main class for all Rigid Bodies in the system. More...

#include <OgreNewt_Body.h>

Inheritance diagram for OgreNewt::Body:

Public Types
typedef std::function< void(OgreNewt::Body *, Ogre::Real timeStep, int threadIndex)>	ForceCallback
	custom force callback.

typedef std::function< void(OgreNewt::Body *)>	TriggerEnterCallback

typedef std::function< void(OgreNewt::Body *)>	TriggerInsideCallback

typedef std::function< void(OgreNewt::Body *)>	TriggerExitCallback

typedef std::function< void(OgreNewt::Body *)>	NodeUpdateNotifyCallback
	node update notify.

typedef std::function< bool(dLong, OgreNewt::Body *, const Ogre::Quaternion &, const Ogre::Vector3 &, Ogre::Plane &)>	buoyancyPlaneCallback
	custom transform callback.

Public Types inherited from OgreNewt::_DestructorCallback< Body >
typedef std::function< void(Body *)>	DestructorCallbackFunction
	destructor callback

Public Member Functions
	Body (World *const W, const OgreNewt::CollisionPtr &col, int bodytype=0, bool trigger=false)
	constructor.

	~Body ()
	destructor

void	setUserData (const Ogre::Any &data)
	set user data to connect this class to another.

void	setUserData (void *data)

const Ogre::Any &	getUserData () const
	retrieve pointer to previously set user data.

void *	getUserData () const

NewtonBody *	getNewtonBody () const
	get a pointer to the NewtonBody object

Ogre::Node *	getOgreNode () const
	get a pointer to the attached Node.

OgreNewt::World *const	getWorld () const
	get a pointer to the OgreNewt::World this body belongs to.

void	setType (int type)
	set the type for this body.

int	getType () const
	get the type set for this body.

void	attachNode (Ogre::Node *node)
	attach this body to an Ogre::Node*

void	enableSimulation (bool state)

void	setStandardForceCallback ()
	set a standard gravity callback for this body to use.

void	setCustomForceAndTorqueCallback (ForceCallback callback)
	set a custom force callback for this body to use.

template<class c >
void	setCustomForceAndTorqueCallback (std::function< void(c , Body , float, int)> callback, c *instancedClassPointer)

void	setTriggerEnterCallback (TriggerEnterCallback callback)

template<class c >
void	setTriggerEnterCallback (std::function< void(c , Body )> callback, c *instancedClassPointer)

void	setTriggerInsideCallback (TriggerInsideCallback callback)

template<class c >
void	setTriggerInsideCallback (std::function< void(c , Body )> callback, c *instancedClassPointer)

void	setTriggerExitCallback (TriggerExitCallback callback)

template<class c >
void	setTriggerExitCallback (std::function< void(c , Body )> callback, c *instancedClassPointer)

void	removeForceAndTorqueCallback ()
	remove any force callbacks.

ForceCallback	getForceTorqueCallback ()
	returns correct force-torque callback

void	setNodeUpdateNotify (NodeUpdateNotifyCallback callback)
	set a custom node update notify.

template<class c >
void	setNodeUpdateNotify (std::function< void(c , OgreNewt::Body )> callback, c *instancedClassPointer)

void	removeNodeUpdateNotify ()
	remove any transform callbacks.

void	setNodeUpdateJointNotify (NodeUpdateNotifyCallback callback)

template<class c >
void	setNodeUpdateJointNotify (std::function< void(c , OgreNewt::Body )> callback, c *instancedClassPointer)

void	removeNodeUpdateJointNotify ()
	remove any transform callbacks.

void	setPositionOrientation (const Ogre::Vector3 &pos, const Ogre::Quaternion &orient, int threadIndex=-1)
	position and orient the body arbitrarily.

void	setPositionOrientationFromNode (int threadIndex=-1)
	position and orient the body from node.

void	updatePositionOrientation (const Ogre::Vector3 &pos, const Ogre::Quaternion &orient, int threadIndex=-1)

void	setVisualPosition (Ogre::Vector3 pos, Ogre::Quaternion quat)

void	setMassMatrix (Ogre::Real mass, const Ogre::Vector3 &inertia)
	set the mass and inertia for the body.

void	setMass (Ogre::Real mass)

void	setCenterOfMass (const Ogre::Vector3 &centerOfMass)
	set the body's center of mass

Ogre::Vector3	getCenterOfMass () const
	get the center of mass.

Ogre::Vector3	calculateOffset () const

Ogre::Vector3	calculateInertialMatrix () const

void	freeze ()
	freeze the rigid body.

void	unFreeze ()
	unfreeze the rigid body.

bool	isFreezed ()
	is the body freezed?

void	setMaterialGroupID (const MaterialID *ID)
	set the material for the body

void	setContinuousCollisionMode (unsigned state)
	prevents fast moving bodies from "tunneling" through other bodies.

void	setJointRecursiveCollision (unsigned state)
	set whether all parent/children pairs connected to this body should be allowed to collide.

void	setOmega (const Ogre::Vector3 &omega)
	set an arbitrary omega for the body.

void	setVelocity (const Ogre::Vector3 &vel)
	set an arbitrary velocity for the body.

void	setLinearDamping (Ogre::Real damp)
	set the linear damping for the body.

void	setAngularDamping (const Ogre::Vector3 &damp)
	set the angular damping for the body.

void	setCollision (const OgreNewt::CollisionPtr &col)
	set the collision that represents the shape of the body

void	setAutoSleep (int flag)
	set whether the body should "sleep" when equilibruim is reached.

int	getAutoSleep ()
	get whether the body should "sleep" when equilibrium is reached.

bool	isSleeping ()

void	setSleep ()

void	wakeUp ()

const OgreNewt::CollisionPtr &	getCollision () const
	set the factors that cause a body to "freeze" when equilibrium reached.

