bl7::rigidbodies2::RigidBody Class Reference

#include <RigidBody.h>

List of all members.

Public Member Functions
	RigidBody (void)
	~RigidBody (void)
	RigidBody (const RigidBody &rhs)
RigidBody &	operator= (const RigidBody &rhs)
ml7::Vector2	get_position () const
void	get_position (ml7::Vector2 *p) const
float	get_orientation () const
void	get_orientation (float *phi) const
ml7::Vector2	get_velocity () const
void	get_velocity (ml7::Vector2 *v) const
float	get_rotation () const
void	get_rotation (float *omega) const
ml7::Vector2	get_linear_acceleration () const
void	get_linear_acceleration (ml7::Vector2 *a) const
float	get_angular_acceleration () const
void	get_angular_acceleration (float *alpha) const
ml7::Vector2	get_force () const
void	get_force (ml7::Vector2 *f) const
float	get_torque () const
void	get_torque (float *tau) const
float	get_linear_damping () const
void	get_linear_damping (float *d) const
float	get_angular_damping () const
void	get_angular_damping (float *d) const
float	get_inverse_mass () const
void	get_inverse_mass (float *im) const
float	get_inverse_inertia () const
void	get_inverse_inertia (float *imoi) const
float	get_mass () const
void	get_mass (float *m) const
float	get_inertia () const
void	get_inertia (float *moi) const
bool	has_finite_mass () const
bool	has_finite_inertia () const
float	get_density () const
void	get_density (float *rho) const
float	get_restitution () const
float	get_static_friction () const
float	get_kinetic_friction () const
void	get_friction (float *fs, float *fk) const
unsigned	get_id () const
unsigned long	get_category_groups_flags () const
unsigned long	get_category_group_flag (unsigned i) const
unsigned long	get_collision_groups_flags () const
unsigned long	get_collision_group_flag (unsigned i) const
const ml7::Vector2 &	get_last_linear_acceleration () const
float	get_last_angular_acceleration () const
float	get_tiredness () const
bool	is_active () const
bool	can_sleep () const
const CollisionSpace &	get_collision_space () const
const ml7::Matrix2x3 &	get_transform_matrix () const
const ml7::Matrix2x3 &	get_transform_matrix_inverted () const
void *	get_user_data () const
void	set_position (const ml7::Vector2 &p)
void	set_orientation (const float phi)
void	set_velocity (const ml7::Vector2 &v)
void	set_rotation (const float omega)
void	set_linear_acceleration (const ml7::Vector2 &a)
void	set_angular_acceleration (const float alpha)
void	reset_force ()
void	reset_torque ()
void	add_force (const ml7::Vector2 &f)
void	add_torque (const float tau)
void	set_linear_damping (const float d)
void	set_angular_damping (const float d)
void	set_inverse_mass (const float im)
void	set_inverse_inertia (const float imoi)
void	set_mass (const float m)
void	set_inertia (const float moi)
void	set_density (const float rho)
void	set_restitution (const float e)
void	set_static_friction (const float fs)
void	set_kinetic_friction (const float fk)
void	set_friction (const float fs, const float fk)
void	set_friction (const float f_)
void	set_category_groups_flags (const unsigned long flags)
void	set_category_group_flag (unsigned i)
void	unset_category_group_flag (unsigned i)
void	flip_category_group_flag (unsigned i)
void	set_collision_groups_flags (const unsigned long flags)
void	set_collision_group_flag (unsigned i)
void	unset_collision_group_flag (unsigned i)
void	flip_collision_group_flag (unsigned i)
void	set_tiredness (const float tiredness)
void	set_active (const bool b=true)
void	can_sleep (const bool b)
CollisionSpace &	get_collision_space ()
void	set_user_data (void *user_data)
void	add_force_to_point (const ml7::Vector2 &f, const ml7::Vector2 &point)
ml7::Vector2	get_point_in_world_space (const ml7::Vector2 &point_on_body)
ml7::Vector2	get_point_in_body_space (const ml7::Vector2 &point_in_world)
Public Attributes
ml7::Vector2	position
float	orientation
ml7::Vector2	velocity
float	rotation
ml7::Vector2	linear_acceleration
float	angular_acceleration
ml7::Vector2	force
float	torque
float	linear_damping
float	angular_damping
float	inverse_mass
float	inverse_inertia
float	density
float	restitution
float	static_friction
float	kinetic_friction
friend	Dynamics

---

Constructor & Destructor Documentation

bl7::rigidbodies2::RigidBody::RigidBody

(

void

)

[inline]

Default constructor.

bl7::rigidbodies2::RigidBody::~RigidBody

(

void

)

[inline]

Destructor.

bl7::rigidbodies2::RigidBody::RigidBody

(

const RigidBody &

rhs

)

[inline]

Copy constructor.

---

Member Function Documentation

void bl7::rigidbodies2::RigidBody::add_force

(

const ml7::Vector2 &

f

)

[inline]

Adds a given force to this rigid body to be applied during next integration.

void bl7::rigidbodies2::RigidBody::add_force_to_point	(	const ml7::Vector2 &	f,
		const ml7::Vector2 &	point
	)

Adds a given force to the given point on the rigid body. The force is given in world coordinates, but the application point is given in body space.

void bl7::rigidbodies2::RigidBody::add_torque

(

const float

tau

)

[inline]

Adds a given torque to this rigid body to be applied during next integration.

void bl7::rigidbodies2::RigidBody::can_sleep

(

const bool

b

)

[inline]

Sets the flag specifying whether the rigid body can fall asleep.

bool bl7::rigidbodies2::RigidBody::can_sleep

(

)

const [inline]

Returns the flag specifying whether this rigid body can fall asleep.

void bl7::rigidbodies2::RigidBody::flip_category_group_flag

(

unsigned

i

)

[inline]

Flips the i-th bit (0 to 31) of the category groups flags.

void bl7::rigidbodies2::RigidBody::flip_collision_group_flag

(

unsigned

i

)

[inline]

Flips the i-th bit (0 to 31) of the collision groups flags.

float bl7::rigidbodies2::RigidBody::get_angular_acceleration

(

)

const [inline]

Returns the angular acceleration of this rigid body.

void bl7::rigidbodies2::RigidBody::get_angular_acceleration

(

float *

alpha

)

const [inline]

Stores the angular acceleration of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_angular_damping

(

)

const [inline]

Returns the angular damping of this rigid body.

void bl7::rigidbodies2::RigidBody::get_angular_damping

(

float *

d

)

const [inline]

Stores the angular damping of this paricle in the given float.

unsigned long bl7::rigidbodies2::RigidBody::get_category_group_flag

(

unsigned

i

)

const [inline]

Returns the i-th bit (0 to 31) of the category groups flags.

unsigned long bl7::rigidbodies2::RigidBody::get_category_groups_flags

(

)

const [inline]

Returns the category groups flags (default: all bits set).

unsigned long bl7::rigidbodies2::RigidBody::get_collision_group_flag

(

unsigned

i

)

const [inline]

Returns the i-th bit (0 to 31) of the collision groups flags.

unsigned long bl7::rigidbodies2::RigidBody::get_collision_groups_flags

(

)

const [inline]

Returns the collision groups flags (default: all bits set).

CollisionSpace& bl7::rigidbodies2::RigidBody::get_collision_space

(

)

[inline]

Returns the collision space specifying the underlying geometry.

const CollisionSpace& bl7::rigidbodies2::RigidBody::get_collision_space

(

)

const [inline]

Returns the collision space specifying the underlying geometry.

void bl7::rigidbodies2::RigidBody::get_density

(

float *

rho

)

const [inline]

Stores the density (mass per unit volume) of this rigid body in the given float.

float bl7::rigidbodies2::RigidBody::get_density

(

)

const [inline]

Returns the density (mass per unit volume) of this rigid body.

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_force

(

)

const [inline]

Returns the linear force of this rigid body.

void bl7::rigidbodies2::RigidBody::get_force

(

ml7::Vector2 *

f

)

const [inline]

Stores the linear force of this paricle in the given vector.

void bl7::rigidbodies2::RigidBody::get_friction	(	float *	fs,
		float *	fk
	)			const [inline]

Stores the lateral static and kinetic friction in the given floats.

unsigned bl7::rigidbodies2::RigidBody::get_id

(

)

const [inline]

Returns the individual order ID of this rigid body.

float bl7::rigidbodies2::RigidBody::get_inertia

(

)

const [inline]

Returns the moment of inertia of this rigid body.

void bl7::rigidbodies2::RigidBody::get_inertia

(

float *

moi

)

const [inline]

Stores the moment of inertia of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_inverse_inertia

(

)

const [inline]

Returns the inverse moment of inertia of this rigid body.

void bl7::rigidbodies2::RigidBody::get_inverse_inertia

(

float *

imoi

)

const [inline]

Stores the inverse moment of inertia of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_inverse_mass

(

)

const [inline]

Returns the inverse mass of this rigid body.

void bl7::rigidbodies2::RigidBody::get_inverse_mass

(

float *

im

)

const [inline]

Stores the inverse mass of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_kinetic_friction

(

)

const [inline]

Returns the lateral kinetic friction (-1: use default value).

float bl7::rigidbodies2::RigidBody::get_last_angular_acceleration

(

)

const [inline]

Returns the angular acceleration of the last frame.

const ml7::Vector2& bl7::rigidbodies2::RigidBody::get_last_linear_acceleration

(

)

const [inline]

Returns the linear acceleration of the last frame.

void bl7::rigidbodies2::RigidBody::get_linear_acceleration

(

ml7::Vector2 *

a

)

const [inline]

Stores the linear acceleration of this paricle in the given vector.

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_linear_acceleration

(

)

const [inline]

Returns the linear acceleration of this rigid body.

float bl7::rigidbodies2::RigidBody::get_linear_damping

(

)

const [inline]

Returns the linear damping of this rigid body.

void bl7::rigidbodies2::RigidBody::get_linear_damping

(

float *

d

)

const [inline]

Stores the linear damping of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_mass

(

)

const [inline]

Returns the mass of this rigid body.

void bl7::rigidbodies2::RigidBody::get_mass

(

float *

m

)

const [inline]

Stores the mass of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_orientation

(

)

const [inline]

Returns the angular orientation of this rigid body.

void bl7::rigidbodies2::RigidBody::get_orientation

(

float *

phi

)

const [inline]

Stores the angular orientation of this rigid body in the given float.

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_point_in_body_space

(

const ml7::Vector2 &

point_in_world

)

Transforms a given point in world space to body coordinates.

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_point_in_world_space

(

const ml7::Vector2 &

point_on_body

)

Transforms a given point in body space to world coordinates.

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_position

(

)

const [inline]

Returns the linear position of this rigid body.

void bl7::rigidbodies2::RigidBody::get_position

(

ml7::Vector2 *

p

)

const [inline]

Stores the linear position of this rigid body in the given float.

float bl7::rigidbodies2::RigidBody::get_restitution

(

)

const [inline]

Returns the coefficient of restitution.

void bl7::rigidbodies2::RigidBody::get_rotation

(

float *

omega

)

const [inline]

Stores the angular velocity of this paricle in the given float.

float bl7::rigidbodies2::RigidBody::get_rotation

(

)

const [inline]

Returns the angular velocity of this rigid body.

float bl7::rigidbodies2::RigidBody::get_static_friction

(

)

const [inline]

Returns the lateral static friction (-1: use default value).

float bl7::rigidbodies2::RigidBody::get_tiredness

(

)

const [inline]

Returns the tiredness of this rigid body.

float bl7::rigidbodies2::RigidBody::get_torque

(

)

const [inline]

Returns the angular torque of this rigid body.

void bl7::rigidbodies2::RigidBody::get_torque

(

float *

tau

)

const [inline]

Stores the angular torque of this paricle in the given float.

const ml7::Matrix2x3& bl7::rigidbodies2::RigidBody::get_transform_matrix

(

)

const [inline]

Returns the transform matrix derived from position and orientation.

const ml7::Matrix2x3& bl7::rigidbodies2::RigidBody::get_transform_matrix_inverted

(

)

const [inline]

Returns the inverted transform matrix derived from position and orientation.

void* bl7::rigidbodies2::RigidBody::get_user_data

(

)

const [inline]

Returns the pointer to any user data structure (or NULL).

ml7::Vector2 bl7::rigidbodies2::RigidBody::get_velocity

(

)

const [inline]

Returns the linear velocity of this rigid body.

void bl7::rigidbodies2::RigidBody::get_velocity

(

ml7::Vector2 *

v

)

const [inline]

Stores the linear velocity of this paricle in the given vector.

bool bl7::rigidbodies2::RigidBody::has_finite_inertia

(

)

const [inline]

Determines whether this rigid body has finite moment of inertia (inverse moment of inertia > 0).

bool bl7::rigidbodies2::RigidBody::has_finite_mass

(

)

const [inline]

Determines whether this rigid body has finite mass (inverse mass > 0).

bool bl7::rigidbodies2::RigidBody::is_active

(

)

const [inline]

Returns the flag specifying whether this rigid body is active or asleep.

RigidBody& bl7::rigidbodies2::RigidBody::operator=

(

const RigidBody &

rhs

)

[inline]

Copy assignment operator.

void bl7::rigidbodies2::RigidBody::reset_force

(

)

[inline]

Resets the accumulated force of this rigid body to zero.

void bl7::rigidbodies2::RigidBody::reset_torque

(

)

[inline]

Resets the accumulated torque of this rigid body to zero.

void bl7::rigidbodies2::RigidBody::set_active

(

const bool

b = true

)

[inline]

Sets the flag specifying whether the rigid body is active or asleep.

void bl7::rigidbodies2::RigidBody::set_angular_acceleration

(

const float

alpha

)

[inline]

Sets the angular acceleration of this rigid body.

void bl7::rigidbodies2::RigidBody::set_angular_damping

(

const float

d

)

[inline]

Sets the angular damping of this rigid body.

void bl7::rigidbodies2::RigidBody::set_category_group_flag

(

unsigned

i

)

[inline]

Sets the i-th bit (0 to 31) of the category groups flags.

void bl7::rigidbodies2::RigidBody::set_category_groups_flags

(

const unsigned long

flags

)

[inline]

Sets the category groups flags (default: all bits set).

void bl7::rigidbodies2::RigidBody::set_collision_group_flag

(

unsigned

i

)

[inline]

Sets the i-th bit (0 to 31) of the collision groups flags.

void bl7::rigidbodies2::RigidBody::set_collision_groups_flags

(

const unsigned long

flags

)

[inline]

Sets the collision groups flags (default: all bits set).

void bl7::rigidbodies2::RigidBody::set_density

(

const float

rho

)

[inline]

Sets the density (mass per unit volume) of this rigid body.

void bl7::rigidbodies2::RigidBody::set_friction	(	const float	fs,
		const float	fk
	)			[inline]

Sets the lateral static and kinetic friction.

void bl7::rigidbodies2::RigidBody::set_friction

(

const float

f_

)

[inline]

Sets the lateral static and kinetic friction.

void bl7::rigidbodies2::RigidBody::set_inertia

(

const float

moi

)

[inline]

Sets the moment of inertia of this rigid body.

void bl7::rigidbodies2::RigidBody::set_inverse_inertia

(

const float

imoi

)

[inline]

Sets the inverse moment of inertia of this rigid body.

void bl7::rigidbodies2::RigidBody::set_inverse_mass

(

const float

im

)

[inline]

Sets the inverse mass of this rigid body.

void bl7::rigidbodies2::RigidBody::set_kinetic_friction

(

const float

fk

)

[inline]

Sets the lateral kinetic friction.

void bl7::rigidbodies2::RigidBody::set_linear_acceleration

(

const ml7::Vector2 &

a

)

[inline]

Sets the linear acceleration of this rigid body.

void bl7::rigidbodies2::RigidBody::set_linear_damping

(

const float

d

)

[inline]

Sets the linear damping of this rigid body.

void bl7::rigidbodies2::RigidBody::set_mass

(

const float

m

)

[inline]

Sets the mass of this rigid body.

void bl7::rigidbodies2::RigidBody::set_orientation

(

const float

phi

)

[inline]

Sets the angular orientation of this rigid body.

void bl7::rigidbodies2::RigidBody::set_position

(

const ml7::Vector2 &

p

)

[inline]

Sets the linear position of this rigid body.

void bl7::rigidbodies2::RigidBody::set_restitution

(

const float

e

)

[inline]

Sets the coefficient of restitution.

void bl7::rigidbodies2::RigidBody::set_rotation

(

const float

omega

)

[inline]

Sets the angular velocity of this rigid body.

void bl7::rigidbodies2::RigidBody::set_static_friction

(

const float

fs

)

[inline]

Sets the lateral static friction.

void bl7::rigidbodies2::RigidBody::set_tiredness

(

const float

tiredness

)

[inline]

Sets the tiredness of this rigid body.

void bl7::rigidbodies2::RigidBody::set_user_data

(

void *

user_data

)

[inline]

Sets the pointer to any user data structure (or NULL).

void bl7::rigidbodies2::RigidBody::set_velocity

(

const ml7::Vector2 &

v

)

[inline]

Sets the linear velocity of this rigid body.

void bl7::rigidbodies2::RigidBody::unset_category_group_flag

(

unsigned

i

)

[inline]

Unsets the i-th bit (0 to 31) of the category groups flags.

void bl7::rigidbodies2::RigidBody::unset_collision_group_flag

(

unsigned

i

)

[inline]

Unsets the i-th bit (0 to 31) of the collision groups flags.

---

Member Data Documentation

float bl7::rigidbodies2::RigidBody::angular_acceleration

The angular acceleration of this rigid body.

float bl7::rigidbodies2::RigidBody::angular_damping

The amount of damping applied to angular motion of this rigid body. It is required to remove energy added through numerical instability during integration.

float bl7::rigidbodies2::RigidBody::density

The density (mass per unit volume) of this rigid body.

friend bl7::rigidbodies2::RigidBody::Dynamics

ml7::Vector2 bl7::rigidbodies2::RigidBody::force

The linear force (accumulated) to be applied at the next integration only.

float bl7::rigidbodies2::RigidBody::inverse_inertia

The inverse of the moment of inertia of this rigid body. It is more useful than holding the actual moment of inertia because zero makes no sense (completely unstable in numerical simulation) and infinite (unrotatable) now is easily represented by 0. Moreover most of the computations use the inverse moment of intertia and not the actual moment of inertia so the needless division slips.

float bl7::rigidbodies2::RigidBody::inverse_mass

The inverse of the mass of this rigid body. It is more useful than holding the actual mass because zero mass makes no sense (completely unstable in numerical simulation) and infinite mass (immovable) now is easily represented by 0. Moreover most of the computations use the inverse mass and not the actual mass so the needless division slips.

float bl7::rigidbodies2::RigidBody::kinetic_friction

The lateral kinetic friction (-1: use default value).

ml7::Vector2 bl7::rigidbodies2::RigidBody::linear_acceleration

The linear acceleration of this rigid body. Can be set due to gravity (or the like).

float bl7::rigidbodies2::RigidBody::linear_damping

The amount of damping applied to linear motion of this rigid body. It is required to remove energy added through numerical instability during integration.

float bl7::rigidbodies2::RigidBody::orientation

The angular orientation of this rigid body in world space.

ml7::Vector2 bl7::rigidbodies2::RigidBody::position

The linear position of this rigid body in world space.

float bl7::rigidbodies2::RigidBody::restitution

The coefficient of restitution (-1: use default value).

float bl7::rigidbodies2::RigidBody::rotation

The angular velocity of this rigid body in world space.

float bl7::rigidbodies2::RigidBody::static_friction

The lateral static friction (-1: use default value).

float bl7::rigidbodies2::RigidBody::torque

The angular torque (accumulated) to be applied at the next integration only.

ml7::Vector2 bl7::rigidbodies2::RigidBody::velocity

The linear velocity of this rigid body in world space.

---

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

• RigidBody.h
• RigidBody.cpp