Physics rigid body component. More...

#include <Urho3D/Physics/RigidBody.h>

Inheritance diagram for Urho3D::RigidBody:
Collaboration diagram for Urho3D::RigidBody:

Public Member Functions

 RigidBody (Context *context)
virtual ~RigidBody ()
 Destruct. Free the rigid body and geometries.
virtual void OnSetAttribute (const AttributeInfo &attr, const Variant &src)
 Handle attribute write access.
virtual void ApplyAttributes ()
 Apply attribute changes that can not be applied immediately. Called after scene load or a network update.
virtual void OnSetEnabled ()
 Handle enabled/disabled state change.
virtual void getWorldTransform (btTransform &worldTrans) const
 Return initial world transform to Bullet.
virtual void setWorldTransform (const btTransform &worldTrans)
 Update world transform from Bullet.
virtual void DrawDebugGeometry (DebugRenderer *debug, bool depthTest)
 Visualize the component as debug geometry.
void SetMass (float mass)
 Set mass. Zero mass makes the body static.
void SetPosition (const Vector3 &position)
 Set rigid body position in world space.
void SetRotation (const Quaternion &rotation)
 Set rigid body rotation in world space.
void SetTransform (const Vector3 &position, const Quaternion &rotation)
 Set rigid body position and rotation in world space as an atomic operation.
void SetLinearVelocity (const Vector3 &velocity)
 Set linear velocity.
void SetLinearFactor (const Vector3 &factor)
 Set linear degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).
void SetLinearRestThreshold (float threshold)
 Set linear velocity deactivation threshold.
void SetLinearDamping (float damping)
 Set linear velocity damping factor.
void SetAngularVelocity (const Vector3 &angularVelocity)
 Set angular velocity.
void SetAngularFactor (const Vector3 &factor)
 Set angular degrees of freedom. Use 1 to enable an axis or 0 to disable. Default is all axes enabled (1, 1, 1).
void SetAngularRestThreshold (float threshold)
 Set angular velocity deactivation threshold.
void SetAngularDamping (float factor)
 Set angular velocity damping factor.
void SetFriction (float friction)
 Set friction coefficient.
void SetAnisotropicFriction (const Vector3 &friction)
 Set anisotropic friction.
void SetRollingFriction (float friction)
 Set rolling friction coefficient.
void SetRestitution (float restitution)
 Set restitution coefficient.
void SetContactProcessingThreshold (float threshold)
 Set contact processing threshold.
void SetCcdRadius (float radius)
 Set continuous collision detection swept sphere radius.
void SetCcdMotionThreshold (float threshold)
 Set continuous collision detection motion-per-simulation-step threshold. 0 disables, which is the default.
void SetUseGravity (bool enable)
 Set whether gravity is applied to rigid body.
void SetGravityOverride (const Vector3 &gravity)
 Set gravity override. If zero, uses physics world's gravity.
void SetKinematic (bool enable)
 Set rigid body kinematic mode. In kinematic mode forces are not applied to the rigid body.
void SetTrigger (bool enable)
 Set rigid body trigger mode. In trigger mode collisions are reported but do not apply forces.
void SetCollisionLayer (unsigned layer)
 Set collision layer.
void SetCollisionMask (unsigned mask)
 Set collision mask.
void SetCollisionLayerAndMask (unsigned layer, unsigned mask)
 Set collision group and mask.
void SetCollisionEventMode (CollisionEventMode mode)
 Set collision event signaling mode. Default is to signal when rigid bodies are active.
void ApplyForce (const Vector3 &force)
 Apply force to center of mass.
void ApplyForce (const Vector3 &force, const Vector3 &position)
 Apply force at local position.
void ApplyTorque (const Vector3 &torque)
 Apply torque.
void ApplyImpulse (const Vector3 &impulse)
 Apply impulse to center of mass.
void ApplyImpulse (const Vector3 &impulse, const Vector3 &position)
 Apply impulse at local position.
void ApplyTorqueImpulse (const Vector3 &torque)
 Apply torque impulse.
void ResetForces ()
 Reset accumulated forces.
void Activate ()
 Activate rigid body if it was resting.
void ReAddBodyToWorld ()
 Readd rigid body to the physics world to clean up internal state like stale contacts.
void DisableMassUpdate ()
 Disable mass update. Call this to optimize performance when adding or editing multiple collision shapes in the same node.
void EnableMassUpdate ()
 Re-enable mass update and recalculate the mass/inertia by calling UpdateMass(). Call when collision shape changes are finished.
PhysicsWorldGetPhysicsWorld () const
 Return physics world.
btRigidBody * GetBody () const
 Return Bullet rigid body.
btCompoundShape * GetCompoundShape () const
 Return Bullet compound collision shape.
float GetMass () const
 Return mass.
Vector3 GetPosition () const
 Return rigid body position in world space.
Quaternion GetRotation () const
 Return rigid body rotation in world space.
Vector3 GetLinearVelocity () const
 Return linear velocity.
Vector3 GetLinearFactor () const
 Return linear degrees of freedom.
Vector3 GetVelocityAtPoint (const Vector3 &position) const
 Return linear velocity at local point.
float GetLinearRestThreshold () const
 Return linear velocity deactivation threshold.
float GetLinearDamping () const
 Return linear velocity damping factor.
Vector3 GetAngularVelocity () const
 Return angular velocity.
Vector3 GetAngularFactor () const
 Return angular degrees of freedom.
float GetAngularRestThreshold () const
 Return angular velocity deactivation threshold.
float GetAngularDamping () const
 Return angular velocity damping factor.
float GetFriction () const
 Return friction coefficient.
Vector3 GetAnisotropicFriction () const
 Return anisotropic friction.
float GetRollingFriction () const
 Return rolling friction coefficient.
float GetRestitution () const
 Return restitution coefficient.
float GetContactProcessingThreshold () const
 Return contact processing threshold.
float GetCcdRadius () const
 Return continuous collision detection swept sphere radius.
float GetCcdMotionThreshold () const
 Return continuous collision detection motion-per-simulation-step threshold.
bool GetUseGravity () const
 Return whether rigid body uses gravity.
const Vector3GetGravityOverride () const
 Return gravity override. If zero (default), uses the physics world's gravity.
const Vector3GetCenterOfMass () const
 Return center of mass offset.
bool IsKinematic () const
 Return kinematic mode flag.
bool IsTrigger () const
 Return whether this RigidBody is acting as a trigger.
bool IsActive () const
 Return whether rigid body is active (not sleeping.)
unsigned GetCollisionLayer () const
 Return collision layer.
unsigned GetCollisionMask () const
 Return collision mask.
CollisionEventMode GetCollisionEventMode () const
 Return collision event signaling mode.
void GetCollidingBodies (PODVector< RigidBody * > &result) const
 Return colliding rigid bodies from the last simulation step. Only returns collisions that were sent as events (depends on collision event mode) and excludes e.g. static-static collisions.
void ApplyWorldTransform (const Vector3 &newWorldPosition, const Quaternion &newWorldRotation)
 Apply new world transform after a simulation step. Called internally.
void UpdateMass ()
 Update mass and inertia to the Bullet rigid body.
void UpdateGravity ()
 Update gravity parameters to the Bullet rigid body.
void SetNetAngularVelocityAttr (const PODVector< unsigned char > &value)
 Set network angular velocity attribute.
const PODVector< unsigned char > & GetNetAngularVelocityAttr () const
 Return network angular velocity attribute.
void AddConstraint (Constraint *constraint)
 Add a constraint that refers to this rigid body.
void RemoveConstraint (Constraint *constraint)
 Remove a constraint that refers to this rigid body.
void ReleaseBody ()
 Remove the rigid body.
- Public Member Functions inherited from Urho3D::Component
 Component (Context *context)
virtual ~Component ()
virtual bool Save (Serializer &dest) const
 Save as binary data. Return true if successful.
virtual bool SaveXML (XMLElement &dest) const
 Save as XML data. Return true if successful.
virtual bool SaveJSON (JSONValue &dest) const
 Save as JSON data. Return true if successful.
virtual void MarkNetworkUpdate ()
 Mark for attribute check on the next network update.
virtual void GetDependencyNodes (PODVector< Node * > &dest)
 Return the depended on nodes to order network updates.
void SetEnabled (bool enable)
 Set enabled/disabled state.
void Remove ()
 Remove from the scene node. If no other shared pointer references exist, causes immediate deletion.
unsigned GetID () const
 Return ID.
NodeGetNode () const
 Return scene node.
SceneGetScene () const
 Return the scene the node belongs to.
bool IsEnabled () const
 Return whether is enabled.
bool IsEnabledEffective () const
 Return whether is effectively enabled (node is also enabled.)
ComponentGetComponent (StringHash type) const
 Return component in the same scene node by type. If there are several, returns the first.
void GetComponents (PODVector< Component * > &dest, StringHash type) const
 Return components in the same scene node by type.
template<class T >
T * GetComponent () const
 Template version of returning a component in the same scene node by type.
template<class T >
void GetComponents (PODVector< T * > &dest) const
 Template version of returning components in the same scene node by type.
void AddReplicationState (ComponentReplicationState *state)
 Add a replication state that is tracking this component.
void PrepareNetworkUpdate ()
