RigidBodySimulation (object)

An object for managing rigid body simulations.

The RigidBodySimulation object provides a tool to combine Fabric Engine systems such as Geometry with Bullet Physics.

The RigidBodySimulation is intended to be used as an example when setting up your own simulations.

参考

SoftBodySimulation

Members

Boolean	initialized
Scalar	timeStep
UInt32	subSteps
Vec3	gravity
BulletRigidBody[]	rigidBodies
BulletBroadphaseInterface	broadphase
BulletCollisionDispatcher	dispatcher
BulletConstraintSolver	solver
BulletCollisionConfiguration	collisionConfiguration
BulletDynamicsWorld	dynamicsWorld
BulletSoftRigidCollisionAlgorithm[]	SoftRigidCollisionAlgorithms

Methods

	RigidBodySimulation ( in RigidBodySimulation other )
	RigidBodySimulation ( in Scalar fps, in UInt32 subSteps, in Vec3 gravity )
	RigidBodySimulation ()
BulletRigidBody[]	addRigidBodies ! ( in Float32 mass[], in Float32 friction[], in Float32 restitution[], in Xfo xfo[], in Vec3 linearVelocity[], in Vec3 angularVelocity[], in BulletCollisionShape shape[] )
BulletRigidBody	addRigidBody ! ( in Float32 mass, in Float32 friction, in Float32 restitution, in Xfo xfo, in Vec3 linearVelocity, in Vec3 angularVelocity, in BulletCollisionShape shape )
RigidBodySimulation	clone ? ()
	createGround ! ()
BulletRigidBody[]	getAllRigidBodies ? ()
Xfo[]	getAllRigidBodyXfos ? ()
BulletRigidBody	getRigidBody ? ( in Index index )
Xfo	getRigidBodyXfo ? ( in Index index )
	initPhysics ! ()
	removeAllRigidBodies ! ()
	resetSimulation ! ()
	setAllRigidBodyXfos ! ( in Xfo xfos[] )
	setRigidBodyXfo ! ( in Index index, in Xfo xfo )
	stepSimulation ? ()
	updateCollisionShape ! ( in BulletCollisionShape shape )
	updateCollisionShapes ! ( in BulletCollisionShape shapes[] )
	updateRigidBodies ! ( in BulletRigidBody bodies[] )
	updateRigidBody ! ( in BulletRigidBody body )
	~RigidBodySimulation ()

Methods in detail

RigidBodySimulation ( in RigidBodySimulation other )

copy constructor

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RigidBodySimulation ( in Scalar fps, in UInt32 subSteps, in Vec3 gravity )

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RigidBodySimulation ()

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BulletRigidBody[] RigidBodySimulation.addRigidBodies! ( in Float32 mass[], in Float32 friction[], in Float32 restitution[], in Xfo xfo[], in Vec3 linearVelocity[], in Vec3 angularVelocity[], in BulletCollisionShape shape[] )

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BulletRigidBody RigidBodySimulation.addRigidBody! ( in Float32 mass, in Float32 friction, in Float32 restitution, in Xfo xfo, in Vec3 linearVelocity, in Vec3 angularVelocity, in BulletCollisionShape shape )

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RigidBodySimulation RigidBodySimulation.clone? ()

clone method

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RigidBodySimulation.createGround! ()

Creates a large box shape to be used at the ground plane.

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BulletRigidBody[] RigidBodySimulation.getAllRigidBodies? ()

returns the transforms of all rigid rigidBodies

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Xfo[] RigidBodySimulation.getAllRigidBodyXfos? ()

returns the transforms of all rigid rigidBodies

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BulletRigidBody RigidBodySimulation.getRigidBody? ( in Index index )

returns a given rigidbody’s transform

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Xfo RigidBodySimulation.getRigidBodyXfo? ( in Index index )

returns a given rigidbody’s transform

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RigidBodySimulation.initPhysics! ()

Initializes the physics simulation. register some softBody collision algorithms on top of the default BulletDefaultCollisionConfiguration

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RigidBodySimulation.removeAllRigidBodies! ()

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RigidBodySimulation.resetSimulation! ()

Resets the simulation, moving all the objects back to thier initial positions. create a copy of the array, not a reference! reset some internal cached data in the broadphase

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RigidBodySimulation.setAllRigidBodyXfos! ( in Xfo xfos[] )

sets the transforms of all rigid rigidBodies

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RigidBodySimulation.setRigidBodyXfo! ( in Index index, in Xfo xfo )

sets a given rigidbody’s transform

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RigidBodySimulation.stepSimulation? ()

Updates the simulation

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RigidBodySimulation.updateCollisionShape! ( in BulletCollisionShape shape )

doesn’t do anything, just ensures to build nice graphs

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RigidBodySimulation.updateCollisionShapes! ( in BulletCollisionShape shapes[] )

doesn’t do anything, just ensures to build nice graphs

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RigidBodySimulation.updateRigidBodies! ( in BulletRigidBody bodies[] )

doesn’t do anything, just ensures to build nice graphs

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RigidBodySimulation.updateRigidBody! ( in BulletRigidBody body )

doesn’t do anything, just ensures to build nice graphs

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~ RigidBodySimulation ()

Cleans up the simulation