BulletRigidBody (object)

The BulletRigidBody is the main class for rigid body objects. It is derived from BulletICollisionObject, so it keeps a pointer to a BulletCollisionShape. It is recommended for performance and memory use to share BulletCollisionShape objects whenever possible. There are 3 types of rigid bodies: - A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics. - B) Fixed objects with zero mass. They are not moving (basically collision objects) - C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. Deactivated (sleeping) rigid bodies don’t take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)

Members

Data	pointer
BulletMotionState	__motionState
BulletCollisionShape	__collisionShape
Object[]	__constraints
BulletBroadphaseProxy	__broadphaseProxy
Object	__userPointer

Methods

	BulletRigidBody ( in BulletRigidBody other )
	BulletRigidBody ( in BulletRigidBodyConstructionInfo constructionInfo )
	BulletRigidBody ()
	__addConstraintRef ! ( in BulletTypedConstraint c )
	__construct ! ( in BulletRigidBodyConstructionInfo constructionInfo )
	__destroy ! ()
	__removeConstraintRef ! ( in BulletTypedConstraint c )
	__setCollisionShape ! ( in BulletCollisionShape collisionShape )
	__setMotionState ! ( in BulletMotionState motionState )
	__setNewBroadphaseProxy ! ( in BulletBroadphaseProxy broadphaseProxy )
	activate ! ( in Boolean forceActivation )
	activate ! ()
	addConstraintRef ! ( in BulletTypedConstraint c )
	applyCentralForce ! ( in Vec3 force )
	applyCentralImpulse ! ( in Vec3 impulse )
	applyDamping ! ( in Scalar timeStep )
	applyForce ! ( in Vec3 force, in Vec3 rel_pos )
	applyGravity ! ()
	applyImpulse ! ( in Vec3 impulse, in Vec3 rel_pos )
	applyTorque ! ( in Vec3 torque )
	applyTorqueImpulse ! ( in Vec3 torque )
Boolean	checkCollideWith ? ( in BulletICollisionObject co )
Boolean	checkCollideWithOverride ? ( in BulletICollisionObject co )
	clearForces ! ()
BulletRigidBody	clone ? ()
Scalar	computeAngularImpulseDenominator ? ( in Vec3 axis )
Scalar	computeImpulseDenominator ? ( in Vec3 pos, in Vec3 normal )
	forceActivationState ! ( in Integer newState )
	getAabb ! ( io Vec3 aabbMin, io Vec3 aabbMax )
Integer	getActivationState ? ()
Scalar	getAngularDamping ? ()
Vec3	getAngularFactor ? ()
Scalar	getAngularSleepingThreshold ? ()
Vec3	getAngularVelocity ? ()
Vec3	getAnisotropicFriction ? ()
BulletBroadphaseProxy	getBroadphaseHandle ? ()
BulletBroadphaseProxy	getBroadphaseProxy ? ()
Scalar	getCcdMotionThreshold ? ()
Scalar	getCcdSquareMotionThreshold ? ()
Scalar	getCcdSweptSphereRadius ? ()
Vec3	getCenterOfMassPosition ? ()
Xfo	getCenterOfMassTransform ? ()
Integer	getCollisionFlags ? ()
BulletCollisionShape	getCollisionShape ? ()
Integer	getCompanionId ? ()
BulletTypedConstraint	getConstraintRef ? ( in Integer index )
Scalar	getContactProcessingThreshold ? ()
Scalar	getDeactivationTime ? ()
Vec3	getDeltaAngularVelocity ? ()
Vec3	getDeltaLinearVelocity ? ()
Integer	getFlags ? ()
Scalar	getFriction ? ()
Vec3	getGravity ? ()
Scalar	getHitFraction ? ()
Vec3	getInterpolationAngularVelocity ? ()
Vec3	getInterpolationLinearVelocity ? ()
Xfo	getInterpolationWorldTransform ? ()
Vec3	getInvInertiaDiagLocal ? ()
Mat33	getInvInertiaTensorWorld ? ()
Scalar	getInvMass ? ()
Integer	getIslandTag ? ()
Scalar	getLinearDamping ? ()
Vec3	getLinearFactor ? ()
Scalar	getLinearSleepingThreshold ? ()
Vec3	getLinearVelocity ? ()
BulletMotionState	getMotionState ? ()
Integer	getNumConstraintRefs ? ()
Object	getObject ? ()
Quat	getOrientation ? ()
Data	getPointer ? ()
Vec3	getPushVelocity ? ()
Scalar	getRestitution ? ()
Vec3	getTotalForce ? ()
Vec3	getTotalTorque ? ()
Vec3	getTurnVelocity ? ()
Object	getUserPointer ? ()
Vec3	getVelocityInLocalPoint ? ( in Vec3 rel_pos )
Xfo	getWorldTransform ? ()
Boolean	hasAnisotropicFriction ? ()
Boolean	hasContactResponse ? ()
	integrateVelocities ! ( in Scalar step )
Boolean	isActive ? ()
Boolean	isInWorld ? ()
Boolean	isKinematicObject ? ()
Boolean	isStaticObject ? ()
Boolean	isStaticOrKinematicObject ? ()
Boolean	mergesSimulationIslands ? ()
	predictIntegratedTransform ! ( in Scalar step, io Xfo predictedTransform )
	proceedToTransform ! ( in Xfo newTrans )
	removeConstraintRef ! ( in BulletTypedConstraint c )
	saveKinematicState ! ( in Scalar step )
	setActivationState ! ( in Integer newState )
	setAngularFactor ! ( in Scalar angFac )
	setAngularFactor ! ( in Vec3 angFac )
	setAngularVelocity ! ( in Vec3 ang_vel )
	setAnisotropicFriction ! ( in Vec3 anisotropicFriction )
	setCcdMotionThreshold ! ( in Scalar ccdMotionThreshold )
	setCcdSweptSphereRadius ! ( in Scalar radius )
	setCenterOfMassTransform ! ( in Xfo xform )
	setCollisionFlags ! ( in Integer flags )
	setCollisionShape ! ( in BulletCollisionShape collisionShape )
	setCompanionId ! ( in Integer id )
	setContactProcessingThreshold ! ( in Scalar contactProcessingThreshold )
	setDamping ! ( in Scalar lin_damping, in Scalar ang_damping )
	setDeactivationTime ! ( in Scalar time )
	setFlags ! ( in Integer flags )
	setFriction ! ( in Scalar frict )
	setGravity ! ( in Vec3 acceleration )
	setHitFraction ! ( in Scalar hitFraction )
	setInterpolationAngularVelocity ! ( in Vec3 angvel )
	setInterpolationLinearVelocity ! ( in Vec3 linvel )
	setInterpolationWorldTransform ! ( in Xfo trans )
	setInvInertiaDiagLocal ! ( in Vec3 diagInvInertia )
	setInvMass ! ( in Scalar mass )
	setIslandTag ! ( in Integer tag )
	setLinearFactor ! ( in Vec3 linearFactor )
	setLinearVelocity ! ( in Vec3 lin_vel )
	setMotionState ! ( in BulletMotionState motionState )
	setNewBroadphaseProxy ! ( in BulletBroadphaseProxy broadphaseProxy )
	setRestitution ! ( in Scalar rest )
	setSleepingThresholds ! ( in Scalar linear, in Scalar angular )
	setUserPointer ! ( in Object userPointer )
	setWorldTransform ! ( in Xfo worldTrans )
	translate ! ( in Vec3 v )
	updateDeactivation ! ( in Scalar timeStep )
	updateInertiaTensor ! ()
Boolean	wantsSleeping ? ()
	~BulletRigidBody ()

Methods in detail

BulletRigidBody ( in BulletRigidBody other )

copy constructor

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BulletRigidBody ( in BulletRigidBodyConstructionInfo constructionInfo )

BulletRigidBody constructor using construction info

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BulletRigidBody ()

default constructor

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BulletRigidBody.__addConstraintRef! ( in BulletTypedConstraint c )

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BulletRigidBody.__construct! ( in BulletRigidBodyConstructionInfo constructionInfo )

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BulletRigidBody.__destroy! ()

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BulletRigidBody.__removeConstraintRef! ( in BulletTypedConstraint c )

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BulletRigidBody.__setCollisionShape! ( in BulletCollisionShape collisionShape )

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BulletRigidBody.__setMotionState! ( in BulletMotionState motionState )

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BulletRigidBody.__setNewBroadphaseProxy! ( in BulletBroadphaseProxy broadphaseProxy )

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BulletRigidBody.activate! ( in Boolean forceActivation )

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BulletRigidBody.activate! ()

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BulletRigidBody.addConstraintRef! ( in BulletTypedConstraint c )

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BulletRigidBody.applyCentralForce! ( in Vec3 force )

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BulletRigidBody.applyCentralImpulse! ( in Vec3 impulse )

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BulletRigidBody.applyDamping! ( in Scalar timeStep )

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BulletRigidBody.applyForce! ( in Vec3 force, in Vec3 rel_pos )

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BulletRigidBody.applyGravity! ()

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BulletRigidBody.applyImpulse! ( in Vec3 impulse, in Vec3 rel_pos )

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BulletRigidBody.applyTorque! ( in Vec3 torque )

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BulletRigidBody.applyTorqueImpulse! ( in Vec3 torque )

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Boolean BulletRigidBody.checkCollideWith? ( in BulletICollisionObject co )

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Boolean BulletRigidBody.checkCollideWithOverride? ( in BulletICollisionObject co )

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BulletRigidBody.clearForces! ()

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BulletRigidBody BulletRigidBody.clone? ()

clone method

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Scalar BulletRigidBody.computeAngularImpulseDenominator? ( in Vec3 axis )

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Scalar BulletRigidBody.computeImpulseDenominator? ( in Vec3 pos, in Vec3 normal )

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BulletRigidBody.forceActivationState! ( in Integer newState )

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BulletRigidBody.getAabb! ( io Vec3 aabbMin, io Vec3 aabbMax )

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Integer BulletRigidBody.getActivationState? ()

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Scalar BulletRigidBody.getAngularDamping? ()

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Vec3 BulletRigidBody.getAngularFactor? ()

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Scalar BulletRigidBody.getAngularSleepingThreshold? ()

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Vec3 BulletRigidBody.getAngularVelocity? ()

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Vec3 BulletRigidBody.getAnisotropicFriction? ()

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BulletBroadphaseProxy BulletRigidBody.getBroadphaseHandle? ()

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BulletBroadphaseProxy BulletRigidBody.getBroadphaseProxy? ()

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Scalar BulletRigidBody.getCcdMotionThreshold? ()

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Scalar BulletRigidBody.getCcdSquareMotionThreshold? ()

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Scalar BulletRigidBody.getCcdSweptSphereRadius? ()

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:

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Vec3 BulletRigidBody.getCenterOfMassPosition? ()

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Xfo BulletRigidBody.getCenterOfMassTransform? ()

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Integer BulletRigidBody.getCollisionFlags? ()

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BulletCollisionShape BulletRigidBody.getCollisionShape? ()

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Integer BulletRigidBody.getCompanionId? ()

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BulletTypedConstraint BulletRigidBody.getConstraintRef? ( in Integer index )

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Scalar BulletRigidBody.getContactProcessingThreshold? ()

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Scalar BulletRigidBody.getDeactivationTime? ()

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Vec3 BulletRigidBody.getDeltaAngularVelocity? ()

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Vec3 BulletRigidBody.getDeltaLinearVelocity? ()

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Integer BulletRigidBody.getFlags? ()

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Scalar BulletRigidBody.getFriction? ()

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Vec3 BulletRigidBody.getGravity? ()

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Scalar BulletRigidBody.getHitFraction? ()

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Vec3 BulletRigidBody.getInterpolationAngularVelocity? ()

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Vec3 BulletRigidBody.getInterpolationLinearVelocity? ()

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Xfo BulletRigidBody.getInterpolationWorldTransform? ()

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Vec3 BulletRigidBody.getInvInertiaDiagLocal? ()

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Mat33 BulletRigidBody.getInvInertiaTensorWorld? ()

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Scalar BulletRigidBody.getInvMass? ()

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Integer BulletRigidBody.getIslandTag? ()

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Scalar BulletRigidBody.getLinearDamping? ()

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Vec3 BulletRigidBody.getLinearFactor? ()

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Scalar BulletRigidBody.getLinearSleepingThreshold? ()

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Vec3 BulletRigidBody.getLinearVelocity? ()

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BulletMotionState BulletRigidBody.getMotionState? ()

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Integer BulletRigidBody.getNumConstraintRefs? ()

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Object BulletRigidBody.getObject? ()

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Quat BulletRigidBody.getOrientation? ()

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Data BulletRigidBody.getPointer? ()

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Vec3 BulletRigidBody.getPushVelocity? ()

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Scalar BulletRigidBody.getRestitution? ()

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Vec3 BulletRigidBody.getTotalForce? ()

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Vec3 BulletRigidBody.getTotalTorque? ()

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Vec3 BulletRigidBody.getTurnVelocity? ()

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Object BulletRigidBody.getUserPointer? ()

users can point to their objects, userPointer is not used by Bullet

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Vec3 BulletRigidBody.getVelocityInLocalPoint? ( in Vec3 rel_pos )

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Xfo BulletRigidBody.getWorldTransform? ()

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Boolean BulletRigidBody.hasAnisotropicFriction? ()

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Boolean BulletRigidBody.hasContactResponse? ()

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BulletRigidBody.integrateVelocities! ( in Scalar step )

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Boolean BulletRigidBody.isActive? ()

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Boolean BulletRigidBody.isInWorld? ()

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Boolean BulletRigidBody.isKinematicObject? ()

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Boolean BulletRigidBody.isStaticObject? ()

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Boolean BulletRigidBody.isStaticOrKinematicObject? ()

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Boolean BulletRigidBody.mergesSimulationIslands? ()

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BulletRigidBody.predictIntegratedTransform! ( in Scalar step, io Xfo predictedTransform )

continuous collision detection needs prediction

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BulletRigidBody.proceedToTransform! ( in Xfo newTrans )

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BulletRigidBody.removeConstraintRef! ( in BulletTypedConstraint c )

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BulletRigidBody.saveKinematicState! ( in Scalar step )

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BulletRigidBody.setActivationState! ( in Integer newState )

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BulletRigidBody.setAngularFactor! ( in Scalar angFac )

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BulletRigidBody.setAngularFactor! ( in Vec3 angFac )

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BulletRigidBody.setAngularVelocity! ( in Vec3 ang_vel )

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BulletRigidBody.setAnisotropicFriction! ( in Vec3 anisotropicFriction )

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BulletRigidBody.setCcdMotionThreshold! ( in Scalar ccdMotionThreshold )

Don’t do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold

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BulletRigidBody.setCcdSweptSphereRadius! ( in Scalar radius )

Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm:

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BulletRigidBody.setCenterOfMassTransform! ( in Xfo xform )

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BulletRigidBody.setCollisionFlags! ( in Integer flags )

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BulletRigidBody.setCollisionShape! ( in BulletCollisionShape collisionShape )

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BulletRigidBody.setCompanionId! ( in Integer id )

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BulletRigidBody.setContactProcessingThreshold! ( in Scalar contactProcessingThreshold )

the constraint solver can discard solving contacts, if the distance is above this threshold. 0 by default. Note that using contacts with positive distance can improve stability. It increases, however, the chance of colliding with delegate contacts, such as ‘interior’ triangle edges

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BulletRigidBody.setDamping! ( in Scalar lin_damping, in Scalar ang_damping )

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BulletRigidBody.setDeactivationTime! ( in Scalar time )

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BulletRigidBody.setFlags! ( in Integer flags )

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BulletRigidBody.setFriction! ( in Scalar frict )

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BulletRigidBody.setGravity! ( in Vec3 acceleration )

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BulletRigidBody.setHitFraction! ( in Scalar hitFraction )

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BulletRigidBody.setInterpolationAngularVelocity! ( in Vec3 angvel )

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BulletRigidBody.setInterpolationLinearVelocity! ( in Vec3 linvel )

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BulletRigidBody.setInterpolationWorldTransform! ( in Xfo trans )

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BulletRigidBody.setInvInertiaDiagLocal! ( in Vec3 diagInvInertia )

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BulletRigidBody.setInvMass! ( in Scalar mass )

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BulletRigidBody.setIslandTag! ( in Integer tag )

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BulletRigidBody.setLinearFactor! ( in Vec3 linearFactor )

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BulletRigidBody.setLinearVelocity! ( in Vec3 lin_vel )

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BulletRigidBody.setMotionState! ( in BulletMotionState motionState )

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BulletRigidBody.setNewBroadphaseProxy! ( in BulletBroadphaseProxy broadphaseProxy )

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BulletRigidBody.setRestitution! ( in Scalar rest )

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BulletRigidBody.setSleepingThresholds! ( in Scalar linear, in Scalar angular )

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BulletRigidBody.setUserPointer! ( in Object userPointer )

users can point to their objects, userPointer is not used by Bullet

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BulletRigidBody.setWorldTransform! ( in Xfo worldTrans )

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BulletRigidBody.translate! ( in Vec3 v )

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BulletRigidBody.updateDeactivation! ( in Scalar timeStep )

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BulletRigidBody.updateInertiaTensor! ()

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Boolean BulletRigidBody.wantsSleeping? ()

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~ BulletRigidBody ()