Rigid Body is defined with many attributes. More...

Public Member Functions
	PhysicsBody ()
	Default Constructor.
	PhysicsBody (PhysicsBody body)
	Copy Constructor.
	PhysicsBody (PhysicsShape conv, float m)
	Constructor.
void	Clear ()
	Clear all members.
void	CopyBody (PhysicsBody body)
	Copy all members of rigid body.
void	MoveTo (Vector2 pt, float rt, float dt)
	Update position, rotation, velocity, angularVelocity.
bool	InsideBody (Vector2 pos, PhysicsShape con)
	Check whether the point is inside rigid body.
void	SetBodyStatic ()
	Set rigid body as Static.
void	SetBodyKinematic ()
	Set rigid body as Kinematic.
void	SetBodyTrigger ()
	Set rigid body as Trigger.
void	BackToDynamic ()
	Make kinematic rigid body go back to dynamic rigid body.
void	WakeUpDynamic ()
	Wake up dynamic object which is sleeping.
void	WakeUpKinematic ()
	Wake up kinematic object which is sleeping.
bool	IsKinematicOrStatic ()
	Check whether object is kinematic or static.
bool	IsKinematic ()
	Check whether object is kinematic.
bool	IsStatic ()
	Check whether object is static.
bool	IsDynamic ()
	Check whether object is dynamic.
bool	IsTrigger ()
	Check whether object is trigger.
void	ApplyForce (Vector2 power)
	Apply force to the center of mass.
void	ApplyForce (Vector2 power, Vector2 pos, bool isGlobal=true)
	Apply force to any point.
void	ApplyTorque (float rotPower)
	Apply torque to the rigid body.
Static Public Member Functions
static Vector2	MergeBody (PhysicsBody[] bodyList, uint[] indexList, uint num, PhysicsShape[] sceneShapes, uint[] map, bool flag=true)
	Merge of rigid body.
static Vector2	MergeBodyWithPos (PhysicsBody[] bodyList, uint[] indexList, uint num, PhysicsShape[] sceneShapes, uint[] map, Vector2 pos)
	Merge of rigid body with gravity center.
Public Attributes
Vector2	position = new Vector2(0, 0)
	position of rigid body
float	rotation = 0.0f
	rotation of rigid body
Vector2	velocity = new Vector2(0, 0)
	velocity of rigid body
float	angularVelocity = 0.0f
	angular velocity of rigid body
Vector2	localPosition = new Vector2(0, 0)
	local position of rigid body if it is used as compound shape
float	localRotation = 0.0f
	local rotation of rigid body if it is used as compound shape
Vector2	acceleration = new Vector2(0, 0)
	acceleration of rigid body
Vector2	force = new Vector2(0, 0)
	external force acted to rigid body except for the gravity
float	torque = 0.0f
	external torque acted to rigid body except for the gravity
float	mass = 0.0f
	mass of rigid body
float	invMass = 0.0f
	inverse of rigid body
float	inertia = 0.0f
	inertia tensor of rigid body
float	invInertia = 0.0f
	inverse inertia tensor of rigid body
Vector2	width = new Vector2(0, 0)
	AABB bounding for default position and rotation.
Vector2	aabbMin = new Vector2(0, 0)
	left bottom corner of AABB bounding updated for each frame
Vector2	aabbMax = new Vector2(0, 0)
	right top corner of AABB bounding updated for each frame
bool	broadCollide = false
	check whether there is broad phase collision
bool	narrowCollide = false
	check whether there is narrow phase collision
uint	shapeIndex = 0
