RigidBody API

Modules
	Geometry API definition

Data Structures
class	PhysicsGeomDef

Enumerations
enum	ActiveState { ACTIVE, INACTIVE, ALWAYS_ACTIVE }
	state of a rigidbody More...

Functions
proto bool	dBodyCreateStaticEx (notnull IEntity ent, PhysicsGeomDef geoms[])
proto bool	dBodyCreateGhostEx (notnull IEntity ent, PhysicsGeomDef geoms[])
proto bool	dBodyCreateDynamicEx (notnull IEntity ent, vector centerOfMass, float mass, PhysicsGeomDef geoms[])
proto native void	dBodyDestroy (notnull IEntity ent)
	Destroys attached physics body. More...
proto native bool	dBodyIsSet (notnull IEntity ent)
	Has the entity attached physics body? More...
proto native void	dBodySetInteractionLayer (notnull IEntity ent, int mask)
proto native int	dBodyGetInteractionLayer (notnull IEntity ent)
proto native void	dBodySetGeomInteractionLayer (notnull IEntity ent, int index, int mask)
proto native int	dBodyGetGeomInteractionLayer (notnull IEntity ent, int index)
proto native void	dBodyActive (notnull IEntity ent, ActiveState activeState)
proto native void	dBodyDynamic (notnull IEntity ent, bool dynamic)
proto native bool	dBodyIsDynamic (notnull IEntity ent)
proto native bool	dBodyIsActive (notnull IEntity ent)
proto native bool	dBodyEnableGravity (notnull IEntity ent, bool enable)
proto native void	dBodySetDamping (notnull IEntity ent, float linearDamping, float angularDamping)
proto native void	dBodySetSleepingTreshold (notnull IEntity body, float linearTreshold, float angularTreshold)
proto native bool	dBodyIsSolid (notnull IEntity ent)
proto native void	dBodySetSolid (notnull IEntity ent, bool solid)
proto native void	dBodyEnableCCD (notnull IEntity body, float maxMotion, float sphereCastRadius)
proto native void	dBodySetLinearFactor (notnull IEntity body, vector linearFactor)
proto native vector	dBodyGetCenterOfMass (notnull IEntity body)
	returns center of mass offset More...
proto native vector	GetVelocity (notnull IEntity ent)
	Returns linear velocity. More...
proto native void	SetVelocity (notnull IEntity ent, vector vel)
	Sets linear velocity (for Rigid bodies) More...
proto native dBlock	dBodyCollisionBlock (notnull IEntity ent1, notnull IEntity ent2)
	Disables collisions between two entities. More...
proto native void	dBodyRemoveBlock (notnull IEntity worldEntity, dBlock block)
proto native void	dBodySetInertiaTensorV (notnull IEntity body, vector v)
proto native void	dBodySetInertiaTensorM (notnull IEntity body, vector m[3])
proto native float	dBodyGetMass (notnull IEntity ent)
proto native void	dBodySetMass (notnull IEntity body, float mass)
proto native void	dBodyApplyTorqueImpulse (notnull IEntity ent, vector torqueImpulse)
proto native vector	dBodyGetInvInertiaDiagLocal (notnull IEntity ent)
proto native float	dBodyComputeImpulseDenominator (notnull IEntity ent, vector position, vector normal)
proto native float	dBodyComputeAngularImpulseDenominator (notnull IEntity ent, vector axis)
proto native vector	dBodyGetLocalInertia (notnull IEntity ent)
proto void	dBodyGetInvInertiaTensorWorld (notnull IEntity body, out vector inertiaTensorWS[3])
proto void	dBodyApplyImpulseAt (notnull IEntity body, vector impulse, vector pos)
	Applies impuls on a pos position in world coordinates. More...
proto void	dBodyApplyImpulse (notnull IEntity body, vector impulse)
	Applies impuls on a rigidbody (origin) More...
proto void	dBodyApplyForce (notnull IEntity body, vector force)
	Applies constant force on a rigidbody (origin) More...
proto void	dBodyApplyForceAt (notnull IEntity body, vector pos, vector force)
	Applies constant force on a position. More...
proto native void	dBodyApplyTorque (notnull IEntity body, vector torque)
proto vector	dBodyGetAngularVelocity (notnull IEntity body)
	Gets angular velocity for a rigidbody. More...
proto void	dBodySetAngularVelocity (notnull IEntity body, vector angvel)
	Changed an angular velocity. More...
proto native void	dBodySetTargetMatrix (notnull IEntity body, vector matrix[4], float timeslice)
	Sets target transformation. If timeslice == dt (simulation step delta time), it will happen in next step, otherwise in time = timeslice. More...
proto native float	dBodyGetKineticEnergy (notnull IEntity body)
proto native vector	dBodyGetVelocityAt (notnull IEntity body, vector globalpos)

Detailed Description

Enumeration Type Documentation

ActiveState

enum ActiveState

state of a rigidbody

Enumerator
ACTIVE
INACTIVE
ALWAYS_ACTIVE

Definition at line 85 of file enphysics.c.

Function Documentation

dBodyActive()

proto native void dBodyActive	(	notnull IEntity	ent,
		ActiveState	activeState
	)

dBodyApplyForce()

proto void dBodyApplyForce	(	notnull IEntity	body,
		vector	force
	)

Applies constant force on a rigidbody (origin)

dBodyApplyForceAt()

proto void dBodyApplyForceAt	(	notnull IEntity	body,
		vector	pos,
		vector	force
	)

Applies constant force on a position.

dBodyApplyImpulse()

proto void dBodyApplyImpulse	(	notnull IEntity	body,
		vector	impulse
	)

Applies impuls on a rigidbody (origin)

dBodyApplyImpulseAt()

proto void dBodyApplyImpulseAt	(	notnull IEntity	body,
		vector	impulse,
		vector	pos
	)

Applies impuls on a pos position in world coordinates.

dBodyApplyTorque()

proto native void dBodyApplyTorque	(	notnull IEntity	body,
		vector	torque
	)

dBodyApplyTorqueImpulse()

proto native void dBodyApplyTorqueImpulse	(	notnull IEntity	ent,
		vector	torqueImpulse
	)

dBodyCollisionBlock()

proto native dBlock dBodyCollisionBlock	(	notnull IEntity	ent1,
		notnull IEntity	ent2
	)

Disables collisions between two entities.

dBodyComputeAngularImpulseDenominator()

proto native float dBodyComputeAngularImpulseDenominator	(	notnull IEntity	ent,
		vector	axis
	)

dBodyComputeImpulseDenominator()

proto native float dBodyComputeImpulseDenominator	(	notnull IEntity	ent,
		vector	position,
		vector	normal
	)

dBodyCreateDynamicEx()

proto bool dBodyCreateDynamicEx	(	notnull IEntity	ent,
		vector	centerOfMass,
		float	mass,
		PhysicsGeomDef	geoms[]
	)

Creates RigidBody from custom made geometries. The geometries are deleted when rigid body is destroyed

Parameters

centerOfMass	Offset from object-pivot to center of mass
mass	Body mass
geoms	array of custom made geometries autoptr PhysicsGeomDef geoms[] = {PhysicsGeomDef("", dGeomCreateBox(size), "material/default", 0xffffffff)}; dBodyCreateDynamicEx(this, center, 1.0, geoms);

dBodyCreateGhostEx()

proto bool dBodyCreateGhostEx	(	notnull IEntity	ent,
		PhysicsGeomDef	geoms[]
	)

dBodyCreateStaticEx()

proto bool dBodyCreateStaticEx	(	notnull IEntity	ent,
		PhysicsGeomDef	geoms[]
	)

Creates RigidBody from custom made geometries. The geometries are deleted when rigid body is destroyed

Parameters

geoms

array of custom made geometries autoptr PhysicsGeomDef geoms[] = {PhysicsGeomDef("", dGeomCreateBox(size), "material/default", 0xffffffff)}; dBodyCreateStaticEx(this, geoms);

dBodyDestroy()

proto native void dBodyDestroy

(

notnull IEntity

ent

)

Destroys attached physics body.

dBodyDynamic()

proto native void dBodyDynamic	(	notnull IEntity	ent,
		bool	dynamic
	)

dBodyEnableCCD()

proto native void dBodyEnableCCD	(	notnull IEntity	body,
		float	maxMotion,
		float	sphereCastRadius
	)

If both maxMotion and shapeCastRadius is >=0 then the continuous collision detection is enabled. If you want to disable it, use -1

Parameters

maxMotion	max motion threshold when sphere-cast is performed, to find time of impact. It should be little bit less than size of the geometry to catch the situation when tunelling can happen
sphereCastRadius	The radius of the largest possible sphere, that is completelly inside the body geometry.

dBodyEnableGravity()

proto native bool dBodyEnableGravity	(	notnull IEntity	ent,
		bool	enable
	)

dBodyGetAngularVelocity()

proto vector dBodyGetAngularVelocity

(

notnull IEntity

body

)

Gets angular velocity for a rigidbody.

dBodyGetCenterOfMass()

proto native vector dBodyGetCenterOfMass

(

notnull IEntity

body

)

returns center of mass offset

dBodyGetGeomInteractionLayer()

proto native int dBodyGetGeomInteractionLayer	(	notnull IEntity	ent,
		int	index
	)

dBodyGetInteractionLayer()

proto native int dBodyGetInteractionLayer

(

notnull IEntity

ent

)

dBodyGetInvInertiaDiagLocal()

proto native vector dBodyGetInvInertiaDiagLocal

(

notnull IEntity

ent

)

dBodyGetInvInertiaTensorWorld()

proto void dBodyGetInvInertiaTensorWorld	(	notnull IEntity	body,
		out vector	inertiaTensorWS[3]
	)

dBodyGetKineticEnergy()

proto native float dBodyGetKineticEnergy

(

notnull IEntity

body

)

dBodyGetLocalInertia()

proto native vector dBodyGetLocalInertia

(

notnull IEntity

ent

)

dBodyGetMass()

proto native float dBodyGetMass

(

notnull IEntity

ent

)

dBodyGetVelocityAt()

proto native vector dBodyGetVelocityAt	(	notnull IEntity	body,
		vector	globalpos
	)

dBodyIsActive()

proto native bool dBodyIsActive

(

notnull IEntity

ent

)

dBodyIsDynamic()

proto native bool dBodyIsDynamic

(

notnull IEntity

ent

)

dBodyIsSet()

proto native bool dBodyIsSet

(

notnull IEntity

ent

)

Has the entity attached physics body?

dBodyIsSolid()

proto native bool dBodyIsSolid

(

notnull IEntity

ent

)

dBodyRemoveBlock()

proto native void dBodyRemoveBlock	(	notnull IEntity	worldEntity,
		dBlock	block
	)

dBodySetAngularVelocity()

proto void dBodySetAngularVelocity	(	notnull IEntity	body,
		vector	angvel
	)

Changed an angular velocity.

Parameters

body	Rigid body
angvel	Angular velocity, rotation around x, y and z axis (not yaw/pitch/roll)

dBodySetDamping()

proto native void dBodySetDamping	(	notnull IEntity	ent,
		float	linearDamping,
		float	angularDamping
	)

dBodySetGeomInteractionLayer()

proto native void dBodySetGeomInteractionLayer	(	notnull IEntity	ent,
		int	index,
		int	mask
	)

dBodySetInertiaTensorM()

proto native void dBodySetInertiaTensorM	(	notnull IEntity	body,
		vector	m[3]
	)

dBodySetInertiaTensorV()

proto native void dBodySetInertiaTensorV	(	notnull IEntity	body,
		vector	v
	)

dBodySetInteractionLayer()

proto native void dBodySetInteractionLayer	(	notnull IEntity	ent,
		int	mask
	)

dBodySetLinearFactor()

proto native void dBodySetLinearFactor	(	notnull IEntity	body,
		vector	linearFactor
	)

Sets scale factor for all impulses/velocities/forces. Default is <1,1,1>. Zero any axis if you want to do 2D physics

dBodySetMass()

proto native void dBodySetMass	(	notnull IEntity	body,
		float	mass
	)

dBodySetSleepingTreshold()

proto native void dBodySetSleepingTreshold	(	notnull IEntity	body,
		float	linearTreshold,
		float	angularTreshold
	)

dBodySetSolid()

proto native void dBodySetSolid	(	notnull IEntity	ent,
		bool	solid
	)

dBodySetTargetMatrix()

proto native void dBodySetTargetMatrix	(	notnull IEntity	body,
		vector	matrix[4],
		float	timeslice
	)

Sets target transformation. If timeslice == dt (simulation step delta time), it will happen in next step, otherwise in time = timeslice.

GetVelocity()

proto native vector GetVelocity

(

notnull IEntity

ent

)

Returns linear velocity.

Parameters

ent	IEntity entity which origin will be set
mat	vector[4] matrix to be set

Returns

vector linear velocity

Man player = g_Game.GetPlayer();
Print( GetVelocity(player) );
 
>> <0,0,0>

SetVelocity()

proto native void SetVelocity	(	notnull IEntity	ent,
		vector	vel
	)

Sets linear velocity (for Rigid bodies)

Parameters

ent	entity which velocity will be set
vel	velocity vector to be set