Bullet Collision Detection & Physics Library: btRigidBody.h Source File

Bullet Collision Detection & Physics Library

btRigidBody.h
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1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10
11 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15
16 #ifndef BT_RIGIDBODY_H
17 #define BT_RIGIDBODY_H
18
19 #include "LinearMath/btAlignedObjectArray.h"
20 #include "LinearMath/btTransform.h"
21 #include "BulletCollision/BroadphaseCollision/btBroadphaseProxy.h"
22 #include "BulletCollision/CollisionDispatch/btCollisionObject.h"
23
24 class btCollisionShape;
25 class btMotionState;
26 class btTypedConstraint;
27
28 extern btScalar gDeactivationTime;
29 extern bool gDisableDeactivation;
30
31 #ifdef BT_USE_DOUBLE_PRECISION
32 #define btRigidBodyData btRigidBodyDoubleData
33 #define btRigidBodyDataName "btRigidBodyDoubleData"
34 #else
35 #define btRigidBodyData btRigidBodyFloatData
36 #define btRigidBodyDataName "btRigidBodyFloatData"
37 #endif //BT_USE_DOUBLE_PRECISION
38
39 enum btRigidBodyFlags
40 {
41 BT_DISABLE_WORLD_GRAVITY = 1,
45 BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT = 2,
46 BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD = 4,
47 BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY = 8,
48 BT_ENABLE_GYROPSCOPIC_FORCE = BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY,
49 };
50
59 class btRigidBody : public btCollisionObject
60 {
61 btMatrix3x3 m_invInertiaTensorWorld;
62 btVector3 m_linearVelocity;
63 btVector3 m_angularVelocity;
64 btScalar m_inverseMass;
65 btVector3 m_linearFactor;
66
67 btVector3 m_gravity;
68 btVector3 m_gravity_acceleration;
69 btVector3 m_invInertiaLocal;
70 btVector3 m_totalForce;
71 btVector3 m_totalTorque;
72
73 btScalar m_linearDamping;
74 btScalar m_angularDamping;
75
76 bool m_additionalDamping;
77 btScalar m_additionalDampingFactor;
78 btScalar m_additionalLinearDampingThresholdSqr;
79 btScalar m_additionalAngularDampingThresholdSqr;
80 btScalar m_additionalAngularDampingFactor;
81
82 btScalar m_linearSleepingThreshold;
83 btScalar m_angularSleepingThreshold;
84
85 //m_optionalMotionState allows to automatic synchronize the world transform for active objects
86 btMotionState* m_optionalMotionState;
87
88 //keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
89 btAlignedObjectArray<btTypedConstraint*> m_constraintRefs;
90
91 int m_rigidbodyFlags;
92
93 int m_debugBodyId;
94
95 protected:
96 ATTRIBUTE_ALIGNED16(btVector3 m_deltaLinearVelocity);
97 btVector3 m_deltaAngularVelocity;
98 btVector3 m_angularFactor;
99 btVector3 m_invMass;
100 btVector3 m_pushVelocity;
101 btVector3 m_turnVelocity;
102
103 public:
109 struct btRigidBodyConstructionInfo
110 {
111 btScalar m_mass;
112
115 btMotionState* m_motionState;
116 btTransform m_startWorldTransform;
117
118 btCollisionShape* m_collisionShape;
119 btVector3 m_localInertia;
120 btScalar m_linearDamping;
121 btScalar m_angularDamping;
122
124 btScalar m_friction;
127 btScalar m_rollingFriction;
128 btScalar m_spinningFriction; //torsional friction around contact normal
129
131 btScalar m_restitution;
132
133 btScalar m_linearSleepingThreshold;
134 btScalar m_angularSleepingThreshold;
135
136 //Additional damping can help avoiding lowpass jitter motion, help stability for ragdolls etc.
137 //Such damping is undesirable, so once the overall simulation quality of the rigid body dynamics system has improved, this should become obsolete
138 bool m_additionalDamping;
139 btScalar m_additionalDampingFactor;
140 btScalar m_additionalLinearDampingThresholdSqr;
141 btScalar m_additionalAngularDampingThresholdSqr;
142 btScalar m_additionalAngularDampingFactor;
143
144 btRigidBodyConstructionInfo(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0)) : m_mass(mass),
145 m_motionState(motionState),
146 m_collisionShape(collisionShape),
147 m_localInertia(localInertia),
148 m_linearDamping(btScalar(0.)),
149 m_angularDamping(btScalar(0.)),
150 m_friction(btScalar(0.5)),
151 m_rollingFriction(btScalar(0)),
152 m_spinningFriction(btScalar(0)),
153 m_restitution(btScalar(0.)),
154 m_linearSleepingThreshold(btScalar(0.8)),
155 m_angularSleepingThreshold(btScalar(1.f)),
156 m_additionalDamping(false),
157 m_additionalDampingFactor(btScalar(0.005)),
158 m_additionalLinearDampingThresholdSqr(btScalar(0.01)),
159 m_additionalAngularDampingThresholdSqr(btScalar(0.01)),
160 m_additionalAngularDampingFactor(btScalar(0.01))
161 {
162 m_startWorldTransform.setIdentity();
163 }
164 };
165
167 btRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
168
171 btRigidBody(btScalar mass, btMotionState* motionState, btCollisionShape* collisionShape, const btVector3& localInertia = btVector3(0, 0, 0));
172
173 virtual ~btRigidBody()
174 {
175 //No constraints should point to this rigidbody
176 //Remove constraints from the dynamics world before you delete the related rigidbodies.
177 btAssert(m_constraintRefs.size() == 0);
178 }
179
180 protected:
182 void setupRigidBody(const btRigidBodyConstructionInfo& constructionInfo);
183
184 public:
185 void proceedToTransform(const btTransform& newTrans);
186
189 static const btRigidBody* upcast(const btCollisionObject* colObj)
190 {
191 if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
192 return (const btRigidBody*)colObj;
193 return 0;
194 }
195 static btRigidBody* upcast(btCollisionObject* colObj)
196 {
197 if (colObj->getInternalType() & btCollisionObject::CO_RIGID_BODY)
198 return (btRigidBody*)colObj;
199 return 0;
200 }
201
203 void predictIntegratedTransform(btScalar step, btTransform& predictedTransform);
204
205 void saveKinematicState(btScalar step);
206
207 void applyGravity();
208
209 void clearGravity();
210
211 void setGravity(const btVector3& acceleration);
212
213 const btVector3& getGravity() const
214 {
215 return m_gravity_acceleration;
216 }
217
218 void setDamping(btScalar lin_damping, btScalar ang_damping);
219
220 btScalar getLinearDamping() const
221 {
222 return m_linearDamping;
223 }
224
225 btScalar getAngularDamping() const
226 {
227 return m_angularDamping;
228 }
229
230 btScalar getLinearSleepingThreshold() const
231 {
232 return m_linearSleepingThreshold;
233 }
234
235 btScalar getAngularSleepingThreshold() const
236 {
237 return m_angularSleepingThreshold;
238 }
239
240 void applyDamping(btScalar timeStep);
241
242 SIMD_FORCE_INLINE const btCollisionShape* getCollisionShape() const
243 {
244 return m_collisionShape;
245 }
246
247 SIMD_FORCE_INLINE btCollisionShape* getCollisionShape()
248 {
249 return m_collisionShape;
250 }
251
252 void setMassProps(btScalar mass, const btVector3& inertia);
253
254 const btVector3& getLinearFactor() const
255 {
256 return m_linearFactor;
257 }
258 void setLinearFactor(const btVector3& linearFactor)
259 {
260 m_linearFactor = linearFactor;
261 m_invMass = m_linearFactor * m_inverseMass;
262 }
263 btScalar getInvMass() const { return m_inverseMass; }
264 btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
265 const btMatrix3x3& getInvInertiaTensorWorld() const
266 {
267 return m_invInertiaTensorWorld;
268 }
269
270 void integrateVelocities(btScalar step);
271
272 void setCenterOfMassTransform(const btTransform& xform);
273
274 void applyCentralForce(const btVector3& force)
275 {
276 m_totalForce += force * m_linearFactor;
277 }
278
279 const btVector3& getTotalForce() const
280 {
281 return m_totalForce;
282 };
283
284 const btVector3& getTotalTorque() const
285 {
286 return m_totalTorque;
287 };
288
289 const btVector3& getInvInertiaDiagLocal() const
290 {
291 return m_invInertiaLocal;
292 };
293
294 void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
295 {
296 m_invInertiaLocal = diagInvInertia;
297 }
298
299 void setSleepingThresholds(btScalar linear, btScalar angular)
300 {
301 m_linearSleepingThreshold = linear;
302 m_angularSleepingThreshold = angular;
303 }
304
305 void applyTorque(const btVector3& torque)
306 {
307 m_totalTorque += torque * m_angularFactor;
308 }
309
310 void applyForce(const btVector3& force, const btVector3& rel_pos)
311 {
312 applyCentralForce(force);
313 applyTorque(rel_pos.cross(force * m_linearFactor));
314 }
315
316 void applyCentralImpulse(const btVector3& impulse)
317 {
318 m_linearVelocity += impulse * m_linearFactor * m_inverseMass;
319 }
320
321 void applyTorqueImpulse(const btVector3& torque)
322 {
323 m_angularVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
324 }
325
326 void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
327 {
328 if (m_inverseMass != btScalar(0.))
329 {
330 applyCentralImpulse(impulse);
331 if (m_angularFactor)
332 {
333 applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
334 }
335 }
336 }
337
338 void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos)
339 {
340 if (m_inverseMass != btScalar(0.))
341 {
342 applyCentralPushImpulse(impulse);
343 if (m_angularFactor)
344 {
345 applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor));
346 }
347 }
348 }
349
350 btVector3 getPushVelocity()
351 {
352 return m_pushVelocity;
353 }
354
355 btVector3 getTurnVelocity()
356 {
357 return m_turnVelocity;
358 }
359
360 void setPushVelocity(const btVector3& v)
361 {
362 m_pushVelocity = v;
363 }
364
365 void setTurnVelocity(const btVector3& v)
366 {
367 m_turnVelocity = v;
368 }
369
370 void applyCentralPushImpulse(const btVector3& impulse)
371 {
372 m_pushVelocity += impulse * m_linearFactor * m_inverseMass;
373 }
374
375 void applyTorqueTurnImpulse(const btVector3& torque)
376 {
377 m_turnVelocity += m_invInertiaTensorWorld * torque * m_angularFactor;
378 }
379
380 void clearForces()
381 {
382 m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
383 m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
384 }
385
386 void updateInertiaTensor();
387
388 const btVector3& getCenterOfMassPosition() const
389 {
390 return m_worldTransform.getOrigin();
391 }
392 btQuaternion getOrientation() const;
393
394 const btTransform& getCenterOfMassTransform() const
395 {
396 return m_worldTransform;
397 }
398 const btVector3& getLinearVelocity() const
399 {
400 return m_linearVelocity;
401 }
402 const btVector3& getAngularVelocity() const
403 {
404 return m_angularVelocity;
405 }
406
407 inline void setLinearVelocity(const btVector3& lin_vel)
408 {
409 m_updateRevision++;
410 m_linearVelocity = lin_vel;
411 }
412
413 inline void setAngularVelocity(const btVector3& ang_vel)
414 {
415 m_updateRevision++;
416 m_angularVelocity = ang_vel;
417 }
418
419 btVector3 getVelocityInLocalPoint(const btVector3& rel_pos) const
420 {
421 //we also calculate lin/ang velocity for kinematic objects
422 return m_linearVelocity + m_angularVelocity.cross(rel_pos);
423
424 //for kinematic objects, we could also use use:
425 // return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
426 }
427
428 void translate(const btVector3& v)
429 {
430 m_worldTransform.getOrigin() += v;
431 }
432
433 void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
434
435 SIMD_FORCE_INLINE btScalar computeImpulseDenominator(const btVector3& pos, const btVector3& normal) const
436 {
437 btVector3 r0 = pos - getCenterOfMassPosition();
438
439 btVector3 c0 = (r0).cross(normal);
440
441 btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
442
443 return m_inverseMass + normal.dot(vec);
444 }
445
446 SIMD_FORCE_INLINE btScalar computeAngularImpulseDenominator(const btVector3& axis) const
447 {
448 btVector3 vec = axis * getInvInertiaTensorWorld();
449 return axis.dot(vec);
450 }
451
452 SIMD_FORCE_INLINE void updateDeactivation(btScalar timeStep)
453 {
454 if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == DISABLE_DEACTIVATION))
455 return;
456
457 if ((getLinearVelocity().length2() < m_linearSleepingThreshold * m_linearSleepingThreshold) &&
458 (getAngularVelocity().length2() < m_angularSleepingThreshold * m_angularSleepingThreshold))
459 {
460 m_deactivationTime += timeStep;
461 }
462 else
463 {
464 m_deactivationTime = btScalar(0.);
465 setActivationState(0);
466 }
467 }
468
469 SIMD_FORCE_INLINE bool wantsSleeping()
470 {
471 if (getActivationState() == DISABLE_DEACTIVATION)
472 return false;
473
474 //disable deactivation
475 if (gDisableDeactivation || (gDeactivationTime == btScalar(0.)))
476 return false;
477
478 if ((getActivationState() == ISLAND_SLEEPING) || (getActivationState() == WANTS_DEACTIVATION))
479 return true;
480
481 if (m_deactivationTime > gDeactivationTime)
482 {
483 return true;
484 }
485 return false;
486 }
487
488 const btBroadphaseProxy* getBroadphaseProxy() const
489 {
490 return m_broadphaseHandle;
491 }
492 btBroadphaseProxy* getBroadphaseProxy()
493 {
494 return m_broadphaseHandle;
495 }
496 void setNewBroadphaseProxy(btBroadphaseProxy* broadphaseProxy)
497 {
498 m_broadphaseHandle = broadphaseProxy;
499 }
500
501 //btMotionState allows to automatic synchronize the world transform for active objects
502 btMotionState* getMotionState()
503 {
504 return m_optionalMotionState;
505 }
506 const btMotionState* getMotionState() const
507 {
508 return m_optionalMotionState;
509 }
510 void setMotionState(btMotionState* motionState)
511 {
512 m_optionalMotionState = motionState;
513 if (m_optionalMotionState)
514 motionState->getWorldTransform(m_worldTransform);
515 }
516
517 //for experimental overriding of friction/contact solver func
518 int m_contactSolverType;
519 int m_frictionSolverType;
520
521 void setAngularFactor(const btVector3& angFac)
522 {
523 m_updateRevision++;
524 m_angularFactor = angFac;
525 }
526
527 void setAngularFactor(btScalar angFac)
528 {
529 m_updateRevision++;
530 m_angularFactor.setValue(angFac, angFac, angFac);
531 }
532 const btVector3& getAngularFactor() const
533 {
534 return m_angularFactor;
535 }
536
537 //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
538 bool isInWorld() const
539 {
540 return (getBroadphaseProxy() != 0);
541 }
542
543 void addConstraintRef(btTypedConstraint* c);
544 void removeConstraintRef(btTypedConstraint* c);
545
546 btTypedConstraint* getConstraintRef(int index)
547 {
548 return m_constraintRefs[index];
549 }
550
551 int getNumConstraintRefs() const
552 {
553 return m_constraintRefs.size();
554 }
555
556 void setFlags(int flags)
557 {
558 m_rigidbodyFlags = flags;
559 }
560
561 int getFlags() const
562 {
563 return m_rigidbodyFlags;
564 }
565
567 btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const;
568
570 btVector3 computeGyroscopicImpulseImplicit_Body(btScalar step) const;
571
573 btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
574 btVector3 getLocalInertia() const;
575
577
578 virtual int calculateSerializeBufferSize() const;
579
581 virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
582
583 virtual void serializeSingleObject(class btSerializer* serializer) const;
584 };
585
586 //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
588 struct btRigidBodyFloatData
589 {
590 btCollisionObjectFloatData m_collisionObjectData;
591 btMatrix3x3FloatData m_invInertiaTensorWorld;
592 btVector3FloatData m_linearVelocity;
593 btVector3FloatData m_angularVelocity;
594 btVector3FloatData m_angularFactor;
595 btVector3FloatData m_linearFactor;
596 btVector3FloatData m_gravity;
597 btVector3FloatData m_gravity_acceleration;
598 btVector3FloatData m_invInertiaLocal;
599 btVector3FloatData m_totalForce;
600 btVector3FloatData m_totalTorque;
601 float m_inverseMass;
602 float m_linearDamping;
603 float m_angularDamping;
604 float m_additionalDampingFactor;
605 float m_additionalLinearDampingThresholdSqr;
606 float m_additionalAngularDampingThresholdSqr;
607 float m_additionalAngularDampingFactor;
608 float m_linearSleepingThreshold;
609 float m_angularSleepingThreshold;
610 int m_additionalDamping;
611 };
612
614 struct btRigidBodyDoubleData
615 {
616 btCollisionObjectDoubleData m_collisionObjectData;
617 btMatrix3x3DoubleData m_invInertiaTensorWorld;
618 btVector3DoubleData m_linearVelocity;
619 btVector3DoubleData m_angularVelocity;
620 btVector3DoubleData m_angularFactor;
621 btVector3DoubleData m_linearFactor;
622 btVector3DoubleData m_gravity;
623 btVector3DoubleData m_gravity_acceleration;
624 btVector3DoubleData m_invInertiaLocal;
625 btVector3DoubleData m_totalForce;
626 btVector3DoubleData m_totalTorque;
627 double m_inverseMass;
628 double m_linearDamping;
629 double m_angularDamping;
630 double m_additionalDampingFactor;
631 double m_additionalLinearDampingThresholdSqr;
632 double m_additionalAngularDampingThresholdSqr;
633 double m_additionalAngularDampingFactor;
634 double m_linearSleepingThreshold;
635 double m_angularSleepingThreshold;
636 int m_additionalDamping;
637 char m_padding[4];
638 };
639
640 #endif //BT_RIGIDBODY_H
btMatrix3x3DoubleData
for serialization
Definition: btMatrix3x3.h:1381
btRigidBodyDoubleData::m_invInertiaTensorWorld
btMatrix3x3DoubleData m_invInertiaTensorWorld
Definition: btRigidBody.h:617
btRigidBody::getAngularDamping
btScalar getAngularDamping() const
Definition: btRigidBody.h:225
btTypedConstraint
TypedConstraint is the baseclass for Bullet constraints and vehicles.
Definition: btTypedConstraint.h:76
btRigidBody::applyGravity
void applyGravity()
Definition: btRigidBody.cpp:201
btRigidBodyFloatData::m_additionalAngularDampingFactor
float m_additionalAngularDampingFactor
Definition: btRigidBody.h:607
btCollisionObject
btCollisionObject can be used to manage collision detection objects.
Definition: btCollisionObject.h:50
btRigidBody::btRigidBodyConstructionInfo::m_linearDamping
btScalar m_linearDamping
Definition: btRigidBody.h:120
btRigidBody::m_invInertiaTensorWorld
btMatrix3x3 m_invInertiaTensorWorld
Definition: btRigidBody.h:61
btBroadphaseProxy
The btBroadphaseProxy is the main class that can be used with the Bullet broadphases.
Definition: btBroadphaseProxy.h:86
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:60
btRigidBody::m_turnVelocity
btVector3 m_turnVelocity
Definition: btRigidBody.h:101
btRigidBody::getTotalTorque
const btVector3 & getTotalTorque() const
Definition: btRigidBody.h:284
btRigidBody::setAngularFactor
void setAngularFactor(const btVector3 &angFac)
Definition: btRigidBody.h:521
btRigidBodyFloatData::m_invInertiaLocal
btVector3FloatData m_invInertiaLocal
Definition: btRigidBody.h:598
btRigidBody::btRigidBodyConstructionInfo::m_angularSleepingThreshold
btScalar m_angularSleepingThreshold
Definition: btRigidBody.h:134
btRigidBody::btRigidBodyConstructionInfo::m_angularDamping
btScalar m_angularDamping
Definition: btRigidBody.h:121
BT_ENABLE_GYROPSCOPIC_FORCE
@ BT_ENABLE_GYROPSCOPIC_FORCE
Definition: btRigidBody.h:48
BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT
@ BT_ENABLE_GYROSCOPIC_FORCE_EXPLICIT
BT_ENABLE_GYROPSCOPIC_FORCE flags is enabled by default in Bullet 2.83 and onwards.
Definition: btRigidBody.h:45
btRigidBody::predictIntegratedTransform
void predictIntegratedTransform(btScalar step, btTransform &predictedTransform)
continuous collision detection needs prediction
Definition: btRigidBody.cpp:100
DISABLE_DEACTIVATION
#define DISABLE_DEACTIVATION
Definition: btCollisionObject.h:25
btRigidBody::m_angularDamping
btScalar m_angularDamping
Definition: btRigidBody.h:74
btRigidBodyDoubleData::m_gravity_acceleration
btVector3DoubleData m_gravity_acceleration
Definition: btRigidBody.h:623
btRigidBody::btRigidBodyConstructionInfo::m_additionalAngularDampingThresholdSqr
btScalar m_additionalAngularDampingThresholdSqr
Definition: btRigidBody.h:141
btRigidBody::serialize
virtual const char * serialize(void *dataBuffer, class btSerializer *serializer) const
fills the dataBuffer and returns the struct name (and 0 on failure)
Definition: btRigidBody.cpp:458
btQuaternion
The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatr...
Definition: btQuaternion.h:50
btRigidBodyFloatData::m_linearDamping
float m_linearDamping
Definition: btRigidBody.h:602
gDeactivationTime
btScalar gDeactivationTime
Definition: btRigidBody.cpp:25
btRigidBody::serializeSingleObject
virtual void serializeSingleObject(class btSerializer *serializer) const
Definition: btRigidBody.cpp:493
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btRigidBody::btRigidBodyConstructionInfo::m_additionalLinearDampingThresholdSqr
btScalar m_additionalLinearDampingThresholdSqr
Definition: btRigidBody.h:140
btRigidBody::getAngularVelocity
const btVector3 & getAngularVelocity() const
Definition: btRigidBody.h:402
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btRigidBody::m_totalTorque
btVector3 m_totalTorque
Definition: btRigidBody.h:71
btRigidBodyFloatData::m_gravity
btVector3FloatData m_gravity
Definition: btRigidBody.h:596
btRigidBody::m_additionalDamping
bool m_additionalDamping
Definition: btRigidBody.h:76
btRigidBody::btRigidBodyConstructionInfo::m_mass
btScalar m_mass
Definition: btRigidBody.h:111
btRigidBody::m_contactSolverType
int m_contactSolverType
Definition: btRigidBody.h:518
btRigidBody::m_rigidbodyFlags
int m_rigidbodyFlags
Definition: btRigidBody.h:91
btCollisionObjectDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:604
btRigidBody::setGravity
void setGravity(const btVector3 &acceleration)
Definition: btRigidBody.cpp:128
btRigidBody::isInWorld
bool isInWorld() const
Definition: btRigidBody.h:538
btRigidBody::getBroadphaseProxy
btBroadphaseProxy * getBroadphaseProxy()
Definition: btRigidBody.h:492
btRigidBody::setSleepingThresholds
void setSleepingThresholds(btScalar linear, btScalar angular)
Definition: btRigidBody.h:299
btRigidBody::getNumConstraintRefs
int getNumConstraintRefs() const
Definition: btRigidBody.h:551
btRigidBody::computeGyroscopicForceExplicit
btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const
explicit version is best avoided, it gains energy
Definition: btRigidBody.cpp:279
btCollisionObjectFloatData
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Definition: btCollisionObject.h:639
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Definition: btRigidBody.h:220
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Return the cross product between this and another vector.
Definition: btVector3.h:380
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Definition: btRigidBody.h:46
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perform implicit force computation in world space
Definition: btRigidBody.cpp:332
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Definition: btRigidBody.h:47
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Set this transformation to the identity.
Definition: btTransform.h:166
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Definition: btRigidBody.cpp:385
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Definition: btRigidBody.h:635
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Definition: btRigidBody.cpp:26
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Definition: btRigidBody.h:78
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Definition: btRigidBody.h:86
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Definition: btRigidBody.cpp:451
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Definition: btRigidBody.h:289
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@ CO_RIGID_BODY
Definition: btCollisionObject.h:146
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Definition: btRigidBody.h:407
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Definition: btCollisionShape.h:28
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Definition: btCollisionObject.h:23
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Definition: btScalar.h:153
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Definition: btCollisionObject.h:67
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setupRigidBody is only used internally by the constructor
Definition: btRigidBody.cpp:40
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Definition: btRigidBody.h:98
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Definition: btRigidBody.h:601
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Definition: btRigidBody.h:380
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Definition: btRigidBody.h:242
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Definition: btRigidBody.h:254
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best simulation results using zero restitution.
Definition: btRigidBody.h:131
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Definition: btVector3.h:1287
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Definition: btRigidBody.h:556
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Definition: btRigidBody.h:274
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Definition: btRigidBody.cpp:217
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Definition: btRigidBody.h:452
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Definition: btRigidBody.h:636
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best simulation results when friction is non-zero
Definition: btRigidBody.h:124
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Definition: btRigidBody.h:631
btRigidBody::btRigidBody
btRigidBody(const btRigidBodyConstructionInfo &constructionInfo)
btRigidBody constructor using construction info
Definition: btRigidBody.cpp:29
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Definition: btRigidBody.h:247
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Definition: btRigidBody.h:65
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Definition: btRigidBody.h:532
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Definition: btRigidBody.h:305
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Definition: btRigidBody.h:100
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Definition: btRigidBody.h:626
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Definition: btMatrix3x3.h:48
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Definition: btRigidBody.h:63
btTransform.h
btRigidBody::getInvMass
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Definition: btRigidBody.h:263
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Definition: btTransform.h:30
btMotionState
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Definition: btMotionState.h:24
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Definition: btRigidBody.h:488
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Definition: btRigidBody.h:138
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Definition: btRigidBody.h:119
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Definition: btRigidBody.h:69
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Definition: btRigidBody.h:625
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Definition: btRigidBody.h:590
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Definition: btRigidBody.h:264
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Definition: btRigidBody.h:609
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Definition: btRigidBody.cpp:105
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Definition: btRigidBody.h:600
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Definition: btRigidBody.h:355
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Definition: btRigidBody.h:40
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btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
BT_DISABLE_WORLD_GRAVITY
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Definition: btRigidBody.h:41
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Definition: btRigidBody.h:96
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Definition: btRigidBody.h:82
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Return the origin vector translation.
Definition: btTransform.h:113
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const btVector3 & getLinearVelocity() const
Definition: btRigidBody.h:398
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Definition: btRigidBody.h:419
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Definition: btRigidBody.h:230
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Definition: btRigidBody.h:561
btRigidBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:615
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void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
Definition: btRigidBody.cpp:144
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do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:589
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Definition: btRigidBody.cpp:408
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Definition: btScalar.h:99
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Definition: btRigidBody.h:79
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internal update revision number. It will be increased when the object changes. This allows some subsy...
Definition: btCollisionObject.h:121
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btRigidBody::setAngularFactor
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Definition: btRigidBody.h:527
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Definition: btRigidBody.h:338
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Definition: btRigidBody.h:310
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Definition: btRigidBody.h:413
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Definition: btScalar.h:98
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Definition: btRigidBody.h:93
btBroadphaseProxy.h
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Definition: btRigidBody.h:496
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Definition: btSerializer.h:66
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Definition: btRigidBody.h:375
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Definition: btRigidBody.cpp:222
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Definition: btRigidBody.h:629
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Definition: btRigidBody.h:139
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Definition: btRigidBody.h:118
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Definition: btRigidBody.h:89
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Definition: btRigidBody.h:618
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Definition: btRigidBody.h:77
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Definition: btRigidBody.h:519
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Definition: btRigidBody.h:73
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Definition: btRigidBody.h:608
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Definition: btRigidBody.h:62
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Definition: btRigidBody.h:360
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reserved for Bullet internal usage
Definition: btCollisionObject.h:362
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Definition: btRigidBody.h:350
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Definition: btRigidBody.h:593
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Definition: btRigidBody.h:633
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Definition: btCollisionObject.h:66
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Definition: btRigidBody.h:115
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Definition: btRigidBody.h:592
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Definition: btRigidBody.h:68
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Definition: btRigidBody.h:265
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Definition: btRigidBody.h:294
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Definition: btRigidBody.h:510
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Definition: btCollisionObject.h:24
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Definition: btRigidBody.cpp:392
btCollisionObject.h
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Definition: btRigidBody.h:546
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Definition: btRigidBody.h:606
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Definition: btRigidBody.h:388
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Definition: btRigidBody.h:604
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Definition: btRigidBody.h:142
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Definition: btRigidBody.h:127
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Definition: btRigidBody.h:97
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Definition: btRigidBody.h:195
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The btRigidBodyConstructionInfo structure provides information to create a rigid body.
Definition: btRigidBody.h:110
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Definition: btRigidBody.h:506
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Definition: btRigidBody.h:591
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Definition: btRigidBody.h:627
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Definition: btRigidBody.h:365
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Definition: btRigidBody.h:279
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Definition: btRigidBody.h:326
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Definition: btRigidBody.h:80
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Definition: btRigidBody.h:597
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Definition: btRigidBody.h:622
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for serialization
Definition: btMatrix3x3.h:1375
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Definition: btRigidBody.h:610
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Definition: btRigidBody.h:630
btRigidBodyDoubleData::m_linearDamping
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Definition: btRigidBody.h:628
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Definition: btRigidBody.h:435
btRigidBody::~btRigidBody
virtual ~btRigidBody()
Definition: btRigidBody.h:173
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Definition: btRigidBody.h:370
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btRigidBodyConstructionInfo(btScalar mass, btMotionState *motionState, btCollisionShape *collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
Definition: btRigidBody.h:144
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Definition: btRigidBody.cpp:431
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Definition: btRigidBody.h:213
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static const btRigidBody * upcast(const btCollisionObject *colObj)
to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody ...
Definition: btRigidBody.h:189
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btScalar m_linearSleepingThreshold
Definition: btRigidBody.h:133
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Definition: btRigidBody.h:446
btRigidBody::getMotionState
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Definition: btRigidBody.h:502
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Definition: btCollisionObject.cpp:61
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:142
btRigidBody::m_totalForce
btVector3 m_totalForce
Definition: btRigidBody.h:70
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Definition: btRigidBody.h:621
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Definition: btRigidBody.h:619
btRigidBody::computeGyroscopicImpulseImplicit_Body
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perform implicit force computation in body space (inertial frame)
Definition: btRigidBody.cpp:293
btRigidBody::m_invMass
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Definition: btRigidBody.h:99
btRigidBody::getLocalInertia
btVector3 getLocalInertia() const
Definition: btRigidBody.cpp:250