void	setScale (const Ogre::Vector3 &scale, const Ogre::Quaternion &orient, Ogre::Vector3 &pos)
	set the collision scale

const OgreNewt::MaterialID *	getMaterialGroupID () const
	get a pointer to the Material assigned to this body.

int	getContinuousCollisionMode () const
	returns current setting for this body.

int	getJointRecursiveCollision () const
	returns current setting for this body.

void	getPositionOrientation (Ogre::Vector3 &pos, Ogre::Quaternion &orient) const
	get position and orientation in form of an Ogre::Vector(position) and Ogre::Quaternion(orientation)

Ogre::Vector3	getPosition () const
	returns body position

Ogre::Quaternion	getOrientation () const
	returns body orientation

void	getVisualPositionOrientation (Ogre::Vector3 &pos, Ogre::Quaternion &orient) const
	get the node position and orientation in form of an Ogre::Vector(position) and Ogre::Quaternion(orientation)

Ogre::Vector3	getVisualPosition () const
	return body visual position

Ogre::Quaternion	getVisualOrientation () const
	returns body visual orientation

Ogre::AxisAlignedBox	getAABB () const
	get the axis-aligned bounding box for this body.

void	getMassMatrix (Ogre::Real &mass, Ogre::Vector3 &inertia) const
	get Ogre::Real(mass) and Ogre::Vector3(inertia) of the body.

Ogre::Real	getMass () const
	return body mass

Ogre::Vector3	getInertia () const
	return body inertia

void	getInvMass (Ogre::Real &mass, Ogre::Vector3 &inertia) const
	get invert mass + inertia for the body.

Ogre::Vector3	getOmega () const
	get omega of the body. in global space.

Ogre::Vector3	getVelocity () const
	get velocity of the body. in global coordinates.

Ogre::Vector3	getForce () const
	get the force acting on the body.

Ogre::Vector3	getTorque () const
	get the torque acting on the body.

Ogre::Vector3	getForceAcceleration () const
	get the linear acceleration due to forces acting on the body.

Ogre::Vector3	getTorqueAcceleration () const
	get the rotational acceleration due to torque acting on the body.

Ogre::Real	getLinearDamping () const
	get linear damping

Ogre::Vector3	getAngularDamping () const
	get angular damping

Ogre::Vector3	calculateInverseDynamicsForce (Ogre::Real timestep, Ogre::Vector3 desiredVelocity)
	calculate force needed for given velocity

void	addImpulse (const Ogre::Vector3 &deltav, const Ogre::Vector3 &posit)
	get the freeze threshold

void	addForce (const Ogre::Vector3 &force)
	add force to the body.

void	addTorque (const Ogre::Vector3 &torque)
	add torque to the body.

void	setForce (const Ogre::Vector3 &force)
	set the force for a body.

void	setTorque (const Ogre::Vector3 &torque)
	set the torque for a body.

Body *	getNext () const
	use this function to iterate through all bodies

void	addGlobalForce (const Ogre::Vector3 &force, const Ogre::Vector3 &pos)
	helper function that adds a force (and resulting torque) to an object in global cordinates.

void	addGlobalForceAccumulate (const Ogre::Vector3 &force, const Ogre::Vector3 &pos)
	helper function that adds a force (and resulting torque) to an object in global cordinates called from anywhere.

void	addLocalForce (const Ogre::Vector3 &force, const Ogre::Vector3 &pos)

CollisionPrimitiveType	getCollisionPrimitiveType () const
	Returns the Collisiontype for the Collision from this Body.

NewtonCollision *	getNewtonCollision () const
	Returns the Newton Collision for this Body.

void	requestNodeUpdate (int threadIndex, bool forceNodeUpdate=false)
	Call this to signify that the position/orientation of the attached node needs to be updated.

bool	isNodeUpdateNeeded () const
	Return if an node update was requested.

void	updateNode (Ogre::Real interpolatParam)
	update the position of the node (if attached) and sets m_nodeupdateneeded to false

void	MoveToPosition (const Ogre::Vector3 &destPos, const Ogre::Real &stiffness, Ogre::Real timestep)

void	RotateToOrientation (const Ogre::Quaternion &destquat, const Ogre::Real &stiffness, Ogre::Real timestep)

Public Member Functions inherited from OgreNewt::_DestructorCallback< Body >
	_DestructorCallback ()
	constructor

virtual	~_DestructorCallback ()
	destructor

void	removeDestructorCallback ()
	remove any destructor callback

void	setDestructorCallback (DestructorCallbackFunction fun)
	set the destructor callback

void	setDestructorCallback (std::function< void(c , Body )> callback, c *instancedClassPointer)

Protected Attributes
NewtonBody *	m_body

OgreNewt::CollisionPtr	m_collision

const MaterialID *	m_matid

World *const	m_world

std::vector< std::pair< Ogre::Vector3, Ogre::Vector3 > >	m_accumulatedGlobalForces

Ogre::Vector3	m_nodePosit

Ogre::Vector3	m_curPosit

Ogre::Vector3	m_prevPosit

Ogre::Vector3	m_scale

Ogre::Quaternion	m_nodeRotation

Ogre::Quaternion	m_curRotation

Ogre::Quaternion	m_prevRotation

Ogre::Any	m_userdata

void *	m_userdata

int	m_type

Ogre::Node *	m_node

ForceCallback	m_forcecallback

TriggerEnterCallback	m_triggerEnterCallback

TriggerInsideCallback	m_triggerInsideCallback

TriggerExitCallback	m_triggerExitCallback

NodeUpdateNotifyCallback	m_nodeupdatenotifycallback

NodeUpdateNotifyCallback	m_nodeupdatejointnotifycallback

Detailed Description

main class for all Rigid Bodies in the system.