 Prepare network update by comparing attributes and marking replication states dirty as necessary.
void CleanupConnection (Connection *connection)
 Clean up all references to a network connection that is about to be removed.
- Public Member Functions inherited from Urho3D::Animatable
 Animatable (Context *context)
virtual ~Animatable ()
virtual bool LoadXML (const XMLElement &source, bool setInstanceDefault=false)
 Load from XML data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool LoadJSON (const JSONValue &source, bool setInstanceDefault=false)
 Load from JSON data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
void SetAnimationEnabled (bool enable)
 Set automatic update of animation, default true.
void SetAnimationTime (float time)
 Set time position of all attribute animations or an object animation manually. Automatic update should be disabled in this case.
void SetObjectAnimation (ObjectAnimation *objectAnimation)
 Set object animation.
void SetAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode=WM_LOOP, float speed=1.0f)
 Set attribute animation.
void SetAttributeAnimationWrapMode (const String &name, WrapMode wrapMode)
 Set attribute animation wrap mode.
void SetAttributeAnimationSpeed (const String &name, float speed)
 Set attribute animation speed.
void SetAttributeAnimationTime (const String &name, float time)
 Set attribute animation time position manually. Automatic update should be disabled in this case.
void RemoveObjectAnimation ()
 Remove object animation. Same as calling SetObjectAnimation with a null pointer.
void RemoveAttributeAnimation (const String &name)
 Remove attribute animation. Same as calling SetAttributeAnimation with a null pointer.
bool GetAnimationEnabled () const
 Return animation enabled.
ObjectAnimationGetObjectAnimation () const
 Return object animation.
ValueAnimationGetAttributeAnimation (const String &name) const
 Return attribute animation.
WrapMode GetAttributeAnimationWrapMode (const String &name) const
 Return attribute animation wrap mode.
float GetAttributeAnimationSpeed (const String &name) const
 Return attribute animation speed.
float GetAttributeAnimationTime (const String &name) const
 Return attribute animation time position.
void SetObjectAnimationAttr (const ResourceRef &value)
 Set object animation attribute.
ResourceRef GetObjectAnimationAttr () const
 Return object animation attribute.
- Public Member Functions inherited from Urho3D::Serializable
 Serializable (Context *context)
virtual ~Serializable ()
virtual void OnGetAttribute (const AttributeInfo &attr, Variant &dest) const
 Handle attribute read access. Default implementation reads the variable at offset, or invokes the get accessor.
virtual const Vector
< AttributeInfo > * 
GetAttributes () const
 Return attribute descriptions, or null if none defined.
virtual const Vector
< AttributeInfo > * 
GetNetworkAttributes () const
 Return network replication attribute descriptions, or null if none defined.
virtual bool Load (Deserializer &source, bool setInstanceDefault=false)
 Load from binary data. When setInstanceDefault is set to true, after setting the attribute value, store the value as instance's default value. Return true if successful.
virtual bool SaveDefaultAttributes () const
 Return whether should save default-valued attributes into XML. Default false.
bool SetAttribute (unsigned index, const Variant &value)
 Set attribute by index. Return true if successfully set.
bool SetAttribute (const String &name, const Variant &value)
 Set attribute by name. Return true if successfully set.
void ResetToDefault ()
 Reset all editable attributes to their default values.
void RemoveInstanceDefault ()
 Remove instance's default values if they are set previously.
void SetTemporary (bool enable)
 Set temporary flag. Temporary objects will not be saved.
void SetInterceptNetworkUpdate (const String &attributeName, bool enable)
 Enable interception of an attribute from network updates. Intercepted attributes are sent as events instead of applying directly. This can be used to implement client side prediction.
void AllocateNetworkState ()
 Allocate network attribute state.
void WriteInitialDeltaUpdate (Serializer &dest, unsigned char timeStamp)
 Write initial delta network update.
void WriteDeltaUpdate (Serializer &dest, const DirtyBits &attributeBits, unsigned char timeStamp)
 Write a delta network update according to dirty attribute bits.
void WriteLatestDataUpdate (Serializer &dest, unsigned char timeStamp)
 Write a latest data network update.
bool ReadDeltaUpdate (Deserializer &source)
 Read and apply a network delta update. Return true if attributes were changed.
bool ReadLatestDataUpdate (Deserializer &source)
 Read and apply a network latest data update. Return true if attributes were changed.
Variant GetAttribute (unsigned index) const
 Return attribute value by index. Return empty if illegal index.
Variant GetAttribute (const String &name) const
 Return attribute value by name. Return empty if not found.
Variant GetAttributeDefault (unsigned index) const
 Return attribute default value by index. Return empty if illegal index.
Variant GetAttributeDefault (const String &name) const
 Return attribute default value by name. Return empty if not found.
unsigned GetNumAttributes () const
 Return number of attributes.
unsigned GetNumNetworkAttributes () const
 Return number of network replication attributes.
bool IsTemporary () const
 Return whether is temporary.
bool GetInterceptNetworkUpdate (const String &attributeName) const
 Return whether an attribute's network updates are being intercepted.
NetworkStateGetNetworkState () const
 Return the network attribute state, if allocated.
- Public Member Functions inherited from Urho3D::Object
 Object (Context *context)
virtual ~Object ()
 Destruct. Clean up self from event sender & receiver structures.
virtual StringHash GetType () const =0
 Return type hash.
virtual const StringGetTypeName () const =0
 Return type name.
virtual const TypeInfoGetTypeInfo () const =0
 Return type info.
virtual void OnEvent (Object *sender, StringHash eventType, VariantMap &eventData)
 Handle event.
bool IsInstanceOf (StringHash type) const
 Check current instance is type of specified type.
bool IsInstanceOf (const TypeInfo *typeInfo) const
 Check current instance is type of specified type.
template<typename T >
bool IsInstanceOf () const
 Check current instance is type of specified class.
void SubscribeToEvent (StringHash eventType, EventHandler *handler)
 Subscribe to an event that can be sent by any sender.
void SubscribeToEvent (Object *sender, StringHash eventType, EventHandler *handler)
 Subscribe to a specific sender's event.
void UnsubscribeFromEvent (StringHash eventType)
 Unsubscribe from an event.
void UnsubscribeFromEvent (Object *sender, StringHash eventType)
 Unsubscribe from a specific sender's event.
void UnsubscribeFromEvents (Object *sender)
 Unsubscribe from a specific sender's events.
void UnsubscribeFromAllEvents ()
 Unsubscribe from all events.
void UnsubscribeFromAllEventsExcept (const PODVector< StringHash > &exceptions, bool onlyUserData)
 Unsubscribe from all events except those listed, and optionally only those with userdata (script registered events.)
void SendEvent (StringHash eventType)
 Send event to all subscribers.
void SendEvent (StringHash eventType, VariantMap &eventData)
 Send event with parameters to all subscribers. More...
VariantMapGetEventDataMap () const
 Return a preallocated map for event data. Used for optimization to avoid constant re-allocation of event data maps.
ContextGetContext () const
 Return execution context.
const VariantGetGlobalVar (StringHash key) const
 Return global variable based on key.
const VariantMapGetGlobalVars () const
 Return all global variables.
void SetGlobalVar (StringHash key, const Variant &value)
 Set global variable with the respective key and value.
ObjectGetSubsystem (StringHash type) const
 Return subsystem by type.
ObjectGetEventSender () const
 Return active event sender. Null outside event handling.
EventHandlerGetEventHandler () const
 Return active event handler. Null outside event handling.
bool HasSubscribedToEvent (StringHash eventType) const
 Return whether has subscribed to an event without specific sender.
bool HasSubscribedToEvent (Object *sender, StringHash eventType) const
 Return whether has subscribed to a specific sender's event.
bool HasEventHandlers () const
 Return whether has subscribed to any event.
template<class T >
T * GetSubsystem () const
 Template version of returning a subsystem.
const StringGetCategory () const
 Return object category. Categories are (optionally) registered along with the object factory. Return an empty string if the object category is not registered.
- Public Member Functions inherited from Urho3D::RefCounted
 RefCounted ()
 Construct. Allocate the reference count structure and set an initial self weak reference.
virtual ~RefCounted ()
 Destruct. Mark as expired and also delete the reference count structure if no outside weak references exist.
void AddRef ()
 Increment reference count. Can also be called outside of a SharedPtr for traditional reference counting.
void ReleaseRef ()
 Decrement reference count and delete self if no more references. Can also be called outside of a SharedPtr for traditional reference counting.
int Refs () const
 Return reference count.
int WeakRefs () const
 Return weak reference count.
RefCountRefCountPtr ()
 Return pointer to the reference count structure.

Static Public Member Functions

static void RegisterObject (Context *context)
 Register object factory.

Protected Member Functions

virtual void OnNodeSet (Node *node)
 Handle node being assigned.
virtual void OnSceneSet (Scene *scene)
 Handle scene being assigned.
virtual void OnMarkedDirty (Node *node)
 Handle node transform being dirtied.
- Protected Member Functions inherited from Urho3D::Component
virtual void OnAttributeAnimationAdded ()
 Handle attribute animation added.
virtual void OnAttributeAnimationRemoved ()
 Handle attribute animation removed.
virtual void OnNodeSetEnabled (Node *node)
 Handle scene node enabled status changing.
void SetID (unsigned id)
 Set ID. Called by Scene.
void SetNode (Node *node)
 Set scene node. Called by Node when creating the component.
void HandleAttributeAnimationUpdate (StringHash eventType, VariantMap &eventData)
 Handle scene attribute animation update event.
ComponentGetFixedUpdateSource ()
 Return a component from the scene root that sends out fixed update events (either PhysicsWorld or PhysicsWorld2D). Return null if neither exists.
- Protected Member Functions inherited from Urho3D::Animatable
virtual AnimatableFindAttributeAnimationTarget (const String &name, String &outName)
 Find target of an attribute animation from object hierarchy by name.
void SetObjectAttributeAnimation (const String &name, ValueAnimation *attributeAnimation, WrapMode wrapMode, float speed)
 Set object attribute animation internal.
void OnObjectAnimationAdded (ObjectAnimation *objectAnimation)
 Handle object animation added.
void OnObjectAnimationRemoved (ObjectAnimation *objectAnimation)
 Handle object animation removed.
void UpdateAttributeAnimations (float timeStep)
 Update attribute animations.
bool IsAnimatedNetworkAttribute (const AttributeInfo &attrInfo) const
 Is animated network attribute.
AttributeAnimationInfoGetAttributeAnimationInfo (const String &name) const
 Return attribute animation info.
void HandleAttributeAnimationAdded (StringHash eventType, VariantMap &eventData)
 Handle attribute animation added.
void HandleAttributeAnimationRemoved (StringHash eventType, VariantMap &eventData)
 Handle attribute animation removed.

Private Member Functions

 URHO3D_OBJECT (RigidBody, Component)
void AddBodyToWorld ()
 Create the rigid body, or re-add to the physics world with changed flags. Calls UpdateMass().
void RemoveBodyFromWorld ()
 Remove the rigid body from the physics world.
void HandleTargetPosition (StringHash eventType, VariantMap &eventData)
 Handle SmoothedTransform target position update.
void HandleTargetRotation (StringHash eventType, VariantMap &eventData)
 Handle SmoothedTransform target rotation update.

Private Attributes

btRigidBody * body_
 Bullet rigid body.
btCompoundShape * compoundShape_
 Bullet compound collision shape.
btCompoundShape * shiftedCompoundShape_
 Compound collision shape with center of mass offset applied.
WeakPtr< PhysicsWorldphysicsWorld_
 Physics world.
WeakPtr< SmoothedTransformsmoothedTransform_
 Smoothed transform, if has one.
PODVector< Constraint * > constraints_
 Constraints that refer to this rigid body.
Vector3 gravityOverride_
 Gravity override vector.
Vector3 centerOfMass_
 Center of mass offset.
float mass_
VectorBuffer attrBuffer_
 Attribute buffer for network replication.
unsigned collisionLayer_
 Collision layer.
unsigned collisionMask_
 Collision mask.
CollisionEventMode collisionEventMode_
 Collision event signaling mode.
Vector3 lastPosition_
 Last interpolated position from the simulation.
Quaternion lastRotation_
 Last interpolated rotation from the simulation.
bool kinematic_
 Kinematic flag.
bool trigger_
 Trigger flag.
bool useGravity_
 Use gravity flag.
bool readdBody_
 Readd body to world flag.
bool inWorld_
 Body exists in world flag.
bool enableMassUpdate_
 Mass update enable flag.
bool hasSimulated_
 Internal flag whether has simulated at least once.

Additional Inherited Members

- Protected Attributes inherited from Urho3D::Component
 Scene node.
unsigned id_
 Unique ID within the scene.
bool networkUpdate_
 Network update queued flag.
bool enabled_
 Enabled flag.

Detailed Description

Physics rigid body component.

The documentation for this class was generated from the following files:
  • Source/Urho3D/Physics/RigidBody.h
  • Source/Urho3D/Physics/RigidBody.cpp