)
 Apply force to center of mass.
void ApplyForce (const Vector3 &force, const Vector3 &position)
 Apply force at local position.
void ApplyTorque (const Vector3 &torque)
 Apply torque.
void ApplyImpulse (const Vector3 &impulse)
 Apply impulse to center of mass.
void ApplyImpulse (const Vector3 &impulse, const Vector3 &position)
 Apply impulse at local position.
void ApplyTorqueImpulse (const Vector3 &torque)
 Apply torque impulse.
void ResetForces ()
 Reset accumulated forces.
void Activate ()
 Activate rigid body if it was resting.
void ReAddBodyToWorld ()
 Readd rigid body to the physics world to clean up internal state like stale contacts.
void DisableMassUpdate ()
 Disable mass update. Call this to optimize performance when adding or editing multiple collision shapes in the same node.
void EnableMassUpdate ()
 Re-enable mass update and recalculate the mass/inertia by calling UpdateMass(). Call when collision shape changes are finished.
PhysicsWorldGetPhysicsWorld () const
 Return physics world.
btRigidBody * GetBody () const
 Return Bullet rigid body.
btCompoundShape * GetCompoundShape () const
 Return Bullet compound collision shape.
float GetMass () const
Vector3 GetPosition () const
Quaternion GetRotation () const
Vector3 GetLinearVelocity () const
Vector3 GetLinearFactor () const
Vector3 GetVelocityAtPoint (const Vector3 &position) const
 Return linear velocity at local point.
float GetLinearRestThreshold () const
float GetLinearDamping () const
Vector3 GetAngularVelocity () const
Vector3 GetAngularFactor () const
float GetAngularRestThreshold () const
float GetAngularDamping () const
float GetFriction () const
Vector3 GetAnisotropicFriction () const
float GetRollingFriction () const
float GetRestitution () const
float GetContactProcessingThreshold () const
float GetCcdRadius () const
float GetCcdMotionThreshold () const
bool GetUseGravity () const
const Vector3GetGravityOverride () const
const Vector3GetCenterOfMass () const
bool IsKinematic () const
bool IsTrigger () const
bool IsActive () const
unsigned GetCollisionLayer () const
unsigned GetCollisionMask () const
CollisionEventMode GetCollisionEventMode () const
void GetCollidingBodies (ea::vector< RigidBody * > &result) const
 Return colliding rigid bodies from the last simulation step. Only returns collisions that were sent as events (depends on collision event mode) and excludes e.g. static-static collisions.
void ApplyWorldTransform (const Vector3 &newWorldPosition, const Quaternion &newWorldRotation)
 Apply new world transform after a simulation step. Called internally.
void UpdateMass ()
 Update mass and inertia to the Bullet rigid body. Readd body to world if necessary: if was in world and the Bullet collision shape to use changed.
void UpdateGravity ()
 Update gravity parameters to the Bullet rigid body.
void AddConstraint (Constraint *constraint)
 Add a constraint that refers to this rigid body.
void RemoveConstraint (Constraint *constraint)
 Remove a constraint that refers to this rigid body.
void ReleaseBody ()
 Remove the rigid body.
- Public Member Functions inherited from Urho3D::Component
 Component (Context *context)
 ~Component () override
AttributeScopeHint GetEffectiveScopeHint () const
bool Save (Serializer &dest) const override
 Save as binary data. Return true if successful.
bool SaveXML (XMLElement &dest) const override
 Save as XML data. Return true if successful.
bool SaveJSON (JSONValue &dest) const override
 Save as JSON data. Return true if successful.
virtual void GetDependencyNodes (ea::vector< Node * > &dest)
 Return the depended on nodes to order network updates.
virtual bool HasAuxiliaryData () const
virtual void SerializeAuxiliaryData (Archive &archive)
 Serialize auxiliary data from/to the current block of the archive. May throw ArchiveException.
void SetEnabled (bool enable)
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned GetID () const
Node * GetNode () const
SceneGetScene () const
 Return the scene the node belongs to.
bool IsEnabled () const
bool IsEnabledEffective () const
ea::string GetFullNameDebug () const
 Return full component name for debugging. Unique for each component in the scene. Slow!
ComponentGetComponent (StringHash type) const
 Return component in the same scene node by type. If there are several, returns the first.
template<class T >
T * GetComponent () const
 Template version of returning a component in the same scene node by type.
unsigned GetIndexInParent () const
 Return index of this component in the node.
- Public Member Functions inherited from Urho3D::Serializable
 Serializable (Context *context)
 ~Serializable () override
virtual void OnSetAttribute (const AttributeInfo &attr, const Variant &src)
 Handle attribute write access. Default implementation writes to the variable at offset, or invokes the set accessor.
virtual void OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
 Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual ObjectReflectionGetReflection () const
 Return reflection used for serialization.
virtual const ea::vector< AttributeInfo > * GetAttributes () const
 Return attribute descriptions, or null if none defined.
void SerializeInBlock (Archive &archive) override
 Serialize content from/to archive. May throw ArchiveException.
void SerializeInBlock (Archive &archive, bool serializeTemporary)
virtual bool Load (Deserializer &source)
 Load from binary data. Return true if successful.
virtual bool LoadXML (const XMLElement &source)
 Load from XML data. Return true if successful.
virtual bool LoadJSON (const JSONValue &source)
 Load from JSON data. Return true if successful.
virtual bool Load (const ea::string &resourceName)
 Load from binary resource.
virtual bool LoadXML (const ea::string &resourceName)
 Load from XML resource.
virtual bool LoadJSON (const ea::string &resourceName)
 Load from JSON resource.
virtual bool LoadFile (const ea::string &resourceName)
 Load from resource of automatically detected type.
virtual bool SaveDefaultAttributes (const AttributeInfo &attr) const
 Return whether should save default-valued attributes into XML. Default false.
bool SetAttribute (unsigned index, const Variant &value)
bool SetAttribute (const ea::string &name, const Variant &value)
 Set attribute by name. Return true if successfully set.
void SetInstanceDefault (bool enable)
 (Internal use) Set instance-level default flag.
void SetInstanceDefault (const ea::string &name, const Variant &defaultValue)
 (Internal use) Set instance-level default value. Allocate the internal data structure as necessary.
virtual Variant GetInstanceDefault (const ea::string &name) const
 (Internal use) Get instance-level default value.
void ResetToDefault ()
 Reset all editable attributes to their default values.
void RemoveInstanceDefault ()
 Remove instance's default values if they are set previously.
void SetTemporary (bool enable)
Variant GetAttribute (unsigned index) const
Variant GetAttribute (const ea::string &name) const
 Return attribute value by name. Return empty if not found.
Variant GetAttributeDefault (unsigned index) const
Variant GetAttributeDefault (const ea::string &name) const
 Return attribute default value by name. Return empty if not found.
unsigned GetNumAttributes () const
void CopyAttributes (const Serializable *source, bool resetToDefault=true)
 Copy all attributes from another serializable.
SharedPtr< SerializableClone (bool resetToDefault=true) const
 Clone this serializable.
bool IsTemporary () const
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
 ~Object () override
 Destruct. Clean up self from event sender & receiver structures.
virtual StringHash GetType () const =0
virtual const ea::string & GetTypeName () const =0
virtual const TypeInfoGetTypeInfo () const =0
 Return type info.
virtual bool IsInstanceOf (StringHash type) const =0
 Check whether current instance implements specified type.
virtual void OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
 Handle event.
template<typename T >
bool IsInstanceOf () const
 Check current instance is type of specified class.
template<typename T >
T * Cast ()
 Cast the object to specified most derived class.
template<typename T >
const T * Cast () const
 Cast the object to specified most derived class.
void SubscribeToEventManual (StringHash eventType, EventHandler *handler)
 Subscribe to an event that can be sent by any sender.
void SubscribeToEventManual (Object *sender, StringHash eventType, EventHandler *handler)
 Subscribe to a specific sender's event.
template<class T >
void SubscribeToEvent (StringHash eventType, T handler)
 Subscribe to an event that can be sent by any sender.
template<class T >
void SubscribeToEvent (Object *sender, StringHash eventType, T handler)
 Subscribe to a specific sender's event.
void UnsubscribeFromEvent (StringHash eventType)
 Unsubscribe from an event.
void UnsubscribeFromEvent (Object *sender, StringHash eventType)
 Unsubscribe from a specific sender's event.
void UnsubscribeFromEvents (Object *sender)
 Unsubscribe from a specific sender's events.
void UnsubscribeFromAllEvents ()
 Unsubscribe from all events.
void UnsubscribeFromAllEventsExcept (const ea::vector< StringHash > &exceptions)
 Unsubscribe from all events except those listed.
void UnsubscribeFromAllEventsExcept (const ea::vector< Object * > &exceptions)
 Unsubscribe from all events except those with listed senders.
void SendEvent (StringHash eventType)
 Send event to all subscribers.
void SendEvent (StringHash eventType, VariantMap &eventData)
 Send event with parameters to all subscribers.
VariantMapGetEventDataMap () const
 Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
template<typename... Args>
void SendEvent (StringHash eventType, const Args &... args)
 Send event with variadic parameter pairs to all subscribers. The parameters are (paramID, paramValue) pairs.
ContextGetContext () const
 Return execution context.
const VariantGetGlobalVar (StringHash key) const
const VariantMapGetGlobalVars () const
void SetGlobalVar (StringHash key, const Variant &value)
ObjectGetSubsystem (StringHash type) const
 Return subsystem by type.
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
EventHandlerGetEventHandler () const
 Return active event handler. Null outside event handling.
bool HasSubscribedToEvent (StringHash eventType) const
 Return whether has subscribed to an event without specific sender.
bool HasSubscribedToEvent (Object *sender, StringHash eventType) const
 Return whether has subscribed to a specific sender's event.
bool HasEventHandlers () const
 Return whether has subscribed to any event.
template<class T >
T * GetSubsystem () const
 Template version of returning a subsystem.
const ea::string & GetCategory () const
void SendEvent (StringHash eventType, const VariantMap &eventData)
 Send event with parameters to all subscribers.
void SetBlockEvents (bool block)
 Block object from sending and receiving events.
bool GetBlockEvents () const
 Return sending and receiving events blocking status.
- Public Member Functions inherited from Urho3D::RefCounted
 RefCounted ()
 Construct. Allocate the reference count structure and set an initial self weak reference.
virtual ~RefCounted ()
 Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
 RefCounted (const RefCounted &rhs)=delete
 Prevent copy construction.
RefCountedoperator= (const RefCounted &rhs)=delete
 Prevent assignment.
int AddRef ()
int ReleaseRef ()
int Refs () const
int WeakRefs () const
RefCountRefCountPtr () const
 Return pointer to the reference count structure.
bool HasScriptObject () const
 Return true if script runtime object wrapping this native object exists.
bool IsScriptStrongRef () const
 Return true if script reference is strong.

Static Public Member Functions

static void RegisterObject (Context *context)
- Static Public Member Functions inherited from Urho3D::Object
static const TypeInfoGetTypeInfoStatic ()
 Return type info static.

Protected Member Functions

void OnNodeSet (Node *previousNode, Node *currentNode) override
 Handle node being assigned.
void OnSceneSet (Scene *scene) override
 Handle scene being assigned.
void OnMarkedDirty (Node *node) override
 Handle node transform being dirtied.
- Protected Member Functions inherited from Urho3D::Component
virtual void OnNodeSetEnabled (Node *node)
 Handle scene node enabled status changing.
void SetID (unsigned id)
void SetNode (Node *node)
 Set scene node. Called by Node when creating the component.
ComponentGetFixedUpdateSource ()
 Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
void DoAutoRemove (AutoRemoveMode mode)
 Perform autoremove. Called by subclasses. Caller should keep a weak pointer to itself to check whether was actually removed, and return immediately without further member operations in that case.

Private Member Functions

 URHO3D_OBJECT (RigidBody, Component)
void AddBodyToWorld ()
 Create the rigid body, or re-add to the physics world with changed flags. Calls UpdateMass().
void RemoveBodyFromWorld ()
 Remove the rigid body from the physics world.
void MarkBodyDirty ()
 Mark body dirty.

Private Attributes

ea::unique_ptr< btRigidBody > body_
 Bullet rigid body.
ea::unique_ptr< btCompoundShape > compoundShape_
 Bullet compound collision shape.
ea::unique_ptr< btCompoundShape > shiftedCompoundShape_
 Compound collision shape with center of mass offset applied.
WeakPtr< PhysicsWorldphysicsWorld_
 Physics world.
ea::vector< Constraint * > constraints_
 Constraints that refer to this rigid body.
Vector3 gravityOverride_
 Gravity override vector.
Vector3 centerOfMass_
 Center of mass offset.
float mass_
unsigned collisionLayer_
 Collision layer.
unsigned collisionMask_
 Collision mask.
CollisionEventMode collisionEventMode_
 Collision event signaling mode.
Vector3 lastPosition_
 Last interpolated position from the simulation.
Quaternion lastRotation_
 Last interpolated rotation from the simulation.
bool kinematic_
 Kinematic flag.
bool trigger_
 Trigger flag.
bool useGravity_
 Use gravity flag.
bool readdBody_
 Readd body to world flag.
bool inWorld_
 Body exists in world flag.
bool enableMassUpdate_
 Mass update enable flag.
bool hasSimulated_
 Internal flag whether has simulated at least once.

Additional Inherited Members

- Static Public Attributes inherited from Urho3D::Object
static constexpr ea::array< StringHash, 0 > TypeHierarchy {}
- Protected Attributes inherited from Urho3D::Component
Node * node_
 Scene node.
unsigned id_
 Unique ID within the scene.
bool networkUpdate_
 Network update queued flag.
bool enabled_
 Enabled flag.
- Protected Attributes inherited from Urho3D::Serializable
ea::unique_ptr< VariantMapinstanceDefaultValues_
 Attribute default value at each instance level.
bool setInstanceDefault_
 When true, store the attribute value as instance's default value (internal use only).
bool temporary_
 Temporary flag.
- Protected Attributes inherited from Urho3D::Object
WeakPtr< Contextcontext_
 Execution context.

Detailed Description

Physics rigid body component.

Member Function Documentation

◆ GetAngularDamping()

float Urho3D::RigidBody::GetAngularDamping ( ) const

Return angular velocity damping factor.

◆ GetAngularFactor()

Vector3 Urho3D::RigidBody::GetAngularFactor ( ) const

Return angular degrees of freedom.

◆ GetAngularRestThreshold()

float Urho3D::RigidBody::GetAngularRestThreshold ( ) const

Return angular velocity deactivation threshold.

◆ GetAngularVelocity()

Vector3 Urho3D::RigidBody::GetAngularVelocity ( ) const

Return angular velocity.

◆ GetAnisotropicFriction()

Vector3 Urho3D::RigidBody::GetAnisotropicFriction ( ) const

Return anisotropic friction.

◆ GetCcdMotionThreshold()

float Urho3D::RigidBody::GetCcdMotionThreshold ( ) const

Return continuous collision detection motion-per-simulation-step threshold.

◆ GetCcdRadius()

float Urho3D::RigidBody::GetCcdRadius ( ) const

Return continuous collision detection swept sphere radius.

◆ GetCenterOfMass()

const Vector3& Urho3D::RigidBody::GetCenterOfMass ( ) const

Return center of mass offset.

◆ GetCollisionEventMode()

CollisionEventMode Urho3D::RigidBody::GetCollisionEventMode ( ) const

Return collision event signaling mode.

◆ GetCollisionLayer()

unsigned Urho3D::RigidBody::GetCollisionLayer ( ) const

Return collision layer.

◆ GetCollisionMask()

unsigned Urho3D::RigidBody::GetCollisionMask ( ) const

Return collision mask.

◆ GetContactProcessingThreshold()

float Urho3D::RigidBody::GetContactProcessingThreshold ( ) const

Return contact processing threshold.

◆ GetFriction()

float Urho3D::RigidBody::GetFriction ( ) const

Return friction coefficient.

◆ GetGravityOverride()

const Vector3& Urho3D::RigidBody::GetGravityOverride ( ) const

Return gravity override. If zero (default), uses the physics world's gravity.

◆ GetLinearDamping()

float Urho3D::RigidBody::GetLinearDamping ( ) const

Return linear velocity damping factor.

◆ GetLinearFactor()

Vector3 Urho3D::RigidBody::GetLinearFactor ( ) const

Return linear degrees of freedom.

◆ GetLinearRestThreshold()

float Urho3D::RigidBody::GetLinearRestThreshold ( ) const

Return linear velocity deactivation threshold.

◆ GetLinearVelocity()

Vector3 Urho3D::RigidBody::GetLinearVelocity ( ) const

Return linear velocity.

◆ GetMass()

float Urho3D::RigidBody::GetMass ( ) const

Return mass.

◆ GetPosition()

Vector3 Urho3D::RigidBody::GetPosition ( ) const

Return rigid body position in world space.

◆ GetRestitution()

float Urho3D::RigidBody::GetRestitution ( ) const

Return restitution coefficient.

◆ GetRollingFriction()

float Urho3D::RigidBody::GetRollingFriction ( ) const

Return rolling friction coefficient.

◆ GetRotation()

Quaternion Urho3D::RigidBody::GetRotation ( ) const

Return rigid body rotation in world space.

◆ GetUseGravity()

bool Urho3D::RigidBody::GetUseGravity ( ) const

Return whether rigid body uses gravity.

◆ getWorldTransform()

void Urho3D::RigidBody::getWorldTransform ( btTransform &  worldTrans) const

Return initial world transform to Bullet.

◆ IsActive()

bool Urho3D::RigidBody::IsActive ( ) const

Return whether rigid body is active (not sleeping).

◆ IsKinematic()

bool Urho3D::RigidBody::IsKinematic ( ) const

Return kinematic mode flag.

◆ IsTrigger()

bool Urho3D::RigidBody::IsTrigger ( ) const

Return whether this RigidBody is acting as a trigger.

◆ RegisterObject()

void Urho3D::RigidBody::RegisterObject ( Context context)

Register object factory.

◆ SetAngularDamping()

void Urho3D::RigidBody::SetAngularDamping ( float  damping)

Set angular velocity damping factor.

◆ SetAngularFactor()

void Urho3D::RigidBody::SetAngularFactor ( const Vector3 factor)

Set angular degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).

◆ SetAngularRestThreshold()

void Urho3D::RigidBody::SetAngularRestThreshold ( float  threshold)

Set angular velocity deactivation threshold.

◆ SetAngularVelocity()

void Urho3D::RigidBody::SetAngularVelocity ( const Vector3 velocity)

Set angular velocity.

◆ SetAnisotropicFriction()

void Urho3D::RigidBody::SetAnisotropicFriction ( const Vector3 friction)

Set anisotropic friction.

◆ SetCcdMotionThreshold()

void Urho3D::RigidBody::SetCcdMotionThreshold ( float  threshold)

Set continuous collision detection motion-per-simulation-step threshold. 0 disables, which is the default.

◆ SetCcdRadius()

void Urho3D::RigidBody::SetCcdRadius ( float  radius)

Set continuous collision detection swept sphere radius.

◆ SetCollisionEventMode()

void Urho3D::RigidBody::SetCollisionEventMode ( CollisionEventMode  mode)

Set collision event signaling mode. Default is to signal when rigid bodies are active.

◆ SetCollisionLayer()

void Urho3D::RigidBody::SetCollisionLayer ( unsigned  layer)

Set collision layer.

◆ SetCollisionMask()

void Urho3D::RigidBody::SetCollisionMask ( unsigned  mask)

Set collision mask.

◆ SetContactProcessingThreshold()

void Urho3D::RigidBody::SetContactProcessingThreshold ( float  threshold)

Set contact processing threshold.

◆ SetFriction()

void Urho3D::RigidBody::SetFriction ( float  friction)

Set friction coefficient.

◆ SetGravityOverride()

void Urho3D::RigidBody::SetGravityOverride ( const Vector3 gravity)

Set gravity override. If zero, uses physics world's gravity.

◆ SetKinematic()

void Urho3D::RigidBody::SetKinematic ( bool  enable)

Set rigid body kinematic mode. In kinematic mode forces are not applied to the rigid body.

◆ SetLinearDamping()

void Urho3D::RigidBody::SetLinearDamping ( float  damping)

Set linear velocity damping factor.

◆ SetLinearFactor()

void Urho3D::RigidBody::SetLinearFactor ( const Vector3 factor)

Set linear degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).

◆ SetLinearRestThreshold()

void Urho3D::RigidBody::SetLinearRestThreshold ( float  threshold)

Set linear velocity deactivation threshold.

◆ SetLinearVelocity()

void Urho3D::RigidBody::SetLinearVelocity ( const Vector3 velocity)

Set linear velocity.

◆ SetMass()

void Urho3D::RigidBody::SetMass ( float  mass)

Set mass. Zero mass makes the body static.

◆ SetPosition()

void Urho3D::RigidBody::SetPosition ( const Vector3 position)

Set rigid body position in world space.

◆ SetRestitution()

void Urho3D::RigidBody::SetRestitution ( float  restitution)

Set restitution coefficient.

◆ SetRollingFriction()

void Urho3D::RigidBody::SetRollingFriction ( float  friction)

Set rolling friction coefficient.

◆ SetRotation()

void Urho3D::RigidBody::SetRotation ( const Quaternion rotation)

Set rigid body rotation in world space.

◆ SetTrigger()

void Urho3D::RigidBody::SetTrigger ( bool  enable)

Set rigid body trigger mode. In trigger mode collisions are reported but do not apply forces.

◆ SetUseGravity()

void Urho3D::RigidBody::SetUseGravity ( bool  enable)

Set whether gravity is applied to rigid body.

◆ setWorldTransform()

void Urho3D::RigidBody::setWorldTransform ( const btTransform &  worldTrans)

Update world transform from Bullet.

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