#include <PhysicsBody.h>
Inheritance diagram for vrsode::PhysicsBody:
Public Member Functions | |
| PhysicsBody (VRS::SO< VRS::SceneThing >, CollisionShape, bool forceSync=false) | |
| ctor. | |
| PhysicsBody (VRS::SO< VRS::SceneThing >, VRS::SO< Shape >, bool forceSync=false) | |
| ctor. | |
| ~PhysicsBody () | |
| dtor. | |
| dBodyID | bodyId () |
| get the body id. | |
| double | mass () |
| get the bodies mass. | |
| void | setMass (double, VRS::Vector=VRS::Vector(0, 0, 0)) |
| set the bodies mass. | |
| bool | isEnabled () const |
| is enabled. | |
| void | setEnabled (bool) |
| enable or disable an object. | |
| void | setAutoDisableMode (bool) |
| set auto disable mode. | |
| void | setAutoDisableLinearThreshold (double) |
| set auto disable linear threshold. | |
| void | setAutoDisableAngularThreshold (double) |
| set auto disable angular threshold. | |
| void | setAutoDisableTime (double) |
| set disable time. | |
| void | setAutoDisableSteps (unsigned int) |
| set disable steps. | |
| void | setHighSpeedRotationMode (bool=true) |
| set high speed rotation mode. | |
| void | setHighSpeedRotationAxis (VRS::Vector) |
| set the high speed rotation axis. | |
| void | setHighSpeedRotationAxis (double, double, double) |
| set the high speed rotation axis. | |
| void | setIgnoreGravity (bool=true) |
| ignore gravity. | |
| void | syncTransformationsToODE () |
| synconize transformations to ode. | |
| void | syncTransformationsToVRS () |
| syncronize transformations to vrs. | |
| void | update () |
| this functions performs opertations needed after every physics tick. | |
| void | setAngularVelocity (VRS::Vector) |
| set angular velocity. | |
| void | setLinearVelocity (VRS::Vector) |
| set linear velocity. | |
| VRS::Vector | angularVelocity () |
| get the angular velocity. | |
| VRS::Vector | linearVelocity () |
| get the linear velocity. | |
| void | addForce (VRS::Vector) |
| add a force. | |
| void | addTorque (VRS::Vector) |
| add a torque. | |
| void | addRelativeForce (VRS::Vector) |
| add a relative force. | |
| void | addRelativeTorque (VRS::Vector) |
| add a relative torque. | |
| void | addForceAtPosition (VRS::Vector, VRS::Vector) |
| add a force at position. | |
| void | addRelativeForceAtPosition (VRS::Vector, VRS::Vector) |
| add a relative force at position. | |
| void | addForceAtRelativePosition (VRS::Vector, VRS::Vector) |
| add a force at relative position. | |
| void | addRelativeForceAtRelativePosition (VRS::Vector, VRS::Vector) |
| add a relative force at relative position. | |
| virtual void | destroy () |
| destroys this collision body. | |
Private Attributes | |
| dBodyID | m_bodyId |
| bool | m_highSpeedRotationMode |
| VRS::Vector | m_highSpeedRotationAxis |
| bool | m_forceSync |
Definition at line 16 of file PhysicsBody.h.
| vrsode::PhysicsBody::PhysicsBody | ( | VRS::SO< VRS::SceneThing > | , | |
| CollisionShape | , | |||
| bool | forceSync = false | |||
| ) |
ctor.
Definition at line 17 of file PhysicsBody.cpp.
References vrsode::CollisionBody::geomId(), vrsode::PhysicsManager::get(), m_bodyId, m_forceSync, m_highSpeedRotationAxis, m_highSpeedRotationMode, vrsode::PhysicsManager::registerPhysicsBody(), setMass(), and vrsode::PhysicsManager::worldId().
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| vrsode::PhysicsBody::PhysicsBody | ( | VRS::SO< VRS::SceneThing > | , | |
| VRS::SO< Shape > | , | |||
| bool | forceSync = false | |||
| ) |
ctor.
Definition at line 39 of file PhysicsBody.cpp.
References vrsode::CollisionBody::geomId(), vrsode::PhysicsManager::get(), m_bodyId, m_forceSync, m_highSpeedRotationAxis, m_highSpeedRotationMode, vrsode::PhysicsManager::registerPhysicsBody(), setMass(), and vrsode::PhysicsManager::worldId().