Definition at line 38 of file OgreNewt_Body.h.

Member Typedef Documentation

◆ buoyancyPlaneCallback

typedef std::function<bool(dLong, OgreNewt::Body*, const Ogre::Quaternion&, const Ogre::Vector3&, Ogre::Plane&)> OgreNewt::Body::buoyancyPlaneCallback

custom transform callback.

This function is called from within the OgreNewt::World::update() command for all Rigid Bodies, after all collision and forces have been resolved. this command is intended to allow the user to align a visual object with the new position and orientation of the rigid body. OgreNewt has a general transform callback built-in for use with Ogre. however you can create your own for special cases. you are passed a quaternion (orientation) and vector (position) of the rigid body in world space. buoyancy plane callback

this function is a user-defined function that supplies Newton with the plane equation for the surface of the liquid when applying buoyancy forces. the user should create their own function for this, that returns an Ogre::Plane based on their own criteria. you get a pointer to the OgreNewt::Body, and it's current orientation and location to boot. note that this callback will be called for each collision primitive in the body (if it is a compound collision). if you want to ignore buoyancy for this collision primitive, just return false from the function. otherwise, fill the "retPlane" with your liquid surface plane, and return true to apply buoyancy to the primitive.

Definition at line 91 of file OgreNewt_Body.h.

◆ ForceCallback

typedef std::function<void(OgreNewt::Body*, Ogre::Real timeStep, int threadIndex)> OgreNewt::Body::ForceCallback

custom force callback.

this function is called from within the OgreNewt::World::update() command when applying forces to Rigid Bodies, such as gravity, etc.

You can set this as the custom force callback for a body by using the setCustomForceCallback() function. Using std::function means OgreNewt can now accept pointers to member functions of specific classes.

Definition at line 49 of file OgreNewt_Body.h.

◆ NodeUpdateNotifyCallback

typedef std::function<void(OgreNewt::Body*)> OgreNewt::Body::NodeUpdateNotifyCallback

node update notify.

Definition at line 65 of file OgreNewt_Body.h.

◆ TriggerEnterCallback

typedef std::function<void(OgreNewt::Body*)> OgreNewt::Body::TriggerEnterCallback

Definition at line 51 of file OgreNewt_Body.h.

◆ TriggerExitCallback

typedef std::function<void(OgreNewt::Body*)> OgreNewt::Body::TriggerExitCallback

Definition at line 53 of file OgreNewt_Body.h.

◆ TriggerInsideCallback

typedef std::function<void(OgreNewt::Body*)> OgreNewt::Body::TriggerInsideCallback

Definition at line 52 of file OgreNewt_Body.h.

Constructor & Destructor Documentation

◆ Body()

OgreNewt::Body::Body	(	World *const	W,
		const OgreNewt::CollisionPtr &	col,
		int	bodytype = `0`,
		bool	trigger = `false`
	)

constructor.

creates a Rigid Body in an OgreNewt::World, based on a specific collision shape.

Parameters

W	pointer to the OgreNewt::World/
col	pointer to an OgreNewt::Collision object that represents the shape of the rigid body.
bodytype	simple integer value used to identify the type of rigid body, useful for determining bodies in callbacks.

Definition at line 13 of file OgreNewt_Body.cpp.

◆ ~Body()

OgreNewt::Body::~Body ( )

destructor

Definition at line 72 of file OgreNewt_Body.cpp.

Member Function Documentation

◆ addForce()

void OgreNewt::Body::addForce ( const Ogre::Vector3 & force )

inline

add force to the body.

this function is only valid inside a ForceCallback function!

Definition at line 505 of file OgreNewt_Body.h.

◆ addGlobalForce()

void OgreNewt::Body::addGlobalForce	(	const Ogre::Vector3 &	force,
		const Ogre::Vector3 &	pos
	)

helper function that adds a force (and resulting torque) to an object in global cordinates.

this function is only valid inside a ForceCallback function!

Parameters

force	vector representing force, in global space
pos	vector representing location of force, in global space

Definition at line 707 of file OgreNewt_Body.cpp.

◆ addGlobalForceAccumulate()

void OgreNewt::Body::addGlobalForceAccumulate	(	const Ogre::Vector3 &	force,
		const Ogre::Vector3 &	pos
	)

helper function that adds a force (and resulting torque) to an object in global cordinates called from anywhere.

this function can also be called outside ForceCallback function, the calls are accumulated and applied in the callback.

Parameters

force	vector representing force, in global space
pos	vector representing location of force, in global space

Definition at line 723 of file OgreNewt_Body.cpp.

◆ addImpulse()

void OgreNewt::Body::addImpulse	(	const Ogre::Vector3 &	deltav,
		const Ogre::Vector3 &	posit
	)

inline

get the freeze threshold

add an impulse (relative change in velocity) to a body. values are in world coordinates.

Definition at line 487 of file OgreNewt_Body.h.

◆ addLocalForce()

void OgreNewt::Body::addLocalForce	(	const Ogre::Vector3 &	force,
		const Ogre::Vector3 &	pos
	)

this function is only valid inside a ForceCallback function!

Parameters

force	vector representing force, in local space of the body
pos	vector representing locatino of force, in local space of the body

Definition at line 728 of file OgreNewt_Body.cpp.

◆ addTorque()

void OgreNewt::Body::addTorque ( const Ogre::Vector3 & torque )

inline

add torque to the body.

this function is only valid inside a ForceCallback function!

Definition at line 519 of file OgreNewt_Body.h.

◆ attachNode()

void OgreNewt::Body::attachNode ( Ogre::Node * node )

attach this body to an Ogre::Node*

This is an easy way to connect a Rigid Body with an Ogre::Node. this automatically sets up a standard Transform callback when you call this. after calling this, the Ogre::Node will have its position orientation updated to that of the Rigid Body each time you call World::update(), and the body has moved during the update.

Definition at line 224 of file OgreNewt_Body.cpp.

◆ calculateInertialMatrix()

Ogre::Vector3 OgreNewt::Body::calculateInertialMatrix ( ) const

Definition at line 689 of file OgreNewt_Body.cpp.

◆ calculateInverseDynamicsForce()

Ogre::Vector3 OgreNewt::Body::calculateInverseDynamicsForce	(	Ogre::Real	timestep,
		Ogre::Vector3	desiredVelocity
	)

calculate force needed for given velocity

Definition at line 623 of file OgreNewt_Body.cpp.

◆ calculateOffset()

Ogre::Vector3 OgreNewt::Body::calculateOffset ( ) const

Definition at line 671 of file OgreNewt_Body.cpp.

◆ enableSimulation()

void OgreNewt::Body::enableSimulation ( bool state )

Definition at line 231 of file OgreNewt_Body.cpp.

◆ freeze()

void OgreNewt::Body::freeze ( )

inline

freeze the rigid body.

this command "freezes" the Rigid Body, removing it from the active simulation list. it will "unfreeze" if another body comes in contact with it, or you "unfreeze" it.

See also: unFreeze()

Definition at line 295 of file OgreNewt_Body.h.

◆ getAABB()

Ogre::AxisAlignedBox OgreNewt::Body::getAABB ( ) const

get the axis-aligned bounding box for this body.

Definition at line 465 of file OgreNewt_Body.cpp.

◆ getAngularDamping()

Ogre::Vector3 OgreNewt::Body::getAngularDamping ( ) const

get angular damping

Definition at line 643 of file OgreNewt_Body.cpp.

◆ getAutoSleep()

int OgreNewt::Body::getAutoSleep ( )

inline

get whether the body should "sleep" when equilibrium is reached.

Definition at line 378 of file OgreNewt_Body.h.

◆ getCenterOfMass()

Ogre::Vector3 OgreNewt::Body::getCenterOfMass ( ) const

get the center of mass.

returns the current center of mass, as an offset from the original origin when the body was created.

Definition at line 657 of file OgreNewt_Body.cpp.

◆ getCollision()

const OgreNewt::CollisionPtr & OgreNewt::Body::getCollision ( ) const

set the factors that cause a body to "freeze" when equilibrium reached.

get a pointer to the OgreNewt::Collision for this body

Definition at line 393 of file OgreNewt_Body.cpp.

◆ getCollisionPrimitiveType()

CollisionPrimitiveType OgreNewt::Body::getCollisionPrimitiveType ( ) const

inline

Returns the Collisiontype for the Collision from this Body.

usually it is also possible to get this via: body->getCollision()->getCollisionPrimitiveType()

Definition at line 589 of file OgreNewt_Body.h.

◆ getContinuousCollisionMode()

int OgreNewt::Body::getContinuousCollisionMode ( ) const

inline

returns current setting for this body.

Definition at line 415 of file OgreNewt_Body.h.

◆ getForce()

Ogre::Vector3 OgreNewt::Body::getForce ( ) const

get the force acting on the body.

Definition at line 563 of file OgreNewt_Body.cpp.

◆ getForceAcceleration()

Ogre::Vector3 OgreNewt::Body::getForceAcceleration ( ) const

get the linear acceleration due to forces acting on the body.

Definition at line 593 of file OgreNewt_Body.cpp.

◆ getForceTorqueCallback()

ForceCallback OgreNewt::Body::getForceTorqueCallback ( )

inline

returns correct force-torque callback

Definition at line 205 of file OgreNewt_Body.h.

◆ getInertia()

Ogre::Vector3 OgreNewt::Body::getInertia ( ) const

return body inertia

Definition at line 508 of file OgreNewt_Body.cpp.

◆ getInvMass()

void OgreNewt::Body::getInvMass	(	Ogre::Real &	mass,
		Ogre::Vector3 &	inertia
	)		const

get invert mass + inertia for the body.

Definition at line 521 of file OgreNewt_Body.cpp.

◆ getJointRecursiveCollision()

int OgreNewt::Body::getJointRecursiveCollision ( ) const

inline

returns current setting for this body.

Definition at line 418 of file OgreNewt_Body.h.

◆ getLinearDamping()

Ogre::Real OgreNewt::Body::getLinearDamping ( ) const

inline

get linear damping

Definition at line 475 of file OgreNewt_Body.h.

◆ getMass()

Ogre::Real OgreNewt::Body::getMass ( ) const

return body mass

Definition at line 499 of file OgreNewt_Body.cpp.

◆ getMassMatrix()

void OgreNewt::Body::getMassMatrix	(	Ogre::Real &	mass,
		Ogre::Vector3 &	inertia
	)		const

get Ogre::Real(mass) and Ogre::Vector3(inertia) of the body.

Definition at line 487 of file OgreNewt_Body.cpp.

◆ getMaterialGroupID()

const OgreNewt::MaterialID * OgreNewt::Body::getMaterialGroupID ( ) const

get a pointer to the Material assigned to this body.

Definition at line 399 of file OgreNewt_Body.cpp.

◆ getNewtonBody()

NewtonBody * OgreNewt::Body::getNewtonBody ( ) const

inline

get a pointer to the NewtonBody object

this is the NewtonBody used by the Newton SDK. in most cases you shouldn't need to access this.

Definition at line 127 of file OgreNewt_Body.h.

◆ getNewtonCollision()

NewtonCollision * OgreNewt::Body::getNewtonCollision ( ) const

inline

Returns the Newton Collision for this Body.

usually it is also possible to get this via: body->getCollision()

Definition at line 595 of file OgreNewt_Body.h.

