Struct RigidBody

struct RigidBody

Public Functions

CLASS_NO_COPY_MOVE(RigidBody)

RigidBody() = default

void init(P64::Object *object, float m)

inline P64::Object *ownerObject() const

inline const fm_vec3_t &position() const

inline const fm_quat_t &rotation() const

inline void setPosition(const fm_vec3_t &pos)

inline void setRotation(const fm_quat_t &rot)

inline const fm_vec3_t &linearVelocity() const

inline const fm_vec3_t &angularVelocity() const

inline float inverseMass() const

inline float timeScale() const

inline void setTimeScale(float newTimeScale)

inline float gravityScale() const

inline void setGravityScale(float newGravityScale)

inline float angularDamping() const

inline void setAngularDamping(float newAngularDamping)

inline bool hasGravity() const

inline void setHasGravity(bool newHasGravity)

inline const fm_vec3_t &previousStepPosition() const

inline const fm_quat_t &previousStepRotation() const

inline const AABB &worldAabb() const

inline const Matrix3x3 &inverseWorldInertiaTensor() const

inline const Matrix3x3 &rotationMatrix() const

inline const Matrix3x3 &inverseRotationMatrix() const

inline const fm_vec3_t &worldCenterOfMass() const

inline uint32_t transformVersion() const

inline float getMass() const

void setMass(float newMass)

inline Constraint getConstraints() const

void setConstraints(Constraint newConstraints)

inline bool hasLinearConstraints() const

inline bool hasAngularConstraints() const

inline bool canApplyAngularResponse() const

inline bool isEnabled() const

inline bool isKinematic() const

inline bool isSleeping() const

inline bool compoundPropertiesDirty() const

inline const fm_vec3_t &getLocalCenterOfMass() const

inline const fm_vec3_t &getLocalCenterOfMassOffset() const

inline void setLocalCenterOfMassOffset(const fm_vec3_t &offset)

inline const fm_vec3_t &getLocalInertiaTensor() const

inline const fm_vec3_t &getDefaultLocalInertiaTensor() const

inline const fm_vec3_t &getCompoundScale() const

inline void markCompoundPropertiesDirty()

void applyCompoundProperties(

const fm_vec3_t &localCenterOfMass,

const fm_vec3_t &localInertiaTensor,

const fm_vec3_t &compoundScale

)

inline void setKinematic(bool newIsKinematic)

fm_vec3_t constrainLinearWorld(const fm_vec3_t &worldLinear) const

fm_vec3_t constrainAngularWorld(const fm_vec3_t &worldAngular) const

void applyConstrainedLinearVelocityDelta(const fm_vec3_t &deltaLinearVelocity)

void applyConstrainedImpulseAtContact(

const fm_vec3_t &impulse,

const fm_vec3_t &toContact

)

float constrainedLinearInvMassAlong(const fm_vec3_t &direction) const

void integrateVelocity(float fixedDt, const fm_vec3_t &gravity)

void integrateAngularVelocity(float fixedDt)

void integratePosition(float fixedDt)

void integrateRotation(float fixedDt)

void accelerate(const fm_vec3_t &accel)

void setVelocity(const fm_vec3_t &vel)

void applyLinearForce(const fm_vec3_t &force)

void applyLinearImpulse(const fm_vec3_t &impulse)

void applyTorque(const fm_vec3_t &torque)

void applyAngularImpulse(const fm_vec3_t &angImpulse)

void setAngularVelocity(const fm_vec3_t &angVel)

void applyForceAtPoint(const fm_vec3_t &force, const fm_vec3_t &worldPoint)

fm_vec3_t getVelocityAtPoint(const fm_vec3_t &worldPoint) const

void updateWorldInertia()

void applyPositionConstraints()

fm_vec3_t toWorldSpace(const fm_vec3_t &localPoint) const

fm_vec3_t toLocalSpace(const fm_vec3_t &worldPoint) const

fm_vec3_t rotateToWorld(const fm_vec3_t &localDir) const

fm_vec3_t rotateToLocal(const fm_vec3_t &worldDir) const

inline void wake()

inline void sleep()

inline fm_vec3_t applyWorldInertia(const fm_vec3_t &in) const

inline fm_vec3_t applyConstrainedWorldInertia(const fm_vec3_t &in) const

inline void resetPushVelocities()

Reset split impulse push velocities at the start of each physics step.

inline const fm_vec3_t &pushLinearVelocity() const

inline const fm_vec3_t &pushAngularVelocity() const