#include <BodyInterface.h>

Inheritance diagram for BodyInterface:

Public Types
using	AddState = void *
	Add state handle, used to keep track of a batch of bodies while adding them to the PhysicsSystem.

Public Member Functions
void	Init (BodyLockInterface &inBodyLockInterface, BodyManager &inBodyManager, BroadPhase &inBroadPhase)
	Initialize the interface (should only be called by PhysicsSystem)

Body *	CreateBody (const BodyCreationSettings &inSettings)

Body *	CreateSoftBody (const SoftBodyCreationSettings &inSettings)

Body *	CreateBodyWithID (const BodyID &inBodyID, const BodyCreationSettings &inSettings)

Body *	CreateSoftBodyWithID (const BodyID &inBodyID, const SoftBodyCreationSettings &inSettings)
	Create a soft body with specified ID. See comments at CreateBodyWithID.

Body *	CreateBodyWithoutID (const BodyCreationSettings &inSettings) const

Body *	CreateSoftBodyWithoutID (const SoftBodyCreationSettings &inSettings) const
	Advanced use only. Creates a body without specifying an ID. See comments at CreateBodyWithoutID.

void	DestroyBodyWithoutID (Body *inBody) const

bool	AssignBodyID (Body *ioBody)

bool	AssignBodyID (Body *ioBody, const BodyID &inBodyID)

Body *	UnassignBodyID (const BodyID &inBodyID)
	Advanced use only. See UnassignBodyIDs. Unassigns the ID of a single body.

void	UnassignBodyIDs (const BodyID inBodyIDs, int inNumber, Body *outBodies)

void	DestroyBody (const BodyID &inBodyID)

void	DestroyBodies (const BodyID *inBodyIDs, int inNumber)

void	AddBody (const BodyID &inBodyID, EActivation inActivationMode)

void	RemoveBody (const BodyID &inBodyID)
	Remove body from the physics system.

bool	IsAdded (const BodyID &inBodyID) const
	Check if a body has been added to the physics system.

BodyID	CreateAndAddBody (const BodyCreationSettings &inSettings, EActivation inActivationMode)

BodyID	CreateAndAddSoftBody (const SoftBodyCreationSettings &inSettings, EActivation inActivationMode)

TwoBodyConstraint *	CreateConstraint (const TwoBodyConstraintSettings *inSettings, const BodyID &inBodyID1, const BodyID &inBodyID2)
	Create a two body constraint.

void	ActivateConstraint (const TwoBodyConstraint *inConstraint)
	Activate non-static bodies attached to a constraint.

void	MoveKinematic (const BodyID &inBodyID, RVec3Arg inTargetPosition, QuatArg inTargetRotation, float inDeltaTime)
	Set velocity of body such that it will be positioned at inTargetPosition/Rotation in inDeltaTime seconds (will activate body if needed)

void	SetLinearAndAngularVelocity (const BodyID &inBodyID, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity)

void	GetLinearAndAngularVelocity (const BodyID &inBodyID, Vec3 &outLinearVelocity, Vec3 &outAngularVelocity) const

void	SetLinearVelocity (const BodyID &inBodyID, Vec3Arg inLinearVelocity)

Vec3	GetLinearVelocity (const BodyID &inBodyID) const

void	AddLinearVelocity (const BodyID &inBodyID, Vec3Arg inLinearVelocity)
	Add velocity to current velocity.

void	AddLinearAndAngularVelocity (const BodyID &inBodyID, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity)
	Add linear and angular to current velocities.

void	SetAngularVelocity (const BodyID &inBodyID, Vec3Arg inAngularVelocity)

Vec3	GetAngularVelocity (const BodyID &inBodyID) const

Vec3	GetPointVelocity (const BodyID &inBodyID, RVec3Arg inPoint) const
	Velocity of point inPoint (in world space, e.g. on the surface of the body) of the body.

void	SetPositionRotationAndVelocity (const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, Vec3Arg inLinearVelocity, Vec3Arg inAngularVelocity)

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

TransformedShape	GetTransformedShape (const BodyID &inBodyID) const
	Get transform and shape for this body, used to perform collision detection.

uint64	GetUserData (const BodyID &inBodyID) const
	Get the user data for a body.

void	SetUserData (const BodyID &inBodyID, uint64 inUserData) const

const PhysicsMaterial *	GetMaterial (const BodyID &inBodyID, const SubShapeID &inSubShapeID) const
	Get the material for a particular sub shape.

void	InvalidateContactCache (const BodyID &inBodyID)
	Set the Body::EFlags::InvalidateContactCache flag for the specified body. This means that the collision cache is invalid for any body pair involving that body until the next physics step.