◆ getNext()

Body * OgreNewt::Body::getNext ( ) const

use this function to iterate through all bodies

Definition at line 741 of file OgreNewt_Body.cpp.

◆ getOgreNode()

Ogre::Node * OgreNewt::Body::getOgreNode ( ) const

inline

get a pointer to the attached Node.

if you have "attached" an Ogre::Node to this body, this retrieves the node.

Definition at line 133 of file OgreNewt_Body.h.

◆ getOmega()

Ogre::Vector3 OgreNewt::Body::getOmega ( ) const

get omega of the body. in global space.

Definition at line 533 of file OgreNewt_Body.cpp.

◆ getOrientation()

Ogre::Quaternion OgreNewt::Body::getOrientation ( ) const

returns body orientation

Definition at line 442 of file OgreNewt_Body.cpp.

◆ getPosition()

Ogre::Vector3 OgreNewt::Body::getPosition ( ) const

returns body position

Definition at line 436 of file OgreNewt_Body.cpp.

◆ getPositionOrientation()

void OgreNewt::Body::getPositionOrientation	(	Ogre::Vector3 &	pos,
		Ogre::Quaternion &	orient
	)		const

get position and orientation in form of an Ogre::Vector(position) and Ogre::Quaternion(orientation)

Definition at line 425 of file OgreNewt_Body.cpp.

◆ getTorque()

Ogre::Vector3 OgreNewt::Body::getTorque ( ) const

get the torque acting on the body.

Definition at line 578 of file OgreNewt_Body.cpp.

◆ getTorqueAcceleration()

Ogre::Vector3 OgreNewt::Body::getTorqueAcceleration ( ) const

get the rotational acceleration due to torque acting on the body.

Definition at line 608 of file OgreNewt_Body.cpp.

◆ getType()

int OgreNewt::Body::getType ( ) const

inline

get the type set for this body.

Definition at line 146 of file OgreNewt_Body.h.

◆ getUserData() [1/2]

const Ogre::Any & OgreNewt::Body::getUserData ( ) const

inline

retrieve pointer to previously set user data.

Definition at line 118 of file OgreNewt_Body.h.

◆ getUserData() [2/2]

void * OgreNewt::Body::getUserData ( ) const

inline

Definition at line 120 of file OgreNewt_Body.h.

◆ getVelocity()

Ogre::Vector3 OgreNewt::Body::getVelocity ( ) const

get velocity of the body. in global coordinates.

Definition at line 548 of file OgreNewt_Body.cpp.

◆ getVisualOrientation()

Ogre::Quaternion OgreNewt::Body::getVisualOrientation ( ) const

returns body visual orientation

Definition at line 460 of file OgreNewt_Body.cpp.

◆ getVisualPosition()

Ogre::Vector3 OgreNewt::Body::getVisualPosition ( ) const

return body visual position

Definition at line 454 of file OgreNewt_Body.cpp.

◆ getVisualPositionOrientation()

void OgreNewt::Body::getVisualPositionOrientation	(	Ogre::Vector3 &	pos,
		Ogre::Quaternion &	orient
	)		const

get the node position and orientation in form of an Ogre::Vector(position) and Ogre::Quaternion(orientation)

this function should be used for calculating Render matrix render or anything related to render time

Definition at line 448 of file OgreNewt_Body.cpp.

◆ getWorld()

OgreNewt::World *const OgreNewt::Body::getWorld ( ) const

inline

get a pointer to the OgreNewt::World this body belongs to.

Definition at line 136 of file OgreNewt_Body.h.

◆ isFreezed()

bool OgreNewt::Body::isFreezed ( )

inline

is the body freezed?

Definition at line 304 of file OgreNewt_Body.h.

◆ isNodeUpdateNeeded()

bool OgreNewt::Body::isNodeUpdateNeeded ( ) const

inline

Return if an node update was requested.

Definition at line 608 of file OgreNewt_Body.h.

◆ isSleeping()

bool OgreNewt::Body::isSleeping ( )

inline

Definition at line 381 of file OgreNewt_Body.h.

◆ MoveToPosition()

void OgreNewt::Body::MoveToPosition	(	const Ogre::Vector3 &	destPos,
		const Ogre::Real &	stiffness,
		Ogre::Real	timestep
	)

Definition at line 820 of file OgreNewt_Body.cpp.

◆ removeForceAndTorqueCallback()

void OgreNewt::Body::removeForceAndTorqueCallback ( )

inline

remove any force callbacks.

Definition at line 202 of file OgreNewt_Body.h.

◆ removeNodeUpdateJointNotify()

void OgreNewt::Body::removeNodeUpdateJointNotify ( )

inline

remove any transform callbacks.

Definition at line 232 of file OgreNewt_Body.h.

◆ removeNodeUpdateNotify()

void OgreNewt::Body::removeNodeUpdateNotify ( )

inline

remove any transform callbacks.

Definition at line 223 of file OgreNewt_Body.h.

◆ requestNodeUpdate()

void OgreNewt::Body::requestNodeUpdate	(	int	threadIndex,
		bool	forceNodeUpdate = `false`
	)

Call this to signify that the position/orientation of the attached node needs to be updated.

This function actually adds this body to a list of bodies that need to be updated. This is done automaticalle after the next world update using the updateNode method. This function is needed for multithreading support

Parameters

forceNodeUpdate even request an update if there's already an update request

◆ RotateToOrientation()

void OgreNewt::Body::RotateToOrientation	(	const Ogre::Quaternion &	destquat,
		const Ogre::Real &	stiffness,
		Ogre::Real	timestep
	)

Definition at line 860 of file OgreNewt_Body.cpp.

◆ setAngularDamping()

void OgreNewt::Body::setAngularDamping ( const Ogre::Vector3 & damp )

inline

set the angular damping for the body.

Definition at line 355 of file OgreNewt_Body.h.

◆ setAutoSleep()

void OgreNewt::Body::setAutoSleep ( int flag )

inline

set whether the body should "sleep" when equilibruim is reached.

user-controlled bodies should disable sleeping, because frozen bodies' callbacks are not called... so a callback that implements motion based on user input will not be called!

Definition at line 375 of file OgreNewt_Body.h.

◆ setCenterOfMass()

void OgreNewt::Body::setCenterOfMass ( const Ogre::Vector3 & centerOfMass )

inline

set the body's center of mass

Set a new center of mass for the body that is different than the current, without offsetting the body. You can use this to adjust the center of mass of a body at runtime.

Definition at line 271 of file OgreNewt_Body.h.

◆ setCollision()

void OgreNewt::Body::setCollision ( const OgreNewt::CollisionPtr & col )

set the collision that represents the shape of the body

This can be used to change the collision shape of a body mid-simulation. for example making the collision for a character smaller when crouching, etc.

Parameters

col	pointer to the new OgreNewt::Collision shape.

Definition at line 384 of file OgreNewt_Body.cpp.

◆ setContinuousCollisionMode()

void OgreNewt::Body::setContinuousCollisionMode ( unsigned state )

inline

prevents fast moving bodies from "tunneling" through other bodies.

continuous collision is an advanced feature that prevents fast moving bodies from "tunneling" (missing collision) with other bodies. there is a performance hit envolved, so this feature should only be used for bodies that have a high likelyhood of tunneling.

note that continuous collision can also be set on a per-material basis via the MaterialPair class.

Definition at line 325 of file OgreNewt_Body.h.

◆ setCustomForceAndTorqueCallback() [1/2]

void OgreNewt::Body::setCustomForceAndTorqueCallback ( ForceCallback callback )

set a custom force callback for this body to use.

Definition at line 339 of file OgreNewt_Body.cpp.

◆ setCustomForceAndTorqueCallback() [2/2]

template<class c >

void OgreNewt::Body::setCustomForceAndTorqueCallback	(	std::function< void(c , Body , float, int)>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 178 of file OgreNewt_Body.h.

◆ setForce()

void OgreNewt::Body::setForce ( const Ogre::Vector3 & force )

inline

set the force for a body.

this function is only valid inside a ForceCallback function!

Definition at line 533 of file OgreNewt_Body.h.

◆ setJointRecursiveCollision()

void OgreNewt::Body::setJointRecursiveCollision ( unsigned state )

inline

set whether all parent/children pairs connected to this body should be allowed to collide.

Definition at line 328 of file OgreNewt_Body.h.

◆ setLinearDamping()

void OgreNewt::Body::setLinearDamping ( Ogre::Real damp )

inline

set the linear damping for the body.

Definition at line 352 of file OgreNewt_Body.h.

◆ setMass()

void OgreNewt::Body::setMass ( Ogre::Real mass )

Definition at line 323 of file OgreNewt_Body.cpp.

◆ setMassMatrix()

void OgreNewt::Body::setMassMatrix	(	Ogre::Real	mass,
		const Ogre::Vector3 &	inertia
	)

set the mass and inertia for the body.

Set the mass of the Rigid Body. Inertia is also set here. Inertia represents a body's "resistance" to rotation around the 3 primary axis. OgreNewt has a few utility functions that can help you calculate these values based on several primitive shapes.

Parameters

mass	real value for the body mass
inertia	vector representing body moment of inertia

Definition at line 314 of file OgreNewt_Body.cpp.

◆ setMaterialGroupID()

void OgreNewt::Body::setMaterialGroupID ( const MaterialID * ID )

inline

set the material for the body

Materials are an extremely powerful way to control body behavior. first create a new MaterialID object, and then pass a pointer to apply that material to the body.

Parameters

ID	pointer to an OgreNewt::MaterialID object to use as the material for the body.

Definition at line 312 of file OgreNewt_Body.h.

◆ setNodeUpdateJointNotify() [1/2]

void OgreNewt::Body::setNodeUpdateJointNotify ( NodeUpdateNotifyCallback callback )

Definition at line 755 of file OgreNewt_Body.cpp.

◆ setNodeUpdateJointNotify() [2/2]

template<class c >

void OgreNewt::Body::setNodeUpdateJointNotify	(	std::function< void(c , OgreNewt::Body )>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 226 of file OgreNewt_Body.h.

◆ setNodeUpdateNotify() [1/2]

void OgreNewt::Body::setNodeUpdateNotify ( NodeUpdateNotifyCallback callback )

set a custom node update notify.

Definition at line 750 of file OgreNewt_Body.cpp.

◆ setNodeUpdateNotify() [2/2]

template<class c >

void OgreNewt::Body::setNodeUpdateNotify	(	std::function< void(c , OgreNewt::Body )>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 217 of file OgreNewt_Body.h.

◆ setOmega()

void OgreNewt::Body::setOmega ( const Ogre::Vector3 & omega )

inline

set an arbitrary omega for the body.

again, setting velocity/omega directly for a body in realtime is not recommended for proper physics behavior. this function is intended to be used to setup a Body initially.

Parameters

omega vector representing the desired omega (rotational velocity)

Definition at line 335 of file OgreNewt_Body.h.

◆ setPositionOrientation()

void OgreNewt::Body::setPositionOrientation	(	const Ogre::Vector3 &	pos,
		const Ogre::Quaternion &	orient,
		int	threadIndex = `-1`
	)

position and orient the body arbitrarily.

generally in a physics engine you shouldn't directly set the location/rotation of a Body, because this defies physics laws. this command exists to set up bodies initially.

Parameters

orient	quaternion representing body orientation in world space.
pos	vector representing body position in world space.
threadIndex	only set the thread-index if you don't want the node to be updated immediatly but queued (Ogre doesn't support modifying nodes from several threads)

Definition at line 248 of file OgreNewt_Body.cpp.

◆ setPositionOrientationFromNode()

void OgreNewt::Body::setPositionOrientationFromNode ( int threadIndex = -1 )

position and orient the body from node.

generally in a physics engine you shouldn't directly set the location/rotation of a Body, because this defies physics laws. this command exists to set up bodies initially.

Parameters

orient	quaternion representing body orientation in world space.
pos	vector representing body position in world space.
threadIndex	only set the thread-index if you don't want the node to be updated immediatly but queued (Ogre doesn't support modifying nodes from several threads)

Definition at line 291 of file OgreNewt_Body.cpp.

◆ setScale()

void OgreNewt::Body::setScale	(	const Ogre::Vector3 &	scale,
		const Ogre::Quaternion &	orient,
		Ogre::Vector3 &	pos
	)

set the collision scale

Definition at line 407 of file OgreNewt_Body.cpp.

◆ setSleep()

void OgreNewt::Body::setSleep ( )

inline

Definition at line 383 of file OgreNewt_Body.h.

◆ setStandardForceCallback()

void OgreNewt::Body::setStandardForceCallback ( )

set a standard gravity callback for this body to use.

This sets a very basic force callback for this body, that simply applies a standard 9,8m/s^2 gravity force to the body. in most cases you will need more forces acting on your Rigid Bodies, which you accomplish through custom force callbacks.

Definition at line 333 of file OgreNewt_Body.cpp.

◆ setTorque()

void OgreNewt::Body::setTorque ( const Ogre::Vector3 & torque )

inline

set the torque for a body.

this function is only valid inside a ForceCallback function!

Definition at line 547 of file OgreNewt_Body.h.

◆ setTriggerEnterCallback() [1/2]

template<class c >

void OgreNewt::Body::setTriggerEnterCallback	(	std::function< void(c , Body )>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 184 of file OgreNewt_Body.h.

◆ setTriggerEnterCallback() [2/2]

void OgreNewt::Body::setTriggerEnterCallback ( TriggerEnterCallback callback )

Definition at line 352 of file OgreNewt_Body.cpp.

◆ setTriggerExitCallback() [1/2]

template<class c >

void OgreNewt::Body::setTriggerExitCallback	(	std::function< void(c , Body )>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 196 of file OgreNewt_Body.h.

◆ setTriggerExitCallback() [2/2]

void OgreNewt::Body::setTriggerExitCallback ( TriggerExitCallback callback )

Definition at line 362 of file OgreNewt_Body.cpp.

◆ setTriggerInsideCallback() [1/2]

template<class c >

void OgreNewt::Body::setTriggerInsideCallback	(	std::function< void(c , Body )>	callback,
		c *	instancedClassPointer
	)

inline

Definition at line 190 of file OgreNewt_Body.h.

◆ setTriggerInsideCallback() [2/2]

void OgreNewt::Body::setTriggerInsideCallback ( TriggerInsideCallback callback )

Definition at line 357 of file OgreNewt_Body.cpp.

◆ setType()

void OgreNewt::Body::setType ( int type )

inline

set the type for this body.

this sets the "type" for the body, which can also be set in the constructor.

Parameters

type	integer value to represent the type of body, e.g. "FLOOR" or "CANON BALL", etc. used for differentation in material callbacks.

Definition at line 143 of file OgreNewt_Body.h.

◆ setUserData() [1/2]

void OgreNewt::Body::setUserData ( const Ogre::Any & data )

inline

set user data to connect this class to another.

you can use this to store a pointer to a parent class, etc. then inside one of the many callbacks, you can get the pointer using this "userData" system.

Definition at line 111 of file OgreNewt_Body.h.

◆ setUserData() [2/2]

void OgreNewt::Body::setUserData ( void * data )

inline

Definition at line 113 of file OgreNewt_Body.h.

◆ setVelocity()

void OgreNewt::Body::setVelocity ( const Ogre::Vector3 & vel )

set an arbitrary velocity for the body.

again, setting velocity/omega directly for a body in realtime is not recommended for proper physics behavior. this function is intended to be used to setup a Body initially.

Parameters

vel	vector representing the desired velocity.

Definition at line 807 of file OgreNewt_Body.cpp.

◆ setVisualPosition()

void OgreNewt::Body::setVisualPosition	(	Ogre::Vector3	pos,
		Ogre::Quaternion	quat
	)

Definition at line 760 of file OgreNewt_Body.cpp.

◆ unFreeze()

void OgreNewt::Body::unFreeze ( )

inline

unfreeze the rigid body.

See also: freeze()

Definition at line 301 of file OgreNewt_Body.h.

◆ updateNode()

void OgreNewt::Body::updateNode ( Ogre::Real interpolatParam )

update the position of the node (if attached) and sets m_nodeupdateneeded to false

Definition at line 766 of file OgreNewt_Body.cpp.

◆ updatePositionOrientation()

void OgreNewt::Body::updatePositionOrientation	(	const Ogre::Vector3 &	pos,
		const Ogre::Quaternion &	orient,
		int	threadIndex = `-1`
	)

Definition at line 270 of file OgreNewt_Body.cpp.

◆ wakeUp()

void OgreNewt::Body::wakeUp ( )

inline

Definition at line 390 of file OgreNewt_Body.h.

Member Data Documentation

◆ m_accumulatedGlobalForces

std::vector<std::pair<Ogre::Vector3, Ogre::Vector3> > OgreNewt::Body::m_accumulatedGlobalForces

protected

Definition at line 632 of file OgreNewt_Body.h.

◆ m_body

NewtonBody* OgreNewt::Body::m_body

protected

Definition at line 627 of file OgreNewt_Body.h.

◆ m_collision

OgreNewt::CollisionPtr OgreNewt::Body::m_collision

protected

Definition at line 628 of file OgreNewt_Body.h.

◆ m_curPosit

Ogre::Vector3 OgreNewt::Body::m_curPosit

protected

Definition at line 634 of file OgreNewt_Body.h.

◆ m_curRotation

Ogre::Quaternion OgreNewt::Body::m_curRotation

protected

Definition at line 638 of file OgreNewt_Body.h.

◆ m_forcecallback

ForceCallback OgreNewt::Body::m_forcecallback

protected

Definition at line 652 of file OgreNewt_Body.h.

◆ m_matid

const MaterialID* OgreNewt::Body::m_matid

protected

Definition at line 629 of file OgreNewt_Body.h.

◆ m_node

Ogre::Node* OgreNewt::Body::m_node

protected

Definition at line 649 of file OgreNewt_Body.h.

◆ m_nodePosit

Ogre::Vector3 OgreNewt::Body::m_nodePosit

protected

Definition at line 633 of file OgreNewt_Body.h.

◆ m_nodeRotation

Ogre::Quaternion OgreNewt::Body::m_nodeRotation

protected

Definition at line 637 of file OgreNewt_Body.h.

◆ m_nodeupdatejointnotifycallback

NodeUpdateNotifyCallback OgreNewt::Body::m_nodeupdatejointnotifycallback

protected

Definition at line 658 of file OgreNewt_Body.h.

◆ m_nodeupdatenotifycallback

NodeUpdateNotifyCallback OgreNewt::Body::m_nodeupdatenotifycallback

protected

Definition at line 657 of file OgreNewt_Body.h.

◆ m_prevPosit

Ogre::Vector3 OgreNewt::Body::m_prevPosit

protected

Definition at line 635 of file OgreNewt_Body.h.

◆ m_prevRotation

Ogre::Quaternion OgreNewt::Body::m_prevRotation

protected

Definition at line 639 of file OgreNewt_Body.h.

◆ m_scale

Ogre::Vector3 OgreNewt::Body::m_scale

protected

Definition at line 636 of file OgreNewt_Body.h.

◆ m_triggerEnterCallback

TriggerEnterCallback OgreNewt::Body::m_triggerEnterCallback

protected

Definition at line 653 of file OgreNewt_Body.h.

◆ m_triggerExitCallback

TriggerExitCallback OgreNewt::Body::m_triggerExitCallback

protected

Definition at line 655 of file OgreNewt_Body.h.

◆ m_triggerInsideCallback

TriggerInsideCallback OgreNewt::Body::m_triggerInsideCallback

protected

Definition at line 654 of file OgreNewt_Body.h.

◆ m_type

int OgreNewt::Body::m_type

protected

Definition at line 648 of file OgreNewt_Body.h.

◆ m_userdata [1/2]

Ogre::Any OgreNewt::Body::m_userdata

protected

Definition at line 643 of file OgreNewt_Body.h.

◆ m_userdata [2/2]

void* OgreNewt::Body::m_userdata

protected

Definition at line 645 of file OgreNewt_Body.h.

◆ m_world

World* const OgreNewt::Body::m_world

protected

Definition at line 630 of file OgreNewt_Body.h.

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

include/External/ogrenewt/OgreNewt_Body.h
src/External/ogrenewt/OgreNewt_Body.cpp

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ buoyancyPlaneCallback

◆ ForceCallback

◆ NodeUpdateNotifyCallback

◆ TriggerEnterCallback

◆ TriggerExitCallback

◆ TriggerInsideCallback

Constructor & Destructor Documentation

◆ Body()

◆ ~Body()

Member Function Documentation

◆ addForce()

◆ addGlobalForce()

◆ addGlobalForceAccumulate()

◆ addImpulse()

◆ addLocalForce()

◆ addTorque()

◆ attachNode()

◆ calculateInertialMatrix()

◆ calculateInverseDynamicsForce()

◆ calculateOffset()

◆ enableSimulation()

◆ freeze()

◆ getAABB()

◆ getAngularDamping()

◆ getAutoSleep()

◆ getCenterOfMass()

◆ getCollision()

◆ getCollisionPrimitiveType()

◆ getContinuousCollisionMode()

◆ getForce()

◆ getForceAcceleration()

◆ getForceTorqueCallback()

◆ getInertia()

◆ getInvMass()

◆ getJointRecursiveCollision()

◆ getLinearDamping()

◆ getMass()

◆ getMassMatrix()

◆ getMaterialGroupID()

◆ getNewtonBody()

◆ getNewtonCollision()

◆ getNext()

◆ getOgreNode()

◆ getOmega()

◆ getOrientation()

◆ getPosition()

◆ getPositionOrientation()

◆ getTorque()

◆ getTorqueAcceleration()

◆ getType()

◆ getUserData() [1/2]

◆ getUserData() [2/2]

◆ getVelocity()

◆ getVisualOrientation()

◆ getVisualPosition()

◆ getVisualPositionOrientation()

◆ getWorld()

◆ isFreezed()

◆ isNodeUpdateNeeded()

◆ isSleeping()

◆ MoveToPosition()

◆ removeForceAndTorqueCallback()

◆ removeNodeUpdateJointNotify()

◆ removeNodeUpdateNotify()

◆ requestNodeUpdate()

◆ RotateToOrientation()

◆ setAngularDamping()

◆ setAutoSleep()

◆ setCenterOfMass()

◆ setCollision()

◆ setContinuousCollisionMode()

◆ setCustomForceAndTorqueCallback() [1/2]

◆ setCustomForceAndTorqueCallback() [2/2]

◆ setForce()

◆ setJointRecursiveCollision()