	index to the shape of rigid body
uint	collisionFilter = 0
	collision filter to rigid body
uint	groupFilter = 0xFFFFFFFF
	group filter to rigid body
float	airFriction = 0.0f
	air friction is treated inside integrate phase
float	colFriction = 0.0f
	collision friction is treated inside solver phase
bool	sleep = false
	sleep status, if it is true, it will be ignored for simulation
uint	sleepCount = 0
	counter to check whether rigid body falls into sleep status
bool	picking = true
	picking enabled or disabled for default simulation loop implementation
float	oldMass = 0.0f
	old mass of rigid body
float	oldInvMass = 0.0f
	old inverse mass of rigid body
float	oldInertia = 0.0f
	old inertia tensor of rigid body
float	oldInvInertia = 0.0f
	old inverse inertia tensor of rigid body
float	penetrationRepulse = 0.2f
	repulse accelaration for penetration
float	penetLimit = 0.03f
	penetration limitation
float	tangentFriction = 0.3f
	tangent friction for repluse
float	restitutionCoeff = 0.0f
	restitution coefficient for repluse
object	userData = null
	reference to user data
Properties
Vector2	Position `[get, set]`
	setter and getter of position
float	Rotation `[get, set]`
	setter and getter of rotation
Vector2	Velocity `[get, set]`
	setter and getter of velocity
float	AngularVelocity `[get, set]`
	setter and getter of angular velocity
Vector2	LocalPosition `[get, set]`
	setter and getter of local position
float	LocalRotation `[get, set]`
	setter and getter of local rotation
Vector2	Acceleration `[get, set]`
	setter and getter of acceleration
Vector2	Force `[get, set]`
	setter and getter of force
float	Torque `[get, set]`
	setter and getter of torque
float	Mass `[get, set]`
	setter and getter of mass
float	InvMass `[get, set]`
	setter and getter of inverse mass
float	Inertia `[get, set]`
	setter and getter of inertia tensor
float	InvInertia `[get, set]`
	setter and getter of inverse inertia tensor
Vector2	Width `[get, set]`
	setter and getter of Width
Vector2	AabbMin `[get, set]`
	setter and getter of AaabbMin
Vector2	AabbMax `[get, set]`
	setter and getter of aabbMax
bool	BroadCollide `[get]`
	getter of broadCollide
bool	NarrowCollide `[get]`
	getter of narrowCollide
uint	ShapeIndex `[get, set]`
	setter and getter of shape index
uint	CollisionFilter `[get, set]`
	setter and getter of collisionFilter
uint	GroupFilter `[get, set]`
	setter and getter of groupFilter
float	AirFriction `[get, set]`
	setter and getter of airFriction
float	ColFriction `[get, set]`
	setter and getter of colFriction
bool	Sleep `[get, set]`
	setter and getter of sleep
uint	SleepCount `[get, set]`
	setter and getter of sleepCount
bool	Picking `[get, set]`
	setter and getter of picking
BodyType	Type `[get, set]`
	setter and getter of type
float	PenetrationRepulse `[get, set]`
	setter and getter of penetrationRepulse
float	PenetLimit `[get, set]`
	setter and getter of penetLimit
float	TangentFriction `[get, set]`
	setter and getter of tangentFriction
float	RestitutionCoeff `[get, set]`
	setter and getter of restitutionCoeff
object	UserData `[get, set]`
	setter and getter of userData

Detailed Description

Rigid Body is defined with many attributes.

Constructor & Destructor Documentation

PhysicsBody ( PhysicsBody body )

Copy Constructor.

Parameters:

body	source rigid body

PhysicsBody	(	PhysicsShape	conv,
		float	m
	)

Constructor.

Parameters:

conv	shape of rigid body
m	mass of rigid body

Member Function Documentation

void ApplyForce ( Vector2 power )

Apply force to the center of mass.

Parameters:

power given force

available only for dynamic rigid body /

void ApplyForce	(	Vector2	power,
		Vector2	pos,
		bool	isGlobal = `true`
	)

Apply force to any point.

Parameters:

power	given force
pos	given force point
isGlobal	pos is represented by global axis ? or local axis ? global axis at default

available only for dynamic rigid body

void ApplyTorque ( float rotPower )

Apply torque to the rigid body.

Parameters:

rotPower given torque

available only for dynamic rigid body

void BackToDynamic ( )

Make kinematic rigid body go back to dynamic rigid body.

make kinamatic rigid body go back to dynamic rigid body, and necessary properties are restored to each variables

bool InsideBody	(	Vector2	pos,
		PhysicsShape	con
	)

Check whether the point is inside rigid body.

Parameters:

pos	given point
con	shape of rigid body

Returns:: if it is inside, true is reaturne

static Vector2 MergeBody	(	PhysicsBody[]	bodyList,
		uint[]	indexList,
		uint	num,
		PhysicsShape[]	sceneShapes,
		uint[]	map,
		bool	flag = `true`
	)		`[static]`

Merge of rigid body.

To merge multiple objects (compound object), index_list should be given in manner of the ascending order

Parameters:

bodyList	given rigid body list of the scene
indexList	given index list of rigid body list to be attached
num	given number of rigid sceneBodies to be attached
sceneShapes	given convex list of the scene
map	Compound map of the scene
flag	whether rearrange the position of merged rigid body

static Vector2 MergeBodyWithPos	(	PhysicsBody[]	bodyList,
		uint[]	indexList,
		uint	num,
		PhysicsShape[]	sceneShapes,
		uint[]	map,
		Vector2	pos
	)		`[static]`

Merge of rigid body with gravity center.

To merge multiple objects (compound object), index_list should be given in manner of the ascending order

Parameters:

bodyList	given rigid body list of the scene
indexList	given index list of rigid body list to be attached
num	given number of rigid sceneBodies to be attached
sceneShapes	given convex list of the scene
map	Compound map of the scene
pos	gravity center of merged rigid body

void MoveTo	(	Vector2	pt,
		float	rt,
		float	dt
	)

Update position, rotation, velocity, angularVelocity.

Parameters:

pt	new position of rigid body
rt	new rotation of rigid body
dt	timestep

Set velocity and angularVelocity automatically by giving new position and rotation
position, rotation, velocity, angularVelocity are set by this function This is mainly for kinematic rigid body, and cannot be used for static rigid body

void SetBodyKinematic ( )

Set rigid body as Kinematic.

make rigid body set as kinematic, and necessary properties are saved to old variables

void SetBodyStatic ( )

Set rigid body as Static.

Once rigid body is set as static, it cannot be changed to dynamic rigid body any more

void WakeUpDynamic ( )

Wake up dynamic object which is sleeping.

same as sleep = false; sleepCount = 0;

void WakeUpKinematic ( )

Wake up kinematic object which is sleeping.

When kinematic object is moving, it is required for kinematic object not to be in sleep for correct collision
same as sleep = false; sleepCount = 0;

Member Data Documentation

float inertia = 0.0f

inertia tensor of rigid body

inertia tensor should be consistent with inverse inertia tensor

float invInertia = 0.0f

inverse inertia tensor of rigid body

inverse inertia tensor should be consistent with inertia tensor

float invMass = 0.0f

inverse of rigid body

inverse should be consistent with mass

float mass = 0.0f

mass of rigid body

mass should be consistent with inverse mass

float penetLimit = 0.03f

penetration limitation

To enable this value, it is required to set uniqueProperty of PhysicsScene as false

float penetrationRepulse = 0.2f

repulse accelaration for penetration

To enable this value, it is required to set uniqueProperty of PhysicsScene as false

float restitutionCoeff = 0.0f

restitution coefficient for repluse

To enable this value, it is required to set uniqueProperty of PhysicsScene as false

float tangentFriction = 0.3f

tangent friction for repluse

To enable this value, it is required to set uniqueProperty of PhysicsScene as false

object userData = null

reference to user data

user data should be managed by user properly

PhysicsBody Class Reference

Public Member Functions

Static Public Member Functions

Public Attributes

Properties

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation