#include <Body.h>

Inheritance diagram for Body:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE const BodyID &	GetID () const
	Get the id of this body.

EBodyType	GetBodyType () const
	Get the type of body (rigid or soft)

bool	IsRigidBody () const
	Check if this body is a rigid body.

bool	IsSoftBody () const
	Check if this body is a soft body.

JPH_TSAN_NO_SANITIZE bool	IsActive () const
	If this body is currently actively simulating (true) or sleeping (false)

bool	IsStatic () const
	Check if this body is static (not movable)

bool	IsKinematic () const
	Check if this body is kinematic (keyframed), which means that it will move according to its current velocity, but forces don't affect it.

bool	IsDynamic () const
	Check if this body is dynamic, which means that it moves and forces can act on it.

bool	CanBeKinematicOrDynamic () const
	Check if a body could be made kinematic or dynamic (if it was created dynamic or with mAllowDynamicOrKinematic set to true)

void	SetIsSensor (bool inIsSensor)

bool	IsSensor () const
	Check if this body is a sensor.

void	SetCollideKinematicVsNonDynamic (bool inCollide)

bool	GetCollideKinematicVsNonDynamic () const
	Check if kinematic objects can generate contact points against other kinematic or static objects.

void	SetUseManifoldReduction (bool inUseReduction)

bool	GetUseManifoldReduction () const
	Check if this body can use manifold reduction.

bool	GetUseManifoldReductionWithBody (const Body &inBody2) const
	Checks if the combination of this body and inBody2 should use manifold reduction.

void	SetApplyGyroscopicForce (bool inApply)
	Set to indicate that the gyroscopic force should be applied to this body (aka Dzhanibekov effect, see https://en.wikipedia.org/wiki/Tennis_racket_theorem)

bool	GetApplyGyroscopicForce () const
	Check if the gyroscopic force is being applied for this body.

void	SetEnhancedInternalEdgeRemoval (bool inApply)
	Set to indicate that extra effort should be made to try to remove ghost contacts (collisions with internal edges of a mesh). This is more expensive but makes bodies move smoother over a mesh with convex edges.

bool	GetEnhancedInternalEdgeRemoval () const
	Check if enhanced internal edge removal is turned on.

bool	GetEnhancedInternalEdgeRemovalWithBody (const Body &inBody2) const
	Checks if the combination of this body and inBody2 should use enhanced internal edge removal.

EMotionType	GetMotionType () const
	Get the bodies motion type.

void	SetMotionType (EMotionType inMotionType)
	Set the motion type of this body. Consider using BodyInterface::SetMotionType instead of this function if the body may be active or if it needs to be activated.

BroadPhaseLayer	GetBroadPhaseLayer () const
	Get broadphase layer, this determines in which broad phase sub-tree the object is placed.

ObjectLayer	GetObjectLayer () const
	Get object layer, this determines which other objects it collides with.

const CollisionGroup &	GetCollisionGroup () const
	Collision group and sub-group ID, determines which other objects it collides with.

CollisionGroup &	GetCollisionGroup ()

void	SetCollisionGroup (const CollisionGroup &inGroup)

bool	GetAllowSleeping () const
	If this body can go to sleep. Note that disabling sleeping on a sleeping object will not wake it up.

void	SetAllowSleeping (bool inAllow)

void	ResetSleepTimer ()
	Resets the sleep timer. This does not wake up the body if it is sleeping, but allows resetting the system that detects when a body is sleeping.

float	GetFriction () const
	Friction (dimensionless number, usually between 0 and 1, 0 = no friction, 1 = friction force equals force that presses the two bodies together). Note that bodies can have negative friction but the combined friction (see PhysicsSystem::SetCombineFriction) should never go below zero.

void	SetFriction (float inFriction)

float	GetRestitution () const
	Restitution (dimensionless number, usually between 0 and 1, 0 = completely inelastic collision response, 1 = completely elastic collision response). Note that bodies can have negative restitution but the combined restitution (see PhysicsSystem::SetCombineRestitution) should never go below zero.

void	SetRestitution (float inRestitution)

Vec3	GetLinearVelocity () const
	Get world space linear velocity of the center of mass (unit: m/s)

void	SetLinearVelocity (Vec3Arg inLinearVelocity)

void	SetLinearVelocityClamped (Vec3Arg inLinearVelocity)

Vec3	GetAngularVelocity () const
	Get world space angular velocity of the center of mass (unit: rad/s)

void	SetAngularVelocity (Vec3Arg inAngularVelocity)

void	SetAngularVelocityClamped (Vec3Arg inAngularVelocity)

Vec3	GetPointVelocityCOM (Vec3Arg inPointRelativeToCOM) const
	Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)

Vec3	GetPointVelocity (RVec3Arg inPoint) const
	Velocity of point inPoint (in world space, e.g. on the surface of the body) of the body (unit: m/s)

void	AddForce (Vec3Arg inForce)

void	AddForce (Vec3Arg inForce, RVec3Arg inPosition)

void	AddTorque (Vec3Arg inTorque)

Vec3	GetAccumulatedForce () const

Vec3	GetAccumulatedTorque () const

JPH_INLINE void	ResetForce ()

JPH_INLINE void	ResetTorque ()

JPH_INLINE void	ResetMotion ()

Mat44	GetInverseInertia () const
	Get inverse inertia tensor in world space.

void	AddImpulse (Vec3Arg inImpulse)

void	AddImpulse (Vec3Arg inImpulse, RVec3Arg inPosition)

void	AddAngularImpulse (Vec3Arg inAngularImpulse)

void	MoveKinematic (RVec3Arg inTargetPosition, QuatArg inTargetRotation, float inDeltaTime)

void	GetSubmergedVolume (RVec3Arg inSurfacePosition, Vec3Arg inSurfaceNormal, float &outTotalVolume, float &outSubmergedVolume, Vec3 &outRelativeCenterOfBuoyancy) const

bool	ApplyBuoyancyImpulse (RVec3Arg inSurfacePosition, Vec3Arg inSurfaceNormal, float inBuoyancy, float inLinearDrag, float inAngularDrag, Vec3Arg inFluidVelocity, Vec3Arg inGravity, float inDeltaTime)

bool	ApplyBuoyancyImpulse (float inTotalVolume, float inSubmergedVolume, Vec3Arg inRelativeCenterOfBuoyancy, float inBuoyancy, float inLinearDrag, float inAngularDrag, Vec3Arg inFluidVelocity, Vec3Arg inGravity, float inDeltaTime)

bool	IsInBroadPhase () const
	Check if this body has been added to the physics system.

bool	IsCollisionCacheInvalid () const
	Check if this body has been changed in such a way that the collision cache should be considered invalid for any body interacting with this body.

const Shape *	GetShape () const
	Get the shape of this body.

RVec3	GetPosition () const
	World space position of the body.

Quat	GetRotation () const
	World space rotation of the body.

RMat44	GetWorldTransform () const
	Calculates the transform of this body.

RVec3	GetCenterOfMassPosition () const
	Gets the world space position of this body's center of mass.

RMat44	GetCenterOfMassTransform () const
	Calculates the transform for this body's center of mass.

RMat44	GetInverseCenterOfMassTransform () const
	Calculates the inverse of the transform for this body's center of mass.

const AABox &	GetWorldSpaceBounds () const
	Get world space bounding box.

const MotionProperties *	GetMotionProperties () const
	Access to the motion properties.

MotionProperties *	GetMotionProperties ()

const MotionProperties *	GetMotionPropertiesUnchecked () const
	Access to the motion properties (version that does not check if the object is kinematic or dynamic)

MotionProperties *	GetMotionPropertiesUnchecked ()

uint64	GetUserData () const
	Access to the user data, can be used for anything by the application.

void	SetUserData (uint64 inUserData)

Vec3	GetWorldSpaceSurfaceNormal (const SubShapeID &inSubShapeID, RVec3Arg inPosition) const
	Get surface normal of a particular sub shape and its world space surface position on this body.

TransformedShape	GetTransformedShape () const
	Get the transformed shape of this body, which can be used to do collision detection outside of a body lock.

BodyCreationSettings	GetBodyCreationSettings () const
	Debug function to convert a body back to a body creation settings object to be able to save/recreate the body later.

SoftBodyCreationSettings	GetSoftBodyCreationSettings () const
	Debug function to convert a soft body back to a soft body creation settings object to be able to save/recreate the body later.

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Static Public Attributes
static Body	sFixedToWorld
	A dummy body that can be used by constraints to attach a constraint to the world instead of another body.

static constexpr uint32	cInactiveIndex = MotionProperties::cInactiveIndex
	Constant indicating that body is not active.

Friends
class	BodyManager

class	BodyWithMotionProperties

class	SoftBodyWithMotionPropertiesAndShape

THESE FUNCTIONS ARE FOR INTERNAL USE ONLY AND SHOULD NOT BE CALLED BY THE APPLICATION
void	AddPositionStep (Vec3Arg inLinearVelocityTimesDeltaTime)
	Update position using an Euler step (used during position integrate & constraint solving)

void	SubPositionStep (Vec3Arg inLinearVelocityTimesDeltaTime)

void	AddRotationStep (Vec3Arg inAngularVelocityTimesDeltaTime)
	Update rotation using an Euler step (used during position integrate & constraint solving)

void	SubRotationStep (Vec3Arg inAngularVelocityTimesDeltaTime)

void	SetInBroadPhaseInternal (bool inInBroadPhase)
	Flag if body is in the broadphase (should only be called by the BroadPhase)

bool	InvalidateContactCacheInternal ()
	Invalidate the contact cache (should only be called by the BodyManager), will be reset the next simulation step. Returns true if the contact cache was still valid.

void	ValidateContactCacheInternal ()
	Reset the collision cache invalid flag (should only be called by the BodyManager).

void	CalculateWorldSpaceBoundsInternal ()
	Updates world space bounding box (should only be called by the PhysicsSystem)

void	SetPositionAndRotationInternal (RVec3Arg inPosition, QuatArg inRotation, bool inResetSleepTimer=true)
	Function to update body's position (should only be called by the BodyInterface since it also requires updating the broadphase)

void	UpdateCenterOfMassInternal (Vec3Arg inPreviousCenterOfMass, bool inUpdateMassProperties)

void	SetShapeInternal (const Shape *inShape, bool inUpdateMassProperties)

JPH_TSAN_NO_SANITIZE uint32	GetIndexInActiveBodiesInternal () const
	Access to the index in the BodyManager::mActiveBodies list.

ECanSleep	UpdateSleepStateInternal (float inDeltaTime, float inMaxMovement, float inTimeBeforeSleep)
	Update eligibility for sleeping.

void	SaveState (StateRecorder &inStream) const
	Saving state for replay.

void	RestoreState (StateRecorder &inStream)
	Restoring state for replay.

static bool	sFindCollidingPairsCanCollide (const Body &inBody1, const Body &inBody2)

Detailed Description

A rigid body that can be simulated using the physics system

Note that internally all properties (position, velocity etc.) are tracked relative to the center of mass of the object to simplify the simulation of the object.

The offset between the position of the body and the center of mass position of the body is GetShape()->GetCenterOfMass(). The functions that get/set the position of the body all indicate if they are relative to the center of mass or to the original position in which the shape was created.

The linear velocity is also velocity of the center of mass, to correct for this: \(VelocityCOM = Velocity - AngularVelocity \times ShapeCOM\).

Member Function Documentation

◆ AddAngularImpulse()

void Body::AddAngularImpulse ( Vec3Arg inAngularImpulse )

inline

Add angular impulse in world space (unit: N m s). If you want the body to wake up when it is sleeping, use BodyInterface::AddAngularImpulse instead.

◆ AddForce() [1/2]

void Body::AddForce ( Vec3Arg inForce )

inline

Add force (unit: N) at center of mass for the next time step, will be reset after the next call to PhysicsSystem::Update. If you want the body to wake up when it is sleeping, use BodyInterface::AddForce instead.

◆ AddForce() [2/2]

void Body::AddForce	(	Vec3Arg	inForce,
		RVec3Arg	inPosition
	)

inline

Add force (unit: N) at inPosition for the next time step, will be reset after the next call to PhysicsSystem::Update. If you want the body to wake up when it is sleeping, use BodyInterface::AddForce instead.

◆ AddImpulse() [1/2]

void Body::AddImpulse ( Vec3Arg inImpulse )

inline

Add impulse to center of mass (unit: kg m/s). If you want the body to wake up when it is sleeping, use BodyInterface::AddImpulse instead.

◆ AddImpulse() [2/2]

void Body::AddImpulse	(	Vec3Arg	inImpulse,
		RVec3Arg	inPosition
	)

inline

Add impulse to point in world space (unit: kg m/s). If you want the body to wake up when it is sleeping, use BodyInterface::AddImpulse instead.

◆ AddPositionStep()

void Body::AddPositionStep ( Vec3Arg inLinearVelocityTimesDeltaTime )

inline

Update position using an Euler step (used during position integrate & constraint solving)

◆ AddRotationStep()

void Body::AddRotationStep ( Vec3Arg inAngularVelocityTimesDeltaTime )

inline

Update rotation using an Euler step (used during position integrate & constraint solving)

◆ AddTorque()

void Body::AddTorque ( Vec3Arg inTorque )

inline

Add torque (unit: N m) for the next time step, will be reset after the next call to PhysicsSystem::Update. If you want the body to wake up when it is sleeping, use BodyInterface::AddTorque instead.

◆ ApplyBuoyancyImpulse() [1/2]

bool Body::ApplyBuoyancyImpulse	(	float	inTotalVolume,
		float	inSubmergedVolume,
		Vec3Arg	inRelativeCenterOfBuoyancy,
		float	inBuoyancy,
		float	inLinearDrag,
		float	inAngularDrag,
		Vec3Arg	inFluidVelocity,
		Vec3Arg	inGravity,
		float	inDeltaTime
	)

Applies an impulse to the body that simulates fluid buoyancy and drag. If you want the body to wake up when it is sleeping, use BodyInterface::ApplyBuoyancyImpulse instead.

Parameters

inTotalVolume	Total volume of the shape of this body (m^3)
inSubmergedVolume	Submerged volume of the shape of this body (m^3)
inRelativeCenterOfBuoyancy	The center of mass of the submerged volume relative to the center of mass of the body
inBuoyancy	The buoyancy factor for the body. 1 = neutral body, < 1 sinks, > 1 floats. Note that we don't use the fluid density since it is harder to configure than a simple number between [0, 2]
inLinearDrag	Linear drag factor that slows down the body when in the fluid (approx. 0.5)
inAngularDrag	Angular drag factor that slows down rotation when the body is in the fluid (approx. 0.01)
inFluidVelocity	The average velocity of the fluid (in m/s) in which the body resides
inGravity	The gravity vector (pointing down)
inDeltaTime	Delta time of the next simulation step (in s)

Returns: true if an impulse was applied, false if the body was not in the fluid

◆ ApplyBuoyancyImpulse() [2/2]

bool Body::ApplyBuoyancyImpulse	(	RVec3Arg	inSurfacePosition,
		Vec3Arg	inSurfaceNormal,
		float	inBuoyancy,
		float	inLinearDrag,
		float	inAngularDrag,
		Vec3Arg	inFluidVelocity,
		Vec3Arg	inGravity,
		float	inDeltaTime
	)

Applies an impulse to the body that simulates fluid buoyancy and drag. If you want the body to wake up when it is sleeping, use BodyInterface::ApplyBuoyancyImpulse instead.

Parameters

inSurfacePosition	Position of the fluid surface in world space
inSurfaceNormal	Normal of the fluid surface (should point up)
inBuoyancy	The buoyancy factor for the body. 1 = neutral body, < 1 sinks, > 1 floats. Note that we don't use the fluid density since it is harder to configure than a simple number between [0, 2]
inLinearDrag	Linear drag factor that slows down the body when in the fluid (approx. 0.5)
inAngularDrag	Angular drag factor that slows down rotation when the body is in the fluid (approx. 0.01)
inFluidVelocity	The average velocity of the fluid (in m/s) in which the body resides
inGravity	The gravity vector (pointing down)
inDeltaTime	Delta time of the next simulation step (in s)

Returns: true if an impulse was applied, false if the body was not in the fluid

◆ CalculateWorldSpaceBoundsInternal()

void Body::CalculateWorldSpaceBoundsInternal ( )

Updates world space bounding box (should only be called by the PhysicsSystem)

◆ CanBeKinematicOrDynamic()

bool Body::CanBeKinematicOrDynamic ( ) const

inline

Check if a body could be made kinematic or dynamic (if it was created dynamic or with mAllowDynamicOrKinematic set to true)

◆ GetAccumulatedForce()

Vec3 Body::GetAccumulatedForce ( ) const

inline

◆ GetAccumulatedTorque()

Vec3 Body::GetAccumulatedTorque ( ) const

inline

◆ GetAllowSleeping()

bool Body::GetAllowSleeping ( ) const

inline

If this body can go to sleep. Note that disabling sleeping on a sleeping object will not wake it up.

◆ GetAngularVelocity()

Vec3 Body::GetAngularVelocity ( ) const

inline

Get world space angular velocity of the center of mass (unit: rad/s)

◆ GetApplyGyroscopicForce()

bool Body::GetApplyGyroscopicForce ( ) const

inline

Check if the gyroscopic force is being applied for this body.

◆ GetBodyCreationSettings()

BodyCreationSettings Body::GetBodyCreationSettings ( ) const

Debug function to convert a body back to a body creation settings object to be able to save/recreate the body later.

◆ GetBodyType()

EBodyType Body::GetBodyType ( ) const

inline

Get the type of body (rigid or soft)

◆ GetBroadPhaseLayer()

BroadPhaseLayer Body::GetBroadPhaseLayer ( ) const

inline

Get broadphase layer, this determines in which broad phase sub-tree the object is placed.

◆ GetCenterOfMassPosition()

RVec3 Body::GetCenterOfMassPosition ( ) const

inline

Gets the world space position of this body's center of mass.

◆ GetCenterOfMassTransform()

RMat44 Body::GetCenterOfMassTransform ( ) const

inline

Calculates the transform for this body's center of mass.

◆ GetCollideKinematicVsNonDynamic()

bool Body::GetCollideKinematicVsNonDynamic ( ) const

inline

Check if kinematic objects can generate contact points against other kinematic or static objects.

◆ GetCollisionGroup() [1/2]

CollisionGroup & Body::GetCollisionGroup ( )

inline

◆ GetCollisionGroup() [2/2]

const CollisionGroup & Body::GetCollisionGroup ( ) const

inline

Collision group and sub-group ID, determines which other objects it collides with.

◆ GetEnhancedInternalEdgeRemoval()

bool Body::GetEnhancedInternalEdgeRemoval ( ) const

inline

Check if enhanced internal edge removal is turned on.

◆ GetEnhancedInternalEdgeRemovalWithBody()

bool Body::GetEnhancedInternalEdgeRemovalWithBody ( const Body & inBody2 ) const

inline

Checks if the combination of this body and inBody2 should use enhanced internal edge removal.

◆ GetFriction()

float Body::GetFriction ( ) const

inline

Friction (dimensionless number, usually between 0 and 1, 0 = no friction, 1 = friction force equals force that presses the two bodies together). Note that bodies can have negative friction but the combined friction (see PhysicsSystem::SetCombineFriction) should never go below zero.

◆ GetID()

JPH_OVERRIDE_NEW_DELETE const BodyID & Body::GetID ( ) const

inline

Get the id of this body.

◆ GetIndexInActiveBodiesInternal()

JPH_TSAN_NO_SANITIZE uint32 Body::GetIndexInActiveBodiesInternal ( ) const

inline

Access to the index in the BodyManager::mActiveBodies list.

◆ GetInverseCenterOfMassTransform()

RMat44 Body::GetInverseCenterOfMassTransform ( ) const

inline

Calculates the inverse of the transform for this body's center of mass.

◆ GetInverseInertia()

Mat44 Body::GetInverseInertia ( ) const

inline

Get inverse inertia tensor in world space.

◆ GetLinearVelocity()

Vec3 Body::GetLinearVelocity ( ) const

inline

Get world space linear velocity of the center of mass (unit: m/s)

◆ GetMotionProperties() [1/2]

MotionProperties * Body::GetMotionProperties ( )

inline

◆ GetMotionProperties() [2/2]

const MotionProperties * Body::GetMotionProperties ( ) const

inline

Access to the motion properties.

◆ GetMotionPropertiesUnchecked() [1/2]

MotionProperties * Body::GetMotionPropertiesUnchecked ( )

inline

◆ GetMotionPropertiesUnchecked() [2/2]

const MotionProperties * Body::GetMotionPropertiesUnchecked ( ) const

inline

Access to the motion properties (version that does not check if the object is kinematic or dynamic)

◆ GetMotionType()

EMotionType Body::GetMotionType ( ) const

inline

Get the bodies motion type.

◆ GetObjectLayer()

ObjectLayer Body::GetObjectLayer ( ) const

inline

Get object layer, this determines which other objects it collides with.

◆ GetPointVelocity()

Vec3 Body::GetPointVelocity ( RVec3Arg inPoint ) const

inline

Velocity of point inPoint (in world space, e.g. on the surface of the body) of the body (unit: m/s)

◆ GetPointVelocityCOM()

Vec3 Body::GetPointVelocityCOM ( Vec3Arg inPointRelativeToCOM ) const

inline

Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)

◆ GetPosition()

RVec3 Body::GetPosition ( ) const

inline

World space position of the body.

◆ GetRestitution()

float Body::GetRestitution ( ) const

inline

Restitution (dimensionless number, usually between 0 and 1, 0 = completely inelastic collision response, 1 = completely elastic collision response). Note that bodies can have negative restitution but the combined restitution (see PhysicsSystem::SetCombineRestitution) should never go below zero.

◆ GetRotation()

Quat Body::GetRotation ( ) const

inline

World space rotation of the body.

◆ GetShape()

const Shape * Body::GetShape ( ) const

inline

Get the shape of this body.

◆ GetSoftBodyCreationSettings()

SoftBodyCreationSettings Body::GetSoftBodyCreationSettings ( ) const

Debug function to convert a soft body back to a soft body creation settings object to be able to save/recreate the body later.

◆ GetSubmergedVolume()

void Body::GetSubmergedVolume	(	RVec3Arg	inSurfacePosition,
		Vec3Arg	inSurfaceNormal,
		float &	outTotalVolume,
		float &	outSubmergedVolume,
		Vec3 &	outRelativeCenterOfBuoyancy
	)		const

Gets the properties needed to do buoyancy calculations

Parameters

inSurfacePosition	Position of the fluid surface in world space
inSurfaceNormal	Normal of the fluid surface (should point up)
outTotalVolume	On return this contains the total volume of the shape
outSubmergedVolume	On return this contains the submerged volume of the shape
outRelativeCenterOfBuoyancy	On return this contains the center of mass of the submerged volume relative to the center of mass of the body

◆ GetTransformedShape()

TransformedShape Body::GetTransformedShape ( ) const

inline

Get the transformed shape of this body, which can be used to do collision detection outside of a body lock.

◆ GetUseManifoldReduction()

bool Body::GetUseManifoldReduction ( ) const

inline

Check if this body can use manifold reduction.

◆ GetUseManifoldReductionWithBody()

bool Body::GetUseManifoldReductionWithBody ( const Body & inBody2 ) const

inline

Checks if the combination of this body and inBody2 should use manifold reduction.

◆ GetUserData()

uint64 Body::GetUserData ( ) const

inline

Access to the user data, can be used for anything by the application.

◆ GetWorldSpaceBounds()

const AABox & Body::GetWorldSpaceBounds ( ) const

inline

Get world space bounding box.

◆ GetWorldSpaceSurfaceNormal()

Vec3 Body::GetWorldSpaceSurfaceNormal	(	const SubShapeID &	inSubShapeID,
		RVec3Arg	inPosition
	)		const

inline

Get surface normal of a particular sub shape and its world space surface position on this body.

◆ GetWorldTransform()

JPH_NAMESPACE_BEGIN RMat44 Body::GetWorldTransform ( ) const

inline

Calculates the transform of this body.

◆ InvalidateContactCacheInternal()

bool Body::InvalidateContactCacheInternal ( )

inline

Invalidate the contact cache (should only be called by the BodyManager), will be reset the next simulation step. Returns true if the contact cache was still valid.

◆ IsActive()

JPH_TSAN_NO_SANITIZE bool Body::IsActive ( ) const

inline

If this body is currently actively simulating (true) or sleeping (false)

◆ IsCollisionCacheInvalid()

bool Body::IsCollisionCacheInvalid ( ) const

inline

Check if this body has been changed in such a way that the collision cache should be considered invalid for any body interacting with this body.

◆ IsDynamic()

bool Body::IsDynamic ( ) const

inline

Check if this body is dynamic, which means that it moves and forces can act on it.

◆ IsInBroadPhase()

bool Body::IsInBroadPhase ( ) const

inline

Check if this body has been added to the physics system.

◆ IsKinematic()

bool Body::IsKinematic ( ) const

inline

Check if this body is kinematic (keyframed), which means that it will move according to its current velocity, but forces don't affect it.

◆ IsRigidBody()

bool Body::IsRigidBody ( ) const

inline

Check if this body is a rigid body.

◆ IsSensor()

bool Body::IsSensor ( ) const

inline

Check if this body is a sensor.

◆ IsSoftBody()

bool Body::IsSoftBody ( ) const

inline

Check if this body is a soft body.

◆ IsStatic()

bool Body::IsStatic ( ) const

inline

Check if this body is static (not movable)

◆ MoveKinematic()

void Body::MoveKinematic	(	RVec3Arg	inTargetPosition,
		QuatArg	inTargetRotation,
		float	inDeltaTime
	)

Set velocity of body such that it will be positioned at inTargetPosition/Rotation in inDeltaTime seconds. If you want the body to wake up when it is sleeping, use BodyInterface::MoveKinematic instead.

◆ ResetForce()

JPH_INLINE void Body::ResetForce ( )

inline

◆ ResetMotion()

JPH_INLINE void Body::ResetMotion ( )

inline

◆ ResetSleepTimer()

void Body::ResetSleepTimer ( )

inline

Resets the sleep timer. This does not wake up the body if it is sleeping, but allows resetting the system that detects when a body is sleeping.

◆ ResetTorque()

JPH_INLINE void Body::ResetTorque ( )

inline

◆ RestoreState()

void Body::RestoreState ( StateRecorder & inStream )

Restoring state for replay.

◆ SaveState()

void Body::SaveState ( StateRecorder & inStream ) const

Saving state for replay.

◆ SetAllowSleeping()

void Body::SetAllowSleeping ( bool inAllow )

◆ SetAngularVelocity()

void Body::SetAngularVelocity ( Vec3Arg inAngularVelocity )

inline

Set world space angular velocity of the center of mass (unit: rad/s). If you want the body to wake up when it is sleeping, use BodyInterface::SetAngularVelocity instead.

◆ SetAngularVelocityClamped()

void Body::SetAngularVelocityClamped ( Vec3Arg inAngularVelocity )

inline

Set world space angular velocity of the center of mass, will make sure the value is clamped against the maximum angular velocity. If you want the body to wake up when it is sleeping, use BodyInterface::SetAngularVelocity instead.

◆ SetApplyGyroscopicForce()

void Body::SetApplyGyroscopicForce ( bool inApply )

inline

Set to indicate that the gyroscopic force should be applied to this body (aka Dzhanibekov effect, see https://en.wikipedia.org/wiki/Tennis_racket_theorem)

◆ SetCollideKinematicVsNonDynamic()

void Body::SetCollideKinematicVsNonDynamic ( bool inCollide )

inline

If kinematic objects can generate contact points against other kinematic or static objects. Note that turning this on can be CPU intensive as much more collision detection work will be done without any effect on the simulation (kinematic objects are not affected by other kinematic/static objects). This can be used to make sensors detect static objects. Note that the sensor must be kinematic and active for it to detect static objects.

◆ SetCollisionGroup()

void Body::SetCollisionGroup ( const CollisionGroup & inGroup )

inline

◆ SetEnhancedInternalEdgeRemoval()

void Body::SetEnhancedInternalEdgeRemoval ( bool inApply )

inline

Set to indicate that extra effort should be made to try to remove ghost contacts (collisions with internal edges of a mesh). This is more expensive but makes bodies move smoother over a mesh with convex edges.

◆ SetFriction()

void Body::SetFriction ( float inFriction )

inline

◆ SetInBroadPhaseInternal()

void Body::SetInBroadPhaseInternal ( bool inInBroadPhase )

inline

Flag if body is in the broadphase (should only be called by the BroadPhase)

◆ SetIsSensor()

void Body::SetIsSensor ( bool inIsSensor )

inline

Change the body to a sensor. A sensor will receive collision callbacks, but will not cause any collision responses and can be used as a trigger volume. The cheapest sensor (in terms of CPU usage) is a sensor with motion type Static (they can be moved around using BodyInterface::SetPosition/SetPositionAndRotation). These sensors will only detect collisions with active Dynamic or Kinematic bodies. As soon as a body go to sleep, the contact point with the sensor will be lost. If you make a sensor Dynamic or Kinematic and activate them, the sensor will be able to detect collisions with sleeping bodies too. An active sensor will never go to sleep automatically. When you make a Dynamic or Kinematic sensor, make sure it is in an ObjectLayer that does not collide with Static bodies or other sensors to avoid extra overhead in the broad phase.

◆ SetLinearVelocity()

void Body::SetLinearVelocity ( Vec3Arg inLinearVelocity )

inline

Set world space linear velocity of the center of mass (unit: m/s). If you want the body to wake up when it is sleeping, use BodyInterface::SetLinearVelocity instead.

◆ SetLinearVelocityClamped()

void Body::SetLinearVelocityClamped ( Vec3Arg inLinearVelocity )

inline

Set world space linear velocity of the center of mass, will make sure the value is clamped against the maximum linear velocity. If you want the body to wake up when it is sleeping, use BodyInterface::SetLinearVelocity instead.

◆ SetMotionType()

void Body::SetMotionType ( EMotionType inMotionType )

Set the motion type of this body. Consider using BodyInterface::SetMotionType instead of this function if the body may be active or if it needs to be activated.

◆ SetPositionAndRotationInternal()

void Body::SetPositionAndRotationInternal	(	RVec3Arg	inPosition,
		QuatArg	inRotation,
		bool	inResetSleepTimer = `true`
	)

Function to update body's position (should only be called by the BodyInterface since it also requires updating the broadphase)

◆ SetRestitution()

void Body::SetRestitution ( float inRestitution )

inline

◆ SetShapeInternal()

void Body::SetShapeInternal	(	const Shape *	inShape,
		bool	inUpdateMassProperties
	)

Function to update a body's shape (should only be called by the BodyInterface since it also requires updating the broadphase)

Parameters

inShape	The new shape for this body
inUpdateMassProperties	When true, the mass and inertia tensor is recalculated

◆ SetUseManifoldReduction()

void Body::SetUseManifoldReduction ( bool inUseReduction )

inline

If PhysicsSettings::mUseManifoldReduction is true, this allows turning off manifold reduction for this specific body. Manifold reduction by default will combine contacts with similar normals that come from different SubShapeIDs (e.g. different triangles in a mesh shape or different compound shapes). If the application requires tracking exactly which SubShapeIDs are in contact, you can turn off manifold reduction. Note that this comes at a performance cost. Consider using BodyInterface::SetUseManifoldReduction if the body could already be in contact with other bodies to ensure that the contact cache is invalidated and you get the correct contact callbacks.

◆ SetUserData()

void Body::SetUserData ( uint64 inUserData )

inline

◆ sFindCollidingPairsCanCollide()

bool Body::sFindCollidingPairsCanCollide	(	const Body &	inBody1,
		const Body &	inBody2
	)

inlinestatic

Helper function for BroadPhase::FindCollidingPairs that returns true when two bodies can collide It assumes that body 1 is dynamic and active and guarantees that it body 1 collides with body 2 that body 2 will not collide with body 1 in order to avoid finding duplicate collision pairs

◆ SubPositionStep()

void Body::SubPositionStep ( Vec3Arg inLinearVelocityTimesDeltaTime )

inline

◆ SubRotationStep()

void Body::SubRotationStep ( Vec3Arg inAngularVelocityTimesDeltaTime )

inline

◆ UpdateCenterOfMassInternal()

void Body::UpdateCenterOfMassInternal	(	Vec3Arg	inPreviousCenterOfMass,
		bool	inUpdateMassProperties
	)

Updates the center of mass and optionally mass properties after shifting the center of mass or changes to the shape (should only be called by the BodyInterface since it also requires updating the broadphase)

Parameters

inPreviousCenterOfMass	Center of mass of the shape before the alterations
inUpdateMassProperties	When true, the mass and inertia tensor is recalculated

◆ UpdateSleepStateInternal()

ECanSleep Body::UpdateSleepStateInternal	(	float	inDeltaTime,
		float	inMaxMovement,
		float	inTimeBeforeSleep
	)

Update eligibility for sleeping.

◆ ValidateContactCacheInternal()

void Body::ValidateContactCacheInternal ( )

inline

Reset the collision cache invalid flag (should only be called by the BodyManager).

Friends And Related Symbol Documentation

◆ BodyManager

friend class BodyManager

friend

◆ BodyWithMotionProperties

friend class BodyWithMotionProperties

friend

◆ SoftBodyWithMotionPropertiesAndShape

friend class SoftBodyWithMotionPropertiesAndShape

friend

Member Data Documentation

◆ cInactiveIndex

constexpr uint32 Body::cInactiveIndex = MotionProperties::cInactiveIndex

staticconstexpr

Constant indicating that body is not active.

◆ sFixedToWorld

Body Body::sFixedToWorld

static

A dummy body that can be used by constraints to attach a constraint to the world instead of another body.

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

Jolt/Physics/Body/Body.h
Jolt/Physics/Body/Body.cpp
Jolt/Physics/Body/Body.inl

Public Member Functions

Static Public Attributes

Friends

THESE FUNCTIONS ARE FOR INTERNAL USE ONLY AND SHOULD NOT BE CALLED BY THE APPLICATION

Detailed Description

Member Function Documentation

◆ AddAngularImpulse()

◆ AddForce() [1/2]

◆ AddForce() [2/2]

◆ AddImpulse() [1/2]

◆ AddImpulse() [2/2]

◆ AddPositionStep()

◆ AddRotationStep()

◆ AddTorque()

◆ ApplyBuoyancyImpulse() [1/2]

◆ ApplyBuoyancyImpulse() [2/2]

◆ CalculateWorldSpaceBoundsInternal()

◆ CanBeKinematicOrDynamic()

◆ GetAccumulatedForce()

◆ GetAccumulatedTorque()

◆ GetAllowSleeping()

◆ GetAngularVelocity()

◆ GetApplyGyroscopicForce()

◆ GetBodyCreationSettings()

◆ GetBodyType()

◆ GetBroadPhaseLayer()

◆ GetCenterOfMassPosition()

◆ GetCenterOfMassTransform()

◆ GetCollideKinematicVsNonDynamic()

◆ GetCollisionGroup() [1/2]

◆ GetCollisionGroup() [2/2]

◆ GetEnhancedInternalEdgeRemoval()

◆ GetEnhancedInternalEdgeRemovalWithBody()

◆ GetFriction()

◆ GetID()

◆ GetIndexInActiveBodiesInternal()

◆ GetInverseCenterOfMassTransform()

◆ GetInverseInertia()

◆ GetLinearVelocity()

◆ GetMotionProperties() [1/2]

◆ GetMotionProperties() [2/2]

◆ GetMotionPropertiesUnchecked() [1/2]

◆ GetMotionPropertiesUnchecked() [2/2]

◆ GetMotionType()

◆ GetObjectLayer()

◆ GetPointVelocity()

◆ GetPointVelocityCOM()

◆ GetPosition()

◆ GetRestitution()

◆ GetRotation()

◆ GetShape()

◆ GetSoftBodyCreationSettings()

◆ GetSubmergedVolume()

◆ GetTransformedShape()

◆ GetUseManifoldReduction()

◆ GetUseManifoldReductionWithBody()

◆ GetUserData()

◆ GetWorldSpaceBounds()

◆ GetWorldSpaceSurfaceNormal()

◆ GetWorldTransform()

◆ InvalidateContactCacheInternal()

◆ IsActive()

◆ IsCollisionCacheInvalid()

◆ IsDynamic()

◆ IsInBroadPhase()

◆ IsKinematic()

◆ IsRigidBody()

◆ IsSensor()

◆ IsSoftBody()

◆ IsStatic()

◆ MoveKinematic()

◆ ResetForce()

◆ ResetMotion()

◆ ResetSleepTimer()

◆ ResetTorque()

◆ RestoreState()

◆ SaveState()

◆ SetAllowSleeping()

◆ SetAngularVelocity()

◆ SetAngularVelocityClamped()