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 
20 #include "LinearMath/btTransform.h"
23 
24 class btCollisionShape;
25 class btMotionState;
26 class btTypedConstraint;
27 
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 
40 {
49 };
50 
60 {
66 
72 
75 
81 
84 
85  //m_optionalMotionState allows to automatic synchronize the world transform for active objects
87 
88  //keep track of typed constraints referencing this rigid body, to disable collision between linked bodies
90 
92 
94 
95 protected:
102 
103 public:
110  {
112 
117 
122 
128  btScalar m_spinningFriction; //torsional friction around contact normal
129 
132 
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
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),
150  m_friction(btScalar(0.5)),
153  m_restitution(btScalar(0.)),
156  m_additionalDamping(false),
161  {
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.
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  {
192  return (const btRigidBody*)colObj;
193  return 0;
194  }
196  {
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 
221  {
222  return m_linearDamping;
223  }
224 
226  {
227  return m_angularDamping;
228  }
229 
231  {
233  }
234 
236  {
238  }
239 
240  void applyDamping(btScalar timeStep);
241 
243  {
244  return m_collisionShape;
245  }
246 
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;
262  }
263  btScalar getInvMass() const { return m_inverseMass; }
264  btScalar getMass() const { return m_inverseMass == btScalar(0.) ? btScalar(0.) : btScalar(1.0) / m_inverseMass; }
266  {
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 
290  {
291  return m_invInertiaLocal;
292  };
293 
294  void setInvInertiaDiagLocal(const btVector3& diagInvInertia)
295  {
296  m_invInertiaLocal = diagInvInertia;
297  }
298 
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  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
309  clampVelocity(m_totalTorque);
310  #endif
311  }
312 
313  void applyForce(const btVector3& force, const btVector3& rel_pos)
314  {
315  applyCentralForce(force);
316  applyTorque(rel_pos.cross(force * m_linearFactor));
317  }
318 
319  void applyCentralImpulse(const btVector3& impulse)
320  {
322  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
323  clampVelocity(m_linearVelocity);
324  #endif
325  }
326 
327  void applyTorqueImpulse(const btVector3& torque)
328  {
330  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
331  clampVelocity(m_angularVelocity);
332  #endif
333  }
334 
335  void applyImpulse(const btVector3& impulse, const btVector3& rel_pos)
336  {
337  if (m_inverseMass != btScalar(0.))
338  {
339  applyCentralImpulse(impulse);
340  if (m_angularFactor)
341  {
342  applyTorqueImpulse(rel_pos.cross(impulse * m_linearFactor));
343  }
344  }
345  }
346 
347  void applyPushImpulse(const btVector3& impulse, const btVector3& rel_pos)
348  {
349  if (m_inverseMass != btScalar(0.))
350  {
351  applyCentralPushImpulse(impulse);
352  if (m_angularFactor)
353  {
354  applyTorqueTurnImpulse(rel_pos.cross(impulse * m_linearFactor));
355  }
356  }
357  }
358 
360  {
361  return m_pushVelocity;
362  }
363 
365  {
366  return m_turnVelocity;
367  }
368 
369  void setPushVelocity(const btVector3& v)
370  {
371  m_pushVelocity = v;
372  }
373 
374  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
375  void clampVelocity(btVector3& v) const {
376  v.setX(
377  fmax(-BT_CLAMP_VELOCITY_TO,
378  fmin(BT_CLAMP_VELOCITY_TO, v.getX()))
379  );
380  v.setY(
381  fmax(-BT_CLAMP_VELOCITY_TO,
382  fmin(BT_CLAMP_VELOCITY_TO, v.getY()))
383  );
384  v.setZ(
385  fmax(-BT_CLAMP_VELOCITY_TO,
386  fmin(BT_CLAMP_VELOCITY_TO, v.getZ()))
387  );
388  }
389  #endif
390 
391  void setTurnVelocity(const btVector3& v)
392  {
393  m_turnVelocity = v;
394  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
395  clampVelocity(m_turnVelocity);
396  #endif
397  }
398 
399  void applyCentralPushImpulse(const btVector3& impulse)
400  {
402  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
403  clampVelocity(m_pushVelocity);
404  #endif
405  }
406 
407  void applyTorqueTurnImpulse(const btVector3& torque)
408  {
410  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
411  clampVelocity(m_turnVelocity);
412  #endif
413  }
414 
415  void clearForces()
416  {
417  m_totalForce.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
418  m_totalTorque.setValue(btScalar(0.0), btScalar(0.0), btScalar(0.0));
419  }
420 
421  void updateInertiaTensor();
422 
424  {
425  return m_worldTransform.getOrigin();
426  }
428 
430  {
431  return m_worldTransform;
432  }
434  {
435  return m_linearVelocity;
436  }
438  {
439  return m_angularVelocity;
440  }
441 
442  inline void setLinearVelocity(const btVector3& lin_vel)
443  {
445  m_linearVelocity = lin_vel;
446  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
447  clampVelocity(m_linearVelocity);
448  #endif
449  }
450 
451  inline void setAngularVelocity(const btVector3& ang_vel)
452  {
454  m_angularVelocity = ang_vel;
455  #if defined(BT_CLAMP_VELOCITY_TO) && BT_CLAMP_VELOCITY_TO > 0
456  clampVelocity(m_angularVelocity);
457  #endif
458  }
459 
461  {
462  //we also calculate lin/ang velocity for kinematic objects
463  return m_linearVelocity + m_angularVelocity.cross(rel_pos);
464 
465  //for kinematic objects, we could also use use:
466  // return (m_worldTransform(rel_pos) - m_interpolationWorldTransform(rel_pos)) / m_kinematicTimeStep;
467  }
468 
470  {
471  //we also calculate lin/ang velocity for kinematic objects
472  return m_pushVelocity + m_turnVelocity.cross(rel_pos);
473  }
474 
475  void translate(const btVector3& v)
476  {
478  }
479 
480  void getAabb(btVector3& aabbMin, btVector3& aabbMax) const;
481 
483  {
484  btVector3 r0 = pos - getCenterOfMassPosition();
485 
486  btVector3 c0 = (r0).cross(normal);
487 
488  btVector3 vec = (c0 * getInvInertiaTensorWorld()).cross(r0);
489 
490  return m_inverseMass + normal.dot(vec);
491  }
492 
494  {
495  btVector3 vec = axis * getInvInertiaTensorWorld();
496  return axis.dot(vec);
497  }
498 
500  {
502  return;
503 
506  {
507  m_deactivationTime += timeStep;
508  }
509  else
510  {
513  }
514  }
515 
517  {
519  return false;
520 
521  //disable deactivation
523  return false;
524 
526  return true;
527 
529  {
530  return true;
531  }
532  return false;
533  }
534 
536  {
537  return m_broadphaseHandle;
538  }
540  {
541  return m_broadphaseHandle;
542  }
544  {
545  m_broadphaseHandle = broadphaseProxy;
546  }
547 
548  //btMotionState allows to automatic synchronize the world transform for active objects
550  {
551  return m_optionalMotionState;
552  }
554  {
555  return m_optionalMotionState;
556  }
557  void setMotionState(btMotionState* motionState)
558  {
559  m_optionalMotionState = motionState;
561  motionState->getWorldTransform(m_worldTransform);
562  }
563 
564  //for experimental overriding of friction/contact solver func
567 
568  void setAngularFactor(const btVector3& angFac)
569  {
571  m_angularFactor = angFac;
572  }
573 
575  {
577  m_angularFactor.setValue(angFac, angFac, angFac);
578  }
580  {
581  return m_angularFactor;
582  }
583 
584  //is this rigidbody added to a btCollisionWorld/btDynamicsWorld/btBroadphase?
585  bool isInWorld() const
586  {
587  return (getBroadphaseProxy() != 0);
588  }
589 
592 
594  {
595  return m_constraintRefs[index];
596  }
597 
599  {
600  return m_constraintRefs.size();
601  }
602 
603  void setFlags(int flags)
604  {
605  m_rigidbodyFlags = flags;
606  }
607 
608  int getFlags() const
609  {
610  return m_rigidbodyFlags;
611  }
612 
615 
618 
620  btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const;
621  btVector3 getLocalInertia() const;
622 
624 
625  virtual int calculateSerializeBufferSize() const;
626 
628  virtual const char* serialize(void* dataBuffer, class btSerializer* serializer) const;
629 
630  virtual void serializeSingleObject(class btSerializer* serializer) const;
631 };
632 
633 //@todo add m_optionalMotionState and m_constraintRefs to btRigidBodyData
636 {
658 };
659 
662 {
684  char m_padding[4];
685 };
686 
687 #endif //BT_RIGIDBODY_H
btMatrix3x3DoubleData
for serialization
Definition: btMatrix3x3.h:1397
btRigidBodyDoubleData::m_invInertiaTensorWorld
btMatrix3x3DoubleData m_invInertiaTensorWorld
Definition: btRigidBody.h:664
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:205
btRigidBodyFloatData::m_additionalAngularDampingFactor
float m_additionalAngularDampingFactor
Definition: btRigidBody.h:654
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:568
btRigidBodyFloatData::m_invInertiaLocal
btVector3FloatData m_invInertiaLocal
Definition: btRigidBody.h:645
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
btRigidBody::getPushVelocityInLocalPoint
btVector3 getPushVelocityInLocalPoint(const btVector3 &rel_pos) const
Definition: btRigidBody.h:469
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:670
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:465
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:649
gDeactivationTime
btScalar gDeactivationTime
Definition: btRigidBody.cpp:25
btRigidBody::serializeSingleObject
virtual void serializeSingleObject(class btSerializer *serializer) const
Definition: btRigidBody.cpp:500
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:437
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:643
btRigidBody::getPushVelocity
btVector3 getPushVelocity() const
Definition: btRigidBody.h:359
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:565
btVector3::setZ
void setZ(btScalar _z)
Set the z value.
Definition: btVector3.h:571
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:614
btRigidBody::setGravity
void setGravity(const btVector3 &acceleration)
Definition: btRigidBody.cpp:128
btRigidBody::isInWorld
bool isInWorld() const
Definition: btRigidBody.h:585
btRigidBody::getBroadphaseProxy
btBroadphaseProxy * getBroadphaseProxy()
Definition: btRigidBody.h:539
btRigidBody::setSleepingThresholds
void setSleepingThresholds(btScalar linear, btScalar angular)
Definition: btRigidBody.h:299
btRigidBody::getNumConstraintRefs
int getNumConstraintRefs() const
Definition: btRigidBody.h:598
btRigidBody::computeGyroscopicForceExplicit
btVector3 computeGyroscopicForceExplicit(btScalar maxGyroscopicForce) const
explicit version is best avoided, it gains energy
Definition: btRigidBody.cpp:283
btCollisionObjectFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btCollisionObject.h:649
btRigidBody::getLinearDamping
btScalar getLinearDamping() const
Definition: btRigidBody.h:220
btVector3::cross
btVector3 cross(const btVector3 &v) const
Return the cross product between this and another vector.
Definition: btVector3.h:380
btRigidBodyFloatData::m_additionalLinearDampingThresholdSqr
float m_additionalLinearDampingThresholdSqr
Definition: btRigidBody.h:652
btRigidBody::updateInertiaTensor
void updateInertiaTensor()
Definition: btRigidBody.cpp:249
btRigidBody::getAabb
void getAabb(btVector3 &aabbMin, btVector3 &aabbMax) const
Definition: btRigidBody.cpp:123
btRigidBodyFloatData::m_linearFactor
btVector3FloatData m_linearFactor
Definition: btRigidBody.h:642
btMotionState::getWorldTransform
virtual void getWorldTransform(btTransform &worldTrans) const =0
btRigidBodyDoubleData::m_angularFactor
btVector3DoubleData m_angularFactor
Definition: btRigidBody.h:667
btRigidBodyFloatData::m_totalForce
btVector3FloatData m_totalForce
Definition: btRigidBody.h:646
btRigidBodyDoubleData::m_invInertiaLocal
btVector3DoubleData m_invInertiaLocal
Definition: btRigidBody.h:671
btRigidBody::m_inverseMass
btScalar m_inverseMass
Definition: btRigidBody.h:64
btRigidBodyDoubleData::m_collisionObjectData
btCollisionObjectDoubleData m_collisionObjectData
Definition: btRigidBody.h:663
btRigidBody::translate
void translate(const btVector3 &v)
Definition: btRigidBody.h:475
btRigidBodyDoubleData::m_additionalAngularDampingThresholdSqr
double m_additionalAngularDampingThresholdSqr
Definition: btRigidBody.h:679
btRigidBody::integrateVelocities
void integrateVelocities(btScalar step)
Definition: btRigidBody.cpp:372
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD
@ BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_WORLD
Definition: btRigidBody.h:46
btVector3::dot
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:229
btRigidBody::getAngularSleepingThreshold
btScalar getAngularSleepingThreshold() const
Definition: btRigidBody.h:235
btCollisionObject::getActivationState
int getActivationState() const
Definition: btCollisionObject.h:287
btCollisionObject::m_worldTransform
btTransform m_worldTransform
Definition: btCollisionObject.h:52
btRigidBody::computeGyroscopicImpulseImplicit_World
btVector3 computeGyroscopicImpulseImplicit_World(btScalar dt) const
perform implicit force computation in world space
Definition: btRigidBody.cpp:336
btRigidBodyFloatData::m_angularDamping
float m_angularDamping
Definition: btRigidBody.h:650
btRigidBodyDoubleData::m_linearSleepingThreshold
double m_linearSleepingThreshold
Definition: btRigidBody.h:681
BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
@ BT_ENABLE_GYROSCOPIC_FORCE_IMPLICIT_BODY
Definition: btRigidBody.h:47
btRigidBody::applyTorqueImpulse
void applyTorqueImpulse(const btVector3 &torque)
Definition: btRigidBody.h:327
btRigidBody::m_gravity
btVector3 m_gravity
Definition: btRigidBody.h:67
btRigidBodyFloatData::m_angularFactor
btVector3FloatData m_angularFactor
Definition: btRigidBody.h:641
btRigidBody::btRigidBodyConstructionInfo::m_spinningFriction
btScalar m_spinningFriction
Definition: btRigidBody.h:128
btRigidBodyDoubleData::m_padding
char m_padding[4]
Definition: btRigidBody.h:684
btRigidBody::getCenterOfMassTransform
const btTransform & getCenterOfMassTransform() const
Definition: btRigidBody.h:429
btRigidBody::btRigidBodyConstructionInfo::m_startWorldTransform
btTransform m_startWorldTransform
Definition: btRigidBody.h:116
btCollisionObject::m_deactivationTime
btScalar m_deactivationTime
Definition: btCollisionObject.h:83
btRigidBody::getTurnVelocity
btVector3 getTurnVelocity() const
Definition: btRigidBody.h:364
btRigidBody::wantsSleeping
bool wantsSleeping()
Definition: btRigidBody.h:516
btVector3FloatData
Definition: btVector3.h:1282
btRigidBody::setDamping
void setDamping(btScalar lin_damping, btScalar ang_damping)
Definition: btRigidBody.cpp:137
btRigidBody::m_angularSleepingThreshold
btScalar m_angularSleepingThreshold
Definition: btRigidBody.h:83
btTransform::setIdentity
void setIdentity()
Set this transformation to the identity.
Definition: btTransform.h:166
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Definition: btRigidBody.h:258
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Definition: btRigidBody.cpp:392
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Definition: btRigidBody.h:682
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Definition: btRigidBody.cpp:26
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btScalar m_additionalLinearDampingThresholdSqr
Definition: btRigidBody.h:78
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Definition: btRigidBody.h:86
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Definition: btRigidBody.cpp:458
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Return the x value.
Definition: btVector3.h:561
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Definition: btRigidBody.cpp:213
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Definition: btRigidBody.h:289
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Definition: btCollisionObject.h:146
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Definition: btCollisionShape.h:28
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Definition: btCollisionObject.h:23
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setupRigidBody is only used internally by the constructor
Definition: btRigidBody.cpp:40
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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:603
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Set the x value.
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best simulation results when friction is non-zero
Definition: btRigidBody.h:124
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Definition: btRigidBody.h:678
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btRigidBody(const btRigidBodyConstructionInfo &constructionInfo)
btRigidBody constructor using construction info
Definition: btRigidBody.cpp:29
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Definition: btRigidBody.h:65
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Definition: btRigidBody.h:579
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Set the y value.
Definition: btVector3.h:569
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Definition: btMatrix3x3.h:50
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btTransform.h
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Definition: btRigidBody.h:263
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Definition: btTransform.h:30
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Definition: btMotionState.h:24
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Definition: btRigidBody.h:535
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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:672
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Definition: btRigidBody.h:637
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Definition: btRigidBody.h:264
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Definition: btRigidBody.h:656
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Definition: btRigidBody.cpp:105
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Definition: btRigidBody.h:647
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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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btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
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const btVector3 & getLinearVelocity() const
Definition: btRigidBody.h:433
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Definition: btRigidBody.h:460
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Definition: btRigidBody.h:230
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Definition: btRigidBody.h:608
btRigidBodyDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:662
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void applyDamping(btScalar timeStep)
applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
Definition: btRigidBody.cpp:149
btRigidBodyFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btRigidBody.h:636
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void addConstraintRef(btTypedConstraint *c)
Definition: btRigidBody.cpp:415
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#define ATTRIBUTE_ALIGNED16(a)
Definition: btScalar.h:99
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const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
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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
btAlignedObjectArray< btTypedConstraint * >
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
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Definition: btRigidBody.h:574
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Definition: btRigidBody.h:347
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Definition: btRigidBody.h:313
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Definition: btRigidBody.h:451
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#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
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Definition: btRigidBody.h:93
btBroadphaseProxy.h
btRigidBody::setNewBroadphaseProxy
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Definition: btRigidBody.h:543
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Definition: btSerializer.h:66
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Definition: btRigidBody.h:407
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Definition: btRigidBody.cpp:226
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Definition: btRigidBody.h:676
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Definition: btRigidBody.h:139
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Definition: btRigidBody.h:118
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Definition: btRigidBody.h:319
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btAlignedObjectArray< btTypedConstraint * > m_constraintRefs
Definition: btRigidBody.h:89
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Definition: btRigidBody.h:665
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Definition: btRigidBody.h:77
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Definition: btRigidBody.h:566
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Definition: btRigidBody.h:73
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Definition: btRigidBody.h:655
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Definition: btRigidBody.h:62
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void setPushVelocity(const btVector3 &v)
Definition: btRigidBody.h:369
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int getInternalType() const
reserved for Bullet internal usage
Definition: btCollisionObject.h:372
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btVector3FloatData m_angularVelocity
Definition: btRigidBody.h:640
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Definition: btRigidBody.h:680
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Definition: btCollisionObject.h:66
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When a motionState is provided, the rigid body will initialize its world transform from the motion st...
Definition: btRigidBody.h:115
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Definition: btRigidBody.h:639
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Definition: btRigidBody.h:68
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const btMatrix3x3 & getInvInertiaTensorWorld() const
Definition: btRigidBody.h:265
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void setInvInertiaDiagLocal(const btVector3 &diagInvInertia)
Definition: btRigidBody.h:294
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Definition: btRigidBody.h:557
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Definition: btCollisionObject.h:24
btRigidBody::setCenterOfMassTransform
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Definition: btRigidBody.cpp:399
btCollisionObject.h
btRigidBody::getConstraintRef
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Definition: btRigidBody.h:593
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Definition: btRigidBody.h:653
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const btVector3 & getCenterOfMassPosition() const
Definition: btRigidBody.h:423
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Definition: btRigidBody.h:651
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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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Definition: btRigidBody.h:110
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Definition: btRigidBody.h:553
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Definition: btRigidBody.h:638
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Definition: btRigidBody.h:674
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Definition: btRigidBody.h:391
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Definition: btRigidBody.h:279
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Definition: btRigidBody.h:335
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Definition: btRigidBody.h:80
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Definition: btRigidBody.h:644
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Definition: btRigidBody.h:669
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Definition: btMatrix3x3.h:1391
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Definition: btRigidBody.h:657
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Definition: btRigidBody.h:677
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Definition: btRigidBody.h:675
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Definition: btRigidBody.h:482
btRigidBody::~btRigidBody
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Definition: btRigidBody.h:173
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Definition: btRigidBody.h:399
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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:438
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Definition: btRigidBody.h:213
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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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Definition: btRigidBody.h:133
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Definition: btRigidBody.h:493
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Definition: btRigidBody.h:549
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Definition: btCollisionObject.cpp:61
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Definition: btAlignedObjectArray.h:142
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Definition: btRigidBody.h:70
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Definition: btRigidBody.h:668
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Definition: btRigidBody.h:666
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perform implicit force computation in body space (inertial frame)
Definition: btRigidBody.cpp:297
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Definition: btRigidBody.h:99
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Definition: btRigidBody.cpp:254