#include <RigidBody.hpp>

Inheritance diagram for jop::RigidBody:

Classes
class	ConstructInfo

Public Types
enum	Type { Type::Static, Type::Dynamic, Type::Kinematic, Type::StaticSensor, Type::KinematicSensor }

Public Member Functions
	RigidBody (Object &object, World &world, const ConstructInfo &info)
	Constructor. More...

virtual	~RigidBody () override
	Destructor. More...

RigidBody &	setGravityScale (const glm::vec3 &acceleration)
	Set gravity to the rigid body object. More...

glm::vec3	getGravityScale () const
	Get the gravity. More...

RigidBody &	setFixedMovement (const glm::bvec3 &fixed)
	Sets the linear factor for rigid body. More...

glm::bvec3	hasFixedMovement () const
	Check if the movement is fixed. More...

RigidBody &	setFixedRotation (const glm::bvec3 &axis)
	Sets/unsets the body to constantly rotate. More...

glm::bvec3	hasFixedRotation () const
	Check if the rotation is fixed. More...

RigidBody &	applyForce (const glm::vec3 &force, const glm::vec3 &rel_pos)
	Applies constant force to rigid bodies relative position. More...

RigidBody &	applyImpulse (const glm::vec3 &impulse, const glm::vec3 &rel_pos)
	Applies an impulse to rigid bodies relative position. More...

RigidBody &	applyTorque (const glm::vec3 &torque)
	Applies torque to the rigid body. More...

RigidBody &	applyTorqueImpulse (const glm::vec3 &torque)
	Applies torque impulse to the rigid body. More...

RigidBody &	setLinearVelocity (const glm::vec3 &linearVelocity)
	Sets linear velocity to the rigid body. More...

glm::vec3	getLinearVelocity () const
	Get the linear (movement) velocity. More...

RigidBody &	setAngularVelocity (const glm::vec3 &angularVelocity)
	Sets angular velocity to the rigid body. More...

glm::vec3	getAngularVelocity () const
	Get the angular (rotational) velocity. More...

RigidBody &	applyCentralForce (const glm::vec3 &force)
	Applies force to the rigid body's center. More...

RigidBody &	applyCentralImpulse (const glm::vec3 &impulse)
	Applies impulse to the rigid body's center. More...

RigidBody &	clearForces ()
	Clear all the forces affecting this body. More...

std::pair< glm::vec3, glm::vec3 >	getLocalBounds () const
	Get the local bounds of this body. More...

RigidBody &	synchronizeTransform ()
	Sets the RigidBody position to be same as the objects' transform. More...

template<typename T >
T *	getJoint (unsigned int id=0)
	Returns a pointer to a joint on the RigidBody whence called from. More...

template<typename T >
bool	breakJoint (RigidBody &other, unsigned int IDthis=0, unsigned int IDother=0)
	Breaks a joint from the RigidBody whence called from. More...

template<typename T , typename... Args>
T &	link (RigidBody &body, Args &&...args)
	Creates a joint between this RigidBody and another RigidBody. More...

Public Member Functions inherited from jop::Collider
bool	checkOverlap (const Collider &other) const
	Check if this collider overlaps with another. More...

bool	checkContact (const Collider &other) const
	Check if this collider is in contact with another. More...

bool	checkRay (const glm::vec3 &start, const glm::vec3 &ray) const
	Check if a ray pierces this collider. More...

void	registerListener (ContactListener &listener)
	Register a listener for this collider. More...

World &	getWorld ()
	Get the world this collider belongs to. More...

const World &	getWorld () const
	Get the world this collider belongs to. More...

void	detachFromWorld ()
	Detach this body from its world. More...

void	attachToWorld ()
	Attach this body to its world if it was previously detached. More...

bool	isDetachedFromWorld () const
	Check if this body is currently detached from its world. More...

void	updateWorldBounds ()
	Force update of the world space bounds. More...

void	setCollisionShape (CollisionShape &shape)
	Set the collision shape. More...

const CollisionShape *	getCollisionShape () const
	Get the collision shape. More...

Public Member Functions inherited from jop::Component
virtual	~Component ()=0
	Virtual destructor. More...

Message::Result	sendMessage (const Message &message)
	Send a message to this component. More...

uint32	getID () const
	Get the identifier. More...

void	setID (const uint32 ID)
	Set the identifier. More...

WeakReference< Object >	getObject ()
	Get the object this component is bound to. More...

WeakReference< const Object >	getObject () const
	Get the object this component is bound to. More...

bool	isActive () const
	Check if this component is active. More...

void	removeSelf ()
	Remove this component from its object. More...

