Abstract PL physics (rigid) body base class. More...

#include <Body.h>

Inheritance diagram for PLPhysics::Body:

[legend]

Public Member Functions
virtual PLPHYSICS_API	~Body ()
	Destructor.
PLPHYSICS_API BodyImpl &	GetBodyImpl () const
	Returns a reference to the physics API specific body implementation.
PLPHYSICS_API bool	IsActive () const
	Returns whether the body is currently active or not.
PLPHYSICS_API void	SetActive (bool bActive=true)
	Sets whether the body is currently active or not.
PLPHYSICS_API float	GetCollisionVolume () const
	Returns the collision volume of the physics body.
PLPHYSICS_API float	GetMass () const
	Returns the mass of the physics body.
PLPHYSICS_API void	GetCenterOfMass (PLMath::Vector3 &vPosition) const
	Gets the relative center of the mass.
PLPHYSICS_API void	SetCenterOfMass (const PLMath::Vector3 &vPosition)
	Sets the relative center of the mass.
PLPHYSICS_API void	GetPosition (PