Urho3D
Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes
Urho3D::RigidBody Class Reference

Physics rigid body component. More...

#include <RigidBody.h>

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

List of all members.

Public Member Functions

 RigidBody (Context *context)
 Construct.
virtual ~RigidBody ()
 Destruct. Free the rigid body and geometries.
virtual void OnSetAttribute (const AttributeInfo &attr, const Variant &src)
 Handle attribute write access.
virtual void ApplyAttributes ()
 Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual void getWorldTransform (btTransform &worldTrans) const
 Return initial world transform to Bullet.
virtual void setWorldTransform (const btTransform &worldTrans)
 Update world transform from Bullet.
virtual void DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
 Visualize the component as debug geometry.
void SetMass (float mass)
 Set mass. Zero mass makes the body static.
void SetPosition (Vector3 position)
 Set rigid body world-space position.
void SetRotation (Quaternion rotation)
 Set rigid body world-space rotation.
void SetTransform (const Vector3 &position, const Quaternion &rotation)
 Set rigid body world-space position and rotation.
void SetLinearVelocity (Vector3 velocity)
 Set linear velocity.
void SetLinearFactor (Vector3 factor)
 Set linear degrees of freedom.
void SetLinearRestThreshold (float threshold)
 Set linear velocity deactivation threshold.
void SetLinearDamping (float damping)
 Set linear velocity damping factor.
void SetAngularVelocity (Vector3 angularVelocity)
 Set angular velocity.
void SetAngularFactor (Vector3 factor)
 Set angular degrees of freedom.
void SetAngularRestThreshold (float threshold)
 Set angular velocity deactivation threshold.
void SetAngularDamping (float factor)
 Set angular velocity damping factor.
void SetFriction (float friction)
 Set friction coefficient.
void SetRestitution (float restitution)
 Set restitution coefficient.
void SetCcdRadius (float radius)
 Set continuous collision detection swept sphere radius.
void SetCcdMotionThreshold (float threshold)
 Set continuous collision detection motion-per-simulation-step threshold. 0 disables, which is the default.
void SetUseGravity (bool enable)
 Set whether gravity is applied to rigid body.
void SetKinematic (bool enable)
 Set rigid body kinematic mode. In kinematic mode forces are not applied to the rigid body.
void SetPhantom (bool enable)
 Set rigid body phantom mode. In phantom mode collisions are reported but do not apply forces.
void SetCollisionLayer (unsigned layer)
 Set collision layer.
void SetCollisionMask (unsigned mask)
 Set collision mask.
void SetCollisionLayerAndMask (unsigned layer, unsigned mask)
 Set collision group and mask.
void SetCollisionEventMode (CollisionEventMode mode)
 Set collision event signaling mode. Default is to signal when active.
void ApplyForce (const Vector3 &force)
 Apply force to center of mass.
void ApplyForce (const Vector3 &force, const Vector3 &position)
 Apply force at 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 position.
void ApplyTorqueImpulse (const Vector3 &torque)
 Apply torque impulse.
void ResetForces ()
 Reset accumulated forces.
void Activate ()
 Activate rigid body if it was resting.
PhysicsWorldGetPhysicsWorld () const
 Return physics world.
btRigidBody * GetBody () const
 Return Bullet rigid body.
btCompoundShape * GetCompoundShape () const
 Return Bullet compound collision shape.
float GetMass () const
 Return mass.
Vector3 GetPosition () const
 Return rigid body world-space position.
Quaternion GetRotation () const
 Return rigid body world-space rotation.
Vector3 GetLinearVelocity () const
 Return linear velocity.
Vector3 GetLinearFactor () const
 Return linear degrees of freedom.
float GetLinearRestThreshold () const
 Return linear velocity deactivation threshold.
float GetLinearDamping () const
 Return linear velocity damping threshold.
float GetLinearDampingScale () const
 Return linear velocity damping scale.
Vector3 GetAngularVelocity () const
 Return angular velocity.
Vector3 GetAngularFactor () const
 Return angular degrees of freedom.
float GetAngularRestThreshold () const
 Return angular velocity deactivation threshold.
float GetAngularDamping () const
 Return angular velocity damping threshold.
float GetAngularDampingScale () const
 Return angular velocity damping scale.
float GetFriction () const
 Return friction coefficient.
float GetRestitution () const
 Return restitution coefficient.
float GetCcdRadius () const
 Return continuous collision detection swept sphere radius.
float GetCcdMotionThreshold () const
 Return continuous collision detection motion-per-simulation-step threshold.
bool GetUseGravity () const
 Return whether rigid body uses gravity.
bool IsKinematic () const
 Return kinematic mode flag.
bool IsPhantom () const
 Return phantom mode flag.
bool IsActive () const
 Return whether rigid body is active.
unsigned GetCollisionLayer () const
 Return collision layer.
unsigned GetCollisionMask () const
 Return collision mask.
CollisionEventMode GetCollisionEventMode () const
 Return collision event signaling mode.
void GetCollidingBodies (PODVector< RigidBody * > &result) const
 Return colliding rigid bodies from the last simulation step.
void ApplyWorldTransform (const Vector3 &newWorldPosition, const Quaternion &newWorldRotation)
 Apply new world transform after a simulation step. Called internally.
void UpdateMass ()
 Update mass and inertia of rigid body.
void SetNetAngularVelocityAttr (const PODVector< unsigned char > &value)
 Set network angular velocity attribute.
const PODVector< unsigned char > & GetNetAngularVelocityAttr () const
 Return network angular velocity attribute.
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)
 Construct.
virtual ~Component ()
 Destruct.
virtual bool Save (Serializer &dest)
 Save as binary data. Return true if successful.
virtual bool SaveXML (XMLElement &dest)
 Save as XML data. Return true if successful.
virtual void GetDependencyNodes (PODVector< Node * > &dest)
 Return the depended on nodes to order network updates.
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned GetID () const
 Return ID.
NodeGetNode () const
 Return scene node.
SceneGetScene () const
 Return the scene the node belongs to.
void GetComponents (PODVector< Component * > &dest, ShortStringHash type) const
 Return components in the same scene node by type.
ComponentGetComponent (ShortStringHash 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.
template<class T >
void GetComponents (PODVector< T * > &dest) const
 Template version of returning components in the same scene node by type.
void AddReplicationState (ComponentReplicationState *state)
 Add a replication state that is tracking this component.
void PrepareNetworkUpdate ()
 Prepare network update by comparing attributes and marking replication states dirty as necessary.
void CleanupConnection (Connection *connection)
 Clean up all references to a network connection that is about to be removed.
void MarkNetworkUpdate ()
 Mark for attribute check on the next network update.
- Public Member Functions inherited from Urho3D::Serializable
 Serializable (Context *context)
 Construct.
virtual ~Serializable ()
 Destruct.
virtual void OnGetAttribute (const AttributeInfo &attr, Variant &dest)
 Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
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.
bool SetAttribute (unsigned index, const Variant &value)
 Set attribute by index. Return true if successfully set.
bool SetAttribute (const String &name, const Variant &value)
 Set attribute by name. Return true if successfully set.
void AllocateNetworkState ()
 Allocate network attribute state.
void WriteInitialDeltaUpdate (Serializer &dest)
 Write initial delta network update.
void WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits)
 Write a delta network update according to dirty attribute bits.
void WriteLatestDataUpdate (Serializer &dest)
 Write a latest data network update.
void ReadDeltaUpdate (Deserializer &source)
 Read and apply a network delta update.
void ReadLatestDataUpdate (Deserializer &source)
 Read and apply a network latest data update.
Variant GetAttribute (unsigned index)
 Return attribute value by index. Return empty if illegal index.
Variant GetAttribute (const String &name)
 Return attribute value by name. Return empty if not found.
unsigned GetNumAttributes () const
 Return number of attributes.
unsigned GetNumNetworkAttributes () const
 Return number of network replication attributes.
const Vector< AttributeInfo > * GetAttributes () const
 Return attribute descriptions, or null if none defined.
const Vector< AttributeInfo > * GetNetworkAttributes () const
 Return network replication attribute descriptions, or null if none defined.
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
 Construct.
virtual ~Object ()
 Destruct. Clean up self from event sender & receiver structures.
virtual ShortStringHash GetType () const =0
 Return type hash.
virtual const StringGetTypeName () const =0
 Return type name.
virtual void OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
 Handle event.
void SubscribeToEvent (StringHash eventType, EventHandler *handler)
 Subscribe to an event that can be sent by any sender.
void SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *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 PODVector< StringHash > &exceptions, bool onlyUserData)
 Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void SendEvent (StringHash eventType)
 Send event to all subscribers.
void SendEvent (StringHash eventType, VariantMap &eventData)
 Send event with parameters to all subscribers.
ContextGetContext () const
 Return execution context.
ObjectGetSubsystem (ShortStringHash 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.
template<class T >
T * GetSubsystem () const
 Template version of returning a subsystem.
- 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.
void AddRef ()
 Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void ReleaseRef ()
 Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int Refs () const
 Return reference count.
int WeakRefs () const
 Return weak reference count.
RefCountRefCountPtr ()
 Return pointer to the reference count structure.

Static Public Member Functions

static void RegisterObject (Context *context)
 Register object factory.

Protected Member Functions

virtual void OnNodeSet (Node *node)
 Handle node being assigned.
virtual void OnMarkedDirty (Node *node)
 Handle node transform being dirtied.
- Protected Member Functions inherited from Urho3D::Component
void SetID (unsigned id)
 Set ID. Called by Scene.
void SetNode (Node *node)
 Set scene node. Called by Node when creating the component.

Private Member Functions

 OBJECT (RigidBody)
void AddBodyToWorld ()
 Create the rigid body, or re-add to the physics world with changed flags. Calls UpdateMass().
void HandleTargetPosition (StringHash eventType, VariantMap &eventData)
 Handle SmoothedTransform target position update.
void HandleTargetRotation (StringHash eventType, VariantMap &eventData)
 Handle SmoothedTransform target rotation update.

Private Attributes

btRigidBody * body_
 Bullet rigid body.
btCompoundShape * compoundShape_
 Bullet compound collision shape.
WeakPtr< PhysicsWorldphysicsWorld_
 Physics world.
PODVector< Constraint * > constraints_
 Constraints that refer to this rigid body.
float mass_
 Mass.
VectorBuffer attrBuffer_
 Attribute buffer for network replication.
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 phantom_
 Phantom flag.
bool hasSmoothedTransform_
 Smoothed transform mode.
bool readdBody_
 Readd body to world flag.

Additional Inherited Members

- Protected Attributes inherited from Urho3D::Component
Nodenode_
 Scene node.
unsigned id_
 Unique ID within the scene.
bool networkUpdate_
 Network update queued flag.
- Protected Attributes inherited from Urho3D::Serializable
NetworkStatenetworkState_
 Network attribute state.
- Protected Attributes inherited from Urho3D::Object
Contextcontext_
 Execution context.

Detailed Description

Physics rigid body component.


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