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| vrsode::PhysicsBody::~PhysicsBody | ( | ) |
| dBodyID vrsode::PhysicsBody::bodyId | ( | ) |
get the body id.
this id i used by ode to identfy the physical body.
Definition at line 74 of file PhysicsBody.cpp.
References m_bodyId.
Referenced by destroy().
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| double vrsode::PhysicsBody::mass | ( | ) |
get the bodies mass.
this is the mass value of the body. as the doc says, 0.1 - 10 are good values to produce stable simulations.
Definition at line 80 of file PhysicsBody.cpp.
References m_bodyId.
Referenced by setMass().
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| void vrsode::PhysicsBody::setMass | ( | double | , | |
| VRS::Vector | = VRS::Vector(0, 0, 0) | |||
| ) |
set the bodies mass.
set the amount and the center of mass.
Definition at line 88 of file PhysicsBody.cpp.
References m_bodyId, and mass().
Referenced by PhysicsBody().
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| bool vrsode::PhysicsBody::isEnabled | ( | ) | const |
is enabled.
returns whether the object is enabled and influences the simulation.
Definition at line 223 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setEnabled | ( | bool | ) |
enable or disable an object.
this function forces an object to be enabled or disabled.
Definition at line 229 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setAutoDisableMode | ( | bool | ) |
set auto disable mode.
set whether the object should be automatically disabled.
Definition at line 235 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setAutoDisableLinearThreshold | ( | double | ) |
set auto disable linear threshold.
if the linear velocity of an object falls below this value, the object gets disabled automatically.
Definition at line 241 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setAutoDisableAngularThreshold | ( | double | ) |
set auto disable angular threshold.
if the angular velocity of an object falls below this value, the object gets disabled automatically.
Definition at line 247 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setAutoDisableTime | ( | double | ) |
set disable time.
set the time an object needs to be idle to get disabled.
Definition at line 253 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setAutoDisableSteps | ( | unsigned | int | ) |
set disable steps.
set the amount of simulation steps an object to be idle to get disabled.
Definition at line 259 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setHighSpeedRotationMode | ( | bool | = true |
) |
set high speed rotation mode.
if this mode is enabled, ode uses some extra algorithm to handle high speed rotations. for example for wheels. since this takes more time to compute, only use this mode if you really need it.
Definition at line 102 of file PhysicsBody.cpp.
References m_bodyId, m_highSpeedRotationAxis, and m_highSpeedRotationMode.
Referenced by update().
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| void vrsode::PhysicsBody::setHighSpeedRotationAxis | ( | VRS::Vector | ) |
set the high speed rotation axis.
use this function to provide ode with extra information about the high speed rotation. calling this function enables high speed rotation mode. have a look in setHighSpeedRotationMode().
Definition at line 123 of file PhysicsBody.cpp.
| void vrsode::PhysicsBody::setHighSpeedRotationAxis | ( | double | , | |
| double | , | |||
| double | ||||
| ) |
set the high speed rotation axis.
this function is the same as the one above, you just to not need to provide a vector.
Definition at line 115 of file PhysicsBody.cpp.
References m_highSpeedRotationAxis.
| void vrsode::PhysicsBody::setIgnoreGravity | ( | bool | = true |
) |
ignore gravity.
use this function to tell the object to ignore gravity. may be usefull for some funny effects.
Definition at line 129 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::syncTransformationsToODE | ( | ) | [virtual] |
synconize transformations to ode.
this function syncronizes transformations done on the VRS representation of the object back to ode.
Reimplemented from vrsode::CollisionBody.
Definition at line 144 of file PhysicsBody.cpp.
References m_bodyId, vrsode::CollisionBody::odeShape(), vrsode::CollisionBody::position(), and vrsode::CollisionBody::rotation().
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| void vrsode::PhysicsBody::syncTransformationsToVRS | ( | ) |
syncronize transformations to vrs.
this function syncronizes tranformations done on the ode body back the vrs object.
Definition at line 178 of file PhysicsBody.cpp.
References vrsode::CollisionBody::debugNode(), m_bodyId, m_forceSync, vrsode::CollisionBody::odeShape(), vrsode::CollisionBody::rotation(), vrsode::CollisionBody::translationNode(), and vrsode::CollisionBody::vrsShape().
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| void vrsode::PhysicsBody::update | ( | ) | [virtual] |
this functions performs opertations needed after every physics tick.
this does _NOT_ synchronize back to vrs.
Reimplemented from vrsode::CollisionBody.
Definition at line 135 of file PhysicsBody.cpp.
References m_highSpeedRotationMode, setHighSpeedRotationMode(), and vrsode::CollisionBody::update().
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| void vrsode::PhysicsBody::setAngularVelocity | ( | VRS::Vector | ) |
set angular velocity.
this sets the rotation speed of the body.
Definition at line 265 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::setLinearVelocity | ( | VRS::Vector | ) |
set linear velocity.
this sets the speed of the body.
Definition at line 272 of file PhysicsBody.cpp.
References m_bodyId.
| VRS::Vector vrsode::PhysicsBody::angularVelocity | ( | ) |
get the angular velocity.
returns the angular velocity of this body.
Definition at line 279 of file PhysicsBody.cpp.
References m_bodyId.
| VRS::Vector vrsode::PhysicsBody::linearVelocity | ( | ) |
get the linear velocity.
returns the linear velocity of this body.
Definition at line 286 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addForce | ( | VRS::Vector | ) |
add a force.
adds a force to the body.
Definition at line 293 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addTorque | ( | VRS::Vector | ) |
add a torque.
adds a rotation force to the body.
Definition at line 299 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addRelativeForce | ( | VRS::Vector | ) |
add a relative force.
adds a force relative to the body.
Definition at line 305 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addRelativeTorque | ( | VRS::Vector | ) |
add a relative torque.
adds a torque relative to the body.
Definition at line 311 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addForceAtPosition | ( | VRS::Vector | , | |
| VRS::Vector | ||||
| ) |
add a force at position.
adds a force at a position to the body.
Definition at line 317 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addRelativeForceAtPosition | ( | VRS::Vector | , | |
| VRS::Vector | ||||
| ) |
add a relative force at position.
adds a force relative to the body at a position to the body.
Definition at line 324 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addForceAtRelativePosition | ( | VRS::Vector | , | |
| VRS::Vector | ||||
| ) |
add a force at relative position.
adds a force to the body at a position relative to the body.
Definition at line 332 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::addRelativeForceAtRelativePosition | ( | VRS::Vector | , | |
| VRS::Vector | ||||
| ) |
add a relative force at relative position.
adds a force, relative to the body, at a position, relative to the body, to the body.
Definition at line 340 of file PhysicsBody.cpp.
References m_bodyId.
| void vrsode::PhysicsBody::destroy | ( | ) | [virtual] |
destroys this collision body.
Reimplemented from vrsode::CollisionBody.
Definition at line 66 of file PhysicsBody.cpp.
References bodyId(), vrsode::CollisionBody::geomId(), vrsode::PhysicsManager::get(), and vrsode::PhysicsManager::unregisterCollisionBody().
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dBodyID vrsode::PhysicsBody::m_bodyId [private] |
Definition at line 18 of file PhysicsBody.h.
Referenced by addForce(), addForceAtPosition(), addForceAtRelativePosition(), addRelativeForce(), addRelativeForceAtPosition(), addRelativeForceAtRelativePosition(), addRelativeTorque(), addTorque(), angularVelocity(), bodyId(), isEnabled(), linearVelocity(), mass(), PhysicsBody(), setAngularVelocity(), setAutoDisableAngularThreshold(), setAutoDisableLinearThreshold(), setAutoDisableMode(), setAutoDisableSteps(), setAutoDisableTime(), setEnabled(), setHighSpeedRotationMode(), setIgnoreGravity(), setLinearVelocity(), setMass(), syncTransformationsToODE(), and syncTransformationsToVRS().
bool vrsode::PhysicsBody::m_highSpeedRotationMode [private] |
Definition at line 20 of file PhysicsBody.h.
Referenced by PhysicsBody(), setHighSpeedRotationMode(), and update().
VRS::Vector vrsode::PhysicsBody::m_highSpeedRotationAxis [private] |
Definition at line 21 of file PhysicsBody.h.
Referenced by PhysicsBody(), setHighSpeedRotationAxis(), and setHighSpeedRotationMode().
bool vrsode::PhysicsBody::m_forceSync [private] |
Definition at line 23 of file PhysicsBody.h.
Referenced by PhysicsBody(), and syncTransformationsToVRS().
1.5.1