Batch adding interface
AddState	AddBodiesPrepare (BodyID *ioBodies, int inNumber)

void	AddBodiesFinalize (BodyID *ioBodies, int inNumber, AddState inAddState, EActivation inActivationMode)

void	AddBodiesAbort (BodyID *ioBodies, int inNumber, AddState inAddState)

void	RemoveBodies (BodyID *ioBodies, int inNumber)

Activate / deactivate a body
void	ActivateBody (const BodyID &inBodyID)

void	ActivateBodies (const BodyID *inBodyIDs, int inNumber)

void	ActivateBodiesInAABox (const AABox &inBox, const BroadPhaseLayerFilter &inBroadPhaseLayerFilter, const ObjectLayerFilter &inObjectLayerFilter)

void	DeactivateBody (const BodyID &inBodyID)

void	DeactivateBodies (const BodyID *inBodyIDs, int inNumber)

bool	IsActive (const BodyID &inBodyID) const

void	ResetSleepTimer (const BodyID &inBodyID)

Access to the shape of a body
RefConst< Shape >	GetShape (const BodyID &inBodyID) const
	Get the current shape.

void	SetShape (const BodyID &inBodyID, const Shape *inShape, bool inUpdateMassProperties, EActivation inActivationMode) const

void	NotifyShapeChanged (const BodyID &inBodyID, Vec3Arg inPreviousCenterOfMass, bool inUpdateMassProperties, EActivation inActivationMode) const

Object layer of a body
void	SetObjectLayer (const BodyID &inBodyID, ObjectLayer inLayer)

ObjectLayer	GetObjectLayer (const BodyID &inBodyID) const

Position and rotation of a body
void	SetPositionAndRotation (const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, EActivation inActivationMode)

void	SetPositionAndRotationWhenChanged (const BodyID &inBodyID, RVec3Arg inPosition, QuatArg inRotation, EActivation inActivationMode)
	Will only update the position/rotation and activate the body when the difference is larger than a very small number. This avoids updating the broadphase/waking up a body when the resulting position/orientation doesn't really change.

void	GetPositionAndRotation (const BodyID &inBodyID, RVec3 &outPosition, Quat &outRotation) const

void	SetPosition (const BodyID &inBodyID, RVec3Arg inPosition, EActivation inActivationMode)

RVec3	GetPosition (const BodyID &inBodyID) const

RVec3	GetCenterOfMassPosition (const BodyID &inBodyID) const

void	SetRotation (const BodyID &inBodyID, QuatArg inRotation, EActivation inActivationMode)

Quat	GetRotation (const BodyID &inBodyID) const

RMat44	GetWorldTransform (const BodyID &inBodyID) const

RMat44	GetCenterOfMassTransform (const BodyID &inBodyID) const

Add forces to the body
void	AddForce (const BodyID &inBodyID, Vec3Arg inForce, EActivation inActivationMode=EActivation::Activate)
	See Body::AddForce.

void	AddForce (const BodyID &inBodyID, Vec3Arg inForce, RVec3Arg inPoint, EActivation inActivationMode=EActivation::Activate)
	Applied at inPoint.

void	AddTorque (const BodyID &inBodyID, Vec3Arg inTorque, EActivation inActivationMode=EActivation::Activate)
	See Body::AddTorque.

void	AddForceAndTorque (const BodyID &inBodyID, Vec3Arg inForce, Vec3Arg inTorque, EActivation inActivationMode=EActivation::Activate)
	A combination of Body::AddForce and Body::AddTorque.

Add an impulse to the body
void	AddImpulse (const BodyID &inBodyID, Vec3Arg inImpulse)
	Applied at center of mass.

void	AddImpulse (const BodyID &inBodyID, Vec3Arg inImpulse, RVec3Arg inPoint)
	Applied at inPoint.

void	AddAngularImpulse (const BodyID &inBodyID, Vec3Arg inAngularImpulse)

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

Body type
EBodyType	GetBodyType (const BodyID &inBodyID) const

Body motion type
void	SetMotionType (const BodyID &inBodyID, EMotionType inMotionType, EActivation inActivationMode)

EMotionType	GetMotionType (const BodyID &inBodyID) const

Body motion quality
void	SetMotionQuality (const BodyID &inBodyID, EMotionQuality inMotionQuality)

EMotionQuality	GetMotionQuality (const BodyID &inBodyID) const

Restitution
void	SetRestitution (const BodyID &inBodyID, float inRestitution)

float	GetRestitution (const BodyID &inBodyID) const

Friction
void	SetFriction (const BodyID &inBodyID, float inFriction)

float	GetFriction (const BodyID &inBodyID) const

Gravity factor
void	SetGravityFactor (const BodyID &inBodyID, float inGravityFactor)

float	GetGravityFactor (const BodyID &inBodyID) const

Manifold reduction
void	SetUseManifoldReduction (const BodyID &inBodyID, bool inUseReduction)

bool	GetUseManifoldReduction (const BodyID &inBodyID) const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Detailed Description

Class that provides operations on bodies using a body ID. Note that if you need to do multiple operations on a single body, it is more efficient to lock the body once and combine the operations. All quantities are in world space unless otherwise specified.

Member Typedef Documentation

◆ AddState

using BodyInterface::AddState = void *

Add state handle, used to keep track of a batch of bodies while adding them to the PhysicsSystem.

Member Function Documentation

◆ ActivateBodies()

void BodyInterface::ActivateBodies	(	const BodyID *	inBodyIDs,
		int	inNumber
	)

◆ ActivateBodiesInAABox()

void BodyInterface::ActivateBodiesInAABox	(	const AABox &	inBox,
		const BroadPhaseLayerFilter &	inBroadPhaseLayerFilter,
		const ObjectLayerFilter &	inObjectLayerFilter
	)

◆ ActivateBody()

void BodyInterface::ActivateBody ( const BodyID & inBodyID )

◆ ActivateConstraint()

void BodyInterface::ActivateConstraint ( const TwoBodyConstraint * inConstraint )

Activate non-static bodies attached to a constraint.

◆ AddAngularImpulse()

void BodyInterface::AddAngularImpulse	(	const BodyID &	inBodyID,
		Vec3Arg	inAngularImpulse
	)

◆ AddBodiesAbort()

void BodyInterface::AddBodiesAbort	(	BodyID *	ioBodies,
		int	inNumber,
		AddState	inAddState
	)

Abort adding bodies to the PhysicsSystem, supply the return value of AddBodiesPrepare in inAddState. This can be done on a background thread without influencing the PhysicsSystem. Please ensure that the ioBodies array passed to AddBodiesPrepare is unmodified and passed again to this function.

◆ AddBodiesFinalize()

void BodyInterface::AddBodiesFinalize	(	BodyID *	ioBodies,
		int	inNumber,
		AddState	inAddState,
		EActivation	inActivationMode
	)

Finalize adding bodies to the PhysicsSystem, supply the return value of AddBodiesPrepare in inAddState. Please ensure that the ioBodies array passed to AddBodiesPrepare is unmodified and passed again to this function.

◆ AddBodiesPrepare()

BodyInterface::AddState BodyInterface::AddBodiesPrepare	(	BodyID *	ioBodies,
		int	inNumber
	)

Prepare adding inNumber bodies at ioBodies to the PhysicsSystem, returns a handle that should be used in AddBodiesFinalize/Abort. This can be done on a background thread without influencing the PhysicsSystem. ioBodies may be shuffled around by this function and should be kept that way until AddBodiesFinalize/Abort is called.

◆ AddBody()

void BodyInterface::AddBody	(	const BodyID &	inBodyID,
		EActivation	inActivationMode
	)

Add body to the physics system. Note that if you need to add multiple bodies, use the AddBodiesPrepare/AddBodiesFinalize function. Adding many bodies, one at a time, results in a really inefficient broadphase until PhysicsSystem::OptimizeBroadPhase is called or when PhysicsSystem::Update rebuilds the tree! After adding, to get a body by ID use the BodyLockRead or BodyLockWrite interface!

◆ AddForce() [1/2]

void BodyInterface::AddForce	(	const BodyID &	inBodyID,
		Vec3Arg	inForce,
		EActivation	inActivationMode = `EActivation::Activate`
	)

See Body::AddForce.

◆ AddForce() [2/2]

void BodyInterface::AddForce	(	const BodyID &	inBodyID,
		Vec3Arg	inForce,
		RVec3Arg	inPoint,
		EActivation	inActivationMode = `EActivation::Activate`
	)

Applied at inPoint.

◆ AddForceAndTorque()

void BodyInterface::AddForceAndTorque	(	const BodyID &	inBodyID,
		Vec3Arg	inForce,
		Vec3Arg	inTorque,
		EActivation	inActivationMode = `EActivation::Activate`
	)

A combination of Body::AddForce and Body::AddTorque.

◆ AddImpulse() [1/2]

void BodyInterface::AddImpulse	(	const BodyID &	inBodyID,
		Vec3Arg	inImpulse
	)

Applied at center of mass.

◆ AddImpulse() [2/2]

void BodyInterface::AddImpulse	(	const BodyID &	inBodyID,
		Vec3Arg	inImpulse,
		RVec3Arg	inPoint
	)

Applied at inPoint.

◆ AddLinearAndAngularVelocity()

void BodyInterface::AddLinearAndAngularVelocity	(	const BodyID &	inBodyID,
		Vec3Arg	inLinearVelocity,
		Vec3Arg	inAngularVelocity
	)

Add linear and angular to current velocities.

◆ AddLinearVelocity()

void BodyInterface::AddLinearVelocity	(	const BodyID &	inBodyID,
		Vec3Arg	inLinearVelocity
	)

Add velocity to current velocity.

◆ AddTorque()

void BodyInterface::AddTorque	(	const BodyID &	inBodyID,
		Vec3Arg	inTorque,
		EActivation	inActivationMode = `EActivation::Activate`
	)

See Body::AddTorque.

◆ ApplyBuoyancyImpulse()

bool BodyInterface::ApplyBuoyancyImpulse	(	const BodyID &	inBodyID,
		RVec3Arg	inSurfacePosition,
		Vec3Arg	inSurfaceNormal,
		float	inBuoyancy,
		float	inLinearDrag,
		float	inAngularDrag,
		Vec3Arg	inFluidVelocity,
		Vec3Arg	inGravity,
		float	inDeltaTime
	)

◆ AssignBodyID() [1/2]

bool BodyInterface::AssignBodyID ( Body * ioBody )

Advanced use only. Assigns the next available body ID to a body that was created using CreateBodyWithoutID. After this call, the body can be added to the physics system.

Returns: false if the body already has an ID or out of body ids.

◆ AssignBodyID() [2/2]

bool BodyInterface::AssignBodyID	(	Body *	ioBody,
		const BodyID &	inBodyID
	)

Advanced use only. Assigns a body ID to a body that was created using CreateBodyWithoutID. After this call, the body can be added to the physics system.

Returns: false if the body already has an ID or if the ID is not valid.

◆ CreateAndAddBody()

BodyID BodyInterface::CreateAndAddBody	(	const BodyCreationSettings &	inSettings,
		EActivation	inActivationMode
	)

Combines CreateBody and AddBody

Returns: Created body ID or an invalid ID when out of bodies

◆ CreateAndAddSoftBody()

BodyID BodyInterface::CreateAndAddSoftBody	(	const SoftBodyCreationSettings &	inSettings,
		EActivation	inActivationMode
	)

Combines CreateSoftBody and AddBody

Returns: Created body ID or an invalid ID when out of bodies

◆ CreateBody()

Body * BodyInterface::CreateBody ( const BodyCreationSettings & inSettings )

Create a rigid body

Returns: Created body or null when out of bodies

◆ CreateBodyWithID()

Body * BodyInterface::CreateBodyWithID	(	const BodyID &	inBodyID,
		const BodyCreationSettings &	inSettings
	)

Create a rigid body with specified ID. This function can be used if a simulation is to run in sync between clients or if a simulation needs to be restored exactly. The ID created on the server can be replicated to the client and used to create a deterministic simulation.

Returns: Created body or null when the body ID is invalid or a body of the same ID already exists.

◆ CreateBodyWithoutID()

Body * BodyInterface::CreateBodyWithoutID ( const BodyCreationSettings & inSettings ) const

Advanced use only. Creates a rigid body without specifying an ID. This body cannot be added to the physics system until it has been assigned a body ID. This can be used to decouple allocation from registering the body. A call to CreateBodyWithoutID followed by AssignBodyID is equivalent to calling CreateBodyWithID.

Returns: Created body

◆ CreateConstraint()

TwoBodyConstraint * BodyInterface::CreateConstraint	(	const TwoBodyConstraintSettings *	inSettings,
		const BodyID &	inBodyID1,
		const BodyID &	inBodyID2
	)

Create a two body constraint.

◆ CreateSoftBody()

Body * BodyInterface::CreateSoftBody ( const SoftBodyCreationSettings & inSettings )

Create a soft body

Returns: Created body or null when out of bodies

◆ CreateSoftBodyWithID()

Body * BodyInterface::CreateSoftBodyWithID	(	const BodyID &	inBodyID,
		const SoftBodyCreationSettings &	inSettings
	)

Create a soft body with specified ID. See comments at CreateBodyWithID.

◆ CreateSoftBodyWithoutID()

Body * BodyInterface::CreateSoftBodyWithoutID ( const SoftBodyCreationSettings & inSettings ) const

Advanced use only. Creates a body without specifying an ID. See comments at CreateBodyWithoutID.

◆ DeactivateBodies()

void BodyInterface::DeactivateBodies	(	const BodyID *	inBodyIDs,
		int	inNumber
	)

◆ DeactivateBody()

void BodyInterface::DeactivateBody ( const BodyID & inBodyID )

◆ DestroyBodies()

void BodyInterface::DestroyBodies	(	const BodyID *	inBodyIDs,
		int	inNumber
	)

Destroy multiple bodies Make sure that you remove the bodies from the physics system using BodyInterface::RemoveBody before calling this function.

◆ DestroyBody()

void BodyInterface::DestroyBody ( const BodyID & inBodyID )

Destroy a body. Make sure that you remove the body from the physics system using BodyInterface::RemoveBody before calling this function.

◆ DestroyBodyWithoutID()

void BodyInterface::DestroyBodyWithoutID ( Body * inBody ) const

Advanced use only. Destroy a body previously created with CreateBodyWithoutID that hasn't gotten an ID yet through the AssignBodyID function, or a body that has had its body ID unassigned through UnassignBodyIDs. Bodies that have an ID should be destroyed through DestroyBody.

◆ GetAngularVelocity()

Vec3 BodyInterface::GetAngularVelocity ( const BodyID & inBodyID ) const

◆ GetBodyType()

EBodyType BodyInterface::GetBodyType ( const BodyID & inBodyID ) const

◆ GetCenterOfMassPosition()

RVec3 BodyInterface::GetCenterOfMassPosition ( const BodyID & inBodyID ) const

◆ GetCenterOfMassTransform()

RMat44 BodyInterface::GetCenterOfMassTransform ( const BodyID & inBodyID ) const

◆ GetFriction()

float BodyInterface::GetFriction ( const BodyID & inBodyID ) const

◆ GetGravityFactor()

float BodyInterface::GetGravityFactor ( const BodyID & inBodyID ) const

◆ GetInverseInertia()

Mat44 BodyInterface::GetInverseInertia ( const BodyID & inBodyID ) const

Get inverse inertia tensor in world space.

◆ GetLinearAndAngularVelocity()

void BodyInterface::GetLinearAndAngularVelocity	(	const BodyID &	inBodyID,
		Vec3 &	outLinearVelocity,
		Vec3 &	outAngularVelocity
	)		const

◆ GetLinearVelocity()

Vec3 BodyInterface::GetLinearVelocity ( const BodyID & inBodyID ) const

◆ GetMaterial()

const PhysicsMaterial * BodyInterface::GetMaterial	(	const BodyID &	inBodyID,
		const SubShapeID &	inSubShapeID
	)		const

Get the material for a particular sub shape.

◆ GetMotionQuality()

EMotionQuality BodyInterface::GetMotionQuality ( const BodyID & inBodyID ) const

◆ GetMotionType()

EMotionType BodyInterface::GetMotionType ( const BodyID & inBodyID ) const

◆ GetObjectLayer()

ObjectLayer BodyInterface::GetObjectLayer ( const BodyID & inBodyID ) const

◆ GetPointVelocity()

Vec3 BodyInterface::GetPointVelocity	(	const BodyID &	inBodyID,
		RVec3Arg	inPoint
	)		const

Velocity of point inPoint (in world space, e.g. on the surface of the body) of the body.

◆ GetPosition()

RVec3 BodyInterface::GetPosition ( const BodyID & inBodyID ) const

◆ GetPositionAndRotation()

void BodyInterface::GetPositionAndRotation	(	const BodyID &	inBodyID,
		RVec3 &	outPosition,
		Quat &	outRotation
	)		const

◆ GetRestitution()

float BodyInterface::GetRestitution ( const BodyID & inBodyID ) const

◆ GetRotation()

Quat BodyInterface::GetRotation ( const BodyID & inBodyID ) const

◆ GetShape()

RefConst< Shape > BodyInterface::GetShape ( const BodyID & inBodyID ) const

Get the current shape.

◆ GetTransformedShape()

TransformedShape BodyInterface::GetTransformedShape ( const BodyID & inBodyID ) const

Get transform and shape for this body, used to perform collision detection.

◆ GetUseManifoldReduction()

bool BodyInterface::GetUseManifoldReduction ( const BodyID & inBodyID ) const

◆ GetUserData()

uint64 BodyInterface::GetUserData ( const BodyID & inBodyID ) const

Get the user data for a body.

◆ GetWorldTransform()

RMat44 BodyInterface::GetWorldTransform ( const BodyID & inBodyID ) const

◆ Init()

void BodyInterface::Init	(	BodyLockInterface &	inBodyLockInterface,
		BodyManager &	inBodyManager,
		BroadPhase &	inBroadPhase
	)

inline

Initialize the interface (should only be called by PhysicsSystem)

◆ InvalidateContactCache()

void BodyInterface::InvalidateContactCache ( const BodyID & inBodyID )

Set the Body::EFlags::InvalidateContactCache flag for the specified body. This means that the collision cache is invalid for any body pair involving that body until the next physics step.

◆ IsActive()

bool BodyInterface::IsActive ( const BodyID & inBodyID ) const

◆ IsAdded()

bool BodyInterface::IsAdded ( const BodyID & inBodyID ) const

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

◆ MoveKinematic()

void BodyInterface::MoveKinematic	(	const BodyID &	inBodyID,
		RVec3Arg	inTargetPosition,
		QuatArg	inTargetRotation,
		float	inDeltaTime
	)

Set velocity of body such that it will be positioned at inTargetPosition/Rotation in inDeltaTime seconds (will activate body if needed)

◆ NotifyShapeChanged()

void BodyInterface::NotifyShapeChanged	(	const BodyID &	inBodyID,
		Vec3Arg	inPreviousCenterOfMass,
		bool	inUpdateMassProperties,
		EActivation	inActivationMode
	)		const

Notify all systems to indicate that a shape has changed (usable for MutableCompoundShapes)

Parameters

inBodyID	Body ID of body that had its shape changed
inPreviousCenterOfMass	Center of mass of the shape before the alterations
inUpdateMassProperties	When true, the mass and inertia tensor is recalculated
inActivationMode	Whether or not to activate the body

◆ RemoveBodies()

void BodyInterface::RemoveBodies	(	BodyID *	ioBodies,
		int	inNumber
	)

Remove inNumber bodies in ioBodies from the PhysicsSystem. ioBodies may be shuffled around by this function.

◆ RemoveBody()

void BodyInterface::RemoveBody ( const BodyID & inBodyID )

Remove body from the physics system.

◆ ResetSleepTimer()

void BodyInterface::ResetSleepTimer ( const BodyID & inBodyID )

◆ SetAngularVelocity()

void BodyInterface::SetAngularVelocity	(	const BodyID &	inBodyID,
		Vec3Arg	inAngularVelocity
	)

◆ SetFriction()

void BodyInterface::SetFriction	(	const BodyID &	inBodyID,
		float	inFriction
	)

◆ SetGravityFactor()

void BodyInterface::SetGravityFactor	(	const BodyID &	inBodyID,
		float	inGravityFactor
	)

◆ SetLinearAndAngularVelocity()

void BodyInterface::SetLinearAndAngularVelocity	(	const BodyID &	inBodyID,
		Vec3Arg	inLinearVelocity,
		Vec3Arg	inAngularVelocity
	)

Linear or angular velocity (functions will activate body if needed). Note that the linear velocity is the velocity of the center of mass, which may not coincide with the position of your object, to correct for this: \(VelocityCOM = Velocity - AngularVelocity \times ShapeCOM\)

◆ SetLinearVelocity()

void BodyInterface::SetLinearVelocity	(	const BodyID &	inBodyID,
		Vec3Arg	inLinearVelocity
	)

◆ SetMotionQuality()

void BodyInterface::SetMotionQuality	(	const BodyID &	inBodyID,
		EMotionQuality	inMotionQuality
	)

◆ SetMotionType()

void BodyInterface::SetMotionType	(	const BodyID &	inBodyID,
		EMotionType	inMotionType,
		EActivation	inActivationMode
	)

◆ SetObjectLayer()

void BodyInterface::SetObjectLayer	(	const BodyID &	inBodyID,
		ObjectLayer	inLayer
	)

◆ SetPosition()

void BodyInterface::SetPosition	(	const BodyID &	inBodyID,
		RVec3Arg	inPosition,
		EActivation	inActivationMode
	)

◆ SetPositionAndRotation()

void BodyInterface::SetPositionAndRotation	(	const BodyID &	inBodyID,
		RVec3Arg	inPosition,
		QuatArg	inRotation,
		EActivation	inActivationMode
	)

◆ SetPositionAndRotationWhenChanged()

void BodyInterface::SetPositionAndRotationWhenChanged	(	const BodyID &	inBodyID,
		RVec3Arg	inPosition,
		QuatArg	inRotation,
		EActivation	inActivationMode
	)

Will only update the position/rotation and activate the body when the difference is larger than a very small number. This avoids updating the broadphase/waking up a body when the resulting position/orientation doesn't really change.

◆ SetPositionRotationAndVelocity()

void BodyInterface::SetPositionRotationAndVelocity	(	const BodyID &	inBodyID,
		RVec3Arg	inPosition,
		QuatArg	inRotation,
		Vec3Arg	inLinearVelocity,
		Vec3Arg	inAngularVelocity
	)

Set the complete motion state of a body. Note that the linear velocity is the velocity of the center of mass, which may not coincide with the position of your object, to correct for this: \(VelocityCOM = Velocity - AngularVelocity \times ShapeCOM\)

◆ SetRestitution()

void BodyInterface::SetRestitution	(	const BodyID &	inBodyID,
		float	inRestitution
	)

◆ SetRotation()

void BodyInterface::SetRotation	(	const BodyID &	inBodyID,
		QuatArg	inRotation,
		EActivation	inActivationMode
	)

◆ SetShape()

void BodyInterface::SetShape	(	const BodyID &	inBodyID,
		const Shape *	inShape,
		bool	inUpdateMassProperties,
		EActivation	inActivationMode
	)		const

Set a new shape on the body

Parameters

inBodyID	Body ID of body that had its shape changed
inShape	The new shape
inUpdateMassProperties	When true, the mass and inertia tensor is recalculated
inActivationMode	Whether or not to activate the body

◆ SetUseManifoldReduction()

void BodyInterface::SetUseManifoldReduction	(	const BodyID &	inBodyID,
		bool	inUseReduction
	)

◆ SetUserData()

void BodyInterface::SetUserData	(	const BodyID &	inBodyID,
		uint64	inUserData
	)		const

◆ UnassignBodyID()

Body * BodyInterface::UnassignBodyID ( const BodyID & inBodyID )

Advanced use only. See UnassignBodyIDs. Unassigns the ID of a single body.

◆ UnassignBodyIDs()

void BodyInterface::UnassignBodyIDs	(	const BodyID *	inBodyIDs,
		int	inNumber,
		Body **	outBodies
	)

Advanced use only. Removes a number of body IDs from their bodies and returns the body pointers. Before calling this, the body should have been removed from the physics system. The body can be destroyed through DestroyBodyWithoutID. This can be used to decouple deallocation. A call to UnassignBodyIDs followed by calls to DestroyBodyWithoutID is equivalent to calling DestroyBodies.

Parameters

inBodyIDs	A list of body IDs
inNumber	Number of bodies in the list
outBodies	If not null on input, this will contain a list of body pointers corresponding to inBodyIDs that can be destroyed afterwards (caller assumes ownership over these).

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

Jolt/Physics/Body/BodyInterface.h
Jolt/Physics/Body/BodyInterface.cpp

Public Types

Public Member Functions

Detailed Description

Member Typedef Documentation

◆ AddState

Member Function Documentation

◆ ActivateBodies()

◆ ActivateBodiesInAABox()

◆ ActivateBody()

◆ ActivateConstraint()

◆ AddAngularImpulse()

◆ AddBodiesAbort()

◆ AddBodiesFinalize()

◆ AddBodiesPrepare()

◆ AddBody()

◆ AddForce() [1/2]

◆ AddForce() [2/2]

◆ AddForceAndTorque()

◆ AddImpulse() [1/2]

◆ AddImpulse() [2/2]

◆ AddLinearAndAngularVelocity()

◆ AddLinearVelocity()

◆ AddTorque()

◆ ApplyBuoyancyImpulse()

◆ AssignBodyID() [1/2]

◆ AssignBodyID() [2/2]

◆ CreateAndAddBody()

◆ CreateAndAddSoftBody()

◆ CreateBody()

◆ CreateBodyWithID()

◆ CreateBodyWithoutID()

◆ CreateConstraint()

◆ CreateSoftBody()

◆ CreateSoftBodyWithID()

◆ CreateSoftBodyWithoutID()

◆ DeactivateBodies()

◆ DeactivateBody()

◆ DestroyBodies()

◆ DestroyBody()

◆ DestroyBodyWithoutID()

◆ GetAngularVelocity()

◆ GetBodyType()

◆ GetCenterOfMassPosition()

◆ GetCenterOfMassTransform()

◆ GetFriction()

◆ GetGravityFactor()

◆ GetInverseInertia()

◆ GetLinearAndAngularVelocity()

◆ GetLinearVelocity()

◆ GetMaterial()

◆ GetMotionQuality()

◆ GetMotionType()

◆ GetObjectLayer()

◆ GetPointVelocity()

◆ GetPosition()

◆ GetPositionAndRotation()

◆ GetRestitution()

◆ GetRotation()

◆ GetShape()

◆ GetTransformedShape()

◆ GetUseManifoldReduction()

◆ GetUserData()

◆ GetWorldTransform()

◆ Init()

◆ InvalidateContactCache()

◆ IsActive()

◆ IsAdded()

◆ MoveKinematic()

◆ NotifyShapeChanged()

◆ RemoveBodies()

◆ RemoveBody()

◆ ResetSleepTimer()

◆ SetAngularVelocity()

◆ SetFriction()

◆ SetGravityFactor()

◆ SetLinearAndAngularVelocity()

◆ SetLinearVelocity()

◆ SetMotionQuality()

◆ SetMotionType()

◆ SetObjectLayer()