Public Member Functions inherited from jop::SafeReferenceable< Collider >
WeakReference< Collider >	getReference () const
	Get a weak reference to the bound object. More...

Protected Member Functions
Message::Result	receiveMessage (const Message &message) override
	Receive a message. More...

Protected Member Functions inherited from jop::Collider
	Collider (Object &object, World &world, const uint32 ID)
	Constructor. More...

	Collider (const Collider &other, Object &newObj)
	Copy constructor. More...

virtual	~Collider () override=0
	Virtual destructor. More...

void	update (const float deltaTime) override
	Update. More...

void	setAllowSleep (const bool allow)
	Set whether the collider is allowed to sleep. More...

bool	isSleepAllowed () const
	Check if sleep is allowed. More...

Protected Member Functions inherited from jop::Component
	Component (Object &object, const uint32 ID)
	Constructor. More...

	Component (const Component &other, Object &newObj)
	Copy constructor. More...

Protected Member Functions inherited from jop::SafeReferenceable< Collider >
	SafeReferenceable (Collider *ref)
	Constructor. More...

	SafeReferenceable (SafeReferenceable< Collider > &&other)
	Move constructor. More...

SafeReferenceable &	operator= (SafeReferenceable< Collider > &&other)
	Move assignment operator. More...

	~SafeReferenceable ()
	Protected destructor. More...

Protected Attributes
std::unique_ptr< detail::MotionState >	m_motionState
	The motion state. More...

const Type	m_type
	The body type. More...

const float	m_mass
	The mass. More...

btRigidBody *	m_rigidBody
	Pointer to derived rigid body pointer for convenience. More...

std::unordered_set< std::shared_ptr< Joint > >	m_joints
	Joints. More...

Protected Attributes inherited from jop::Collider
std::unique_ptr< btCollisionObject >	m_body
	Body data. More...

World &	m_worldRef
	Reference to the world. More...

std::set< ContactListener * >	m_listeners
	Listeners registered for this collider. More...

bool	m_detached
	Is this body detached from the world? More...

bool	m_allowSleep
	Is sleep allowed? More...

Friends
class	Joint

Detailed Description

Definition at line 44 of file RigidBody.hpp.

Member Enumeration Documentation

enum jop::RigidBody::Type

strong

Rigid body type

Enumerator
Static	Non-moving body.
Dynamic	Moving body.
Kinematic	User-animated body.
StaticSensor	Non-moving.
KinematicSensor	User-animated.

Definition at line 56 of file RigidBody.hpp.

Constructor & Destructor Documentation

jop::RigidBody::RigidBody	(	Object &	object,
		World &	world,
		const ConstructInfo &	info
	)

Constructor.

Parameters

object	Reference to the object
world	The physics world
info	Construction info

virtual jop::RigidBody::~RigidBody ( )

overridevirtual

Destructor.

Member Function Documentation

RigidBody& jop::RigidBody::applyCentralForce ( const glm::vec3 & force )

Applies force to the rigid body's center.

Parameters

force Amount and direction of the applied force

Returns: Reference to self

This method is exposed as command named applyCentralForce

RigidBody& jop::RigidBody::applyCentralImpulse ( const glm::vec3 & impulse )

Applies impulse to the rigid body's center.

Parameters

impulse Amount and direction of the applies impulse

Returns: Reference to self

This method is exposed as command named applyCentralImpulse

RigidBody& jop::RigidBody::applyForce	(	const glm::vec3 &	force,
		const glm::vec3 &	rel_pos
	)

Applies constant force to rigid bodies relative position.

Parameters

force	Amount and direction of the force
rel_pos	Vector for the relative position on rigid body that the force applies on

Returns: Reference to self

This method is exposed as command named applyForce

RigidBody& jop::RigidBody::applyImpulse	(	const glm::vec3 &	impulse,
		const glm::vec3 &	rel_pos
	)

Applies an impulse to rigid bodies relative position.

Parameters

impulse	Amount and direction of the impulse
rel_pos	Vector for the relative position on rigid body that the impulse applies on

Returns: Reference to self

This method is exposed as command named applyImpulse

RigidBody& jop::RigidBody::applyTorque ( const glm::vec3 & torque )

Applies torque to the rigid body.

Parameters

torque Amount and direction as vector of the applied torque

Returns: Reference to self

This method is exposed as command named applyTorque

RigidBody& jop::RigidBody::applyTorqueImpulse ( const glm::vec3 & torque )

Applies torque impulse to the rigid body.

Parameters

torque Amount and direction as vector of the applied torque

Returns: Reference to self

This method is exposed as command named applyTorqueImpulse

template<typename T >

bool jop::RigidBody::breakJoint	(	RigidBody &	other,
		unsigned int	IDthis = `0`,
		unsigned int	IDother = `0`
	)

Breaks a joint from the RigidBody whence called from.

User can give an ID of the the joint which to break. If left empty, breaks the first joint the RigidBody has.

Returns: Returns true if successful.

RigidBody& jop::RigidBody::clearForces ( )

Clear all the forces affecting this body.

Returns: Reference to self

This method is exposed as command named clearForces

glm::vec3 jop::RigidBody::getAngularVelocity ( ) const

Get the angular (rotational) velocity.

Returns: The angular velocity

glm::vec3 jop::RigidBody::getGravityScale ( ) const

Get the gravity.

Returns: The gravity scale

template<typename T >

T* jop::RigidBody::getJoint ( unsigned int id = 0 )

Returns a pointer to a joint on the RigidBody whence called from.

User can give an ID of the the joint which to return. If left empty, returns a pointer to the first joint the RigidBody has.

Returns: Returns a pointer to the joint. nullptr if not found.

glm::vec3 jop::RigidBody::getLinearVelocity ( ) const

Get the linear (movement) velocity.

Returns: The linear velocity

std::pair<glm::vec3, glm::vec3> jop::RigidBody::getLocalBounds ( ) const

Get the local bounds of this body.

Returns: The local bounds

glm::bvec3 jop::RigidBody::hasFixedMovement ( ) const

Check if the movement is fixed.

Returns: The axis values

glm::bvec3 jop::RigidBody::hasFixedRotation ( ) const

Check if the rotation is fixed.

Returns: The axis values

template<typename T , typename... Args>

T& jop::RigidBody::link	(	RigidBody &	body,
		Args &&...	args
	)

Creates a joint between this RigidBody and another RigidBody.

T is the type of the joint to create. Applicable joints are derived from Joint.

Parameters

body	The other body to link with
args	The arguments to pass to the joint's constructor

Returns: Returns a reference to the RigidBody whence called from.

Message::Result jop::RigidBody::receiveMessage ( const Message & message )

overrideprotectedvirtual

Receive a message.

Override this to handle messages sent to this. Don't forget to call the base class' method as well to ensure that the message gets forwarded correctly.

Parameters

message The message

Returns: The message result

Reimplemented from jop::Component.

RigidBody& jop::RigidBody::setAngularVelocity ( const glm::vec3 & angularVelocity )

Sets angular velocity to the rigid body.

Parameters

angularVelocity Amount and direction of the angular velocity

Returns: Reference to self

This method is exposed as command named setAngularVelocity

RigidBody& jop::RigidBody::setFixedMovement ( const glm::bvec3 & fixed )

Sets the linear factor for rigid body.

Parameters

fixed Axes to disable movement

Returns: Reference to self

This method is exposed as command named setLinearFactor

RigidBody& jop::RigidBody::setFixedRotation ( const glm::bvec3 & axis )

Sets/unsets the body to constantly rotate.

Parameters

axis	Axes to disable rotations

Returns: Reference to self

This method is exposed as command named setFixedRotation

RigidBody& jop::RigidBody::setGravityScale ( const glm::vec3 & acceleration )

Set gravity to the rigid body object.

Parameters

acceleration Amount of the gravity to be applied as vector

Returns: Reference to self

This method is exposed as command named setBodyGravity

RigidBody& jop::RigidBody::setLinearVelocity ( const glm::vec3 & linearVelocity )

Sets linear velocity to the rigid body.

Parameters

linearVelocity Amount and direction of the linear velocity

Returns: Reference to self

This method is exposed as command named setLinearVelocity

RigidBody& jop::RigidBody::synchronizeTransform ( )

Sets the RigidBody position to be same as the objects' transform.

Returns: Reference to self.

Friends And Related Function Documentation

friend class Joint

friend

Definition at line 50 of file RigidBody.hpp.

Member Data Documentation

std::unordered_set<std::shared_ptr<Joint> > jop::RigidBody::m_joints

protected

Joints.

Definition at line 317 of file RigidBody.hpp.

const float jop::RigidBody::m_mass

protected

The mass.

Definition at line 314 of file RigidBody.hpp.

std::unique_ptr<detail::MotionState> jop::RigidBody::m_motionState

protected

The motion state.

Definition at line 312 of file RigidBody.hpp.

btRigidBody* jop::RigidBody::m_rigidBody

protected

Pointer to derived rigid body pointer for convenience.

Definition at line 315 of file RigidBody.hpp.

const Type jop::RigidBody::m_type

protected

The body type.

Definition at line 313 of file RigidBody.hpp.

The documentation for this class was generated from the following file:

RigidBody.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation