BulletRigidBody.kl

Types

BulletRigidBodyConstructionInfo (struct)

The BulletRigidBodyConstructionInfo structure provides information to create a rigid body. Setting mass to zero creates a fixed (non-dynamic) rigid body. For dynamic objects, you can use the collision shape to approximate the local inertia tensor, otherwise use the zero vector (default argument) You can use the motion state to synchronize the world transform between physics and graphics objects. And if the motion state is provided, the rigid body will initialize its initial world transform from the motion state, startWorldTransform is only used when you don’t provide a motion state.

Members

Scalar	mass
BulletMotionState	motionState	When a motionState is provided, the rigid body will initialize its world transform from the motion state In this case, startWorldTransform is ignored.
Xfo	startWorldTransform
BulletCollisionShape	collisionShape
Vec3	localInertia
Scalar	linearDamping
Scalar	angularDamping
Scalar	friction	best simulation results when friction is non-zero
Scalar	restitution	best simulation results using zero restitution.
Scalar	linearSleepingThreshold
Scalar	angularSleepingThreshold
Boolean	additionalDamping
Scalar	additionalDampingFactor
Scalar	additionalLinearDampingThresholdSqr
Scalar	additionalAngularDampingThresholdSqr
Scalar	additionalAngularDampingFactor

Methods

	BulletRigidBodyConstructionInfo ( in BulletRigidBodyConstructionInfo other )
	BulletRigidBodyConstructionInfo ( in Scalar mass, in BulletMotionState motionState, in BulletCollisionShape collisionShape )
	BulletRigidBodyConstructionInfo ( in Scalar mass, in BulletMotionState motionState, in BulletCollisionShape collisionShape, in Vec3 localInertia )
	BulletRigidBodyConstructionInfo ()
	__construct ! ( in Scalar mass, in BulletMotionState motionState, in BulletCollisionShape collisionShape, in Vec3 localInertia )
BulletRigidBodyConstructionInfo	clone ? ()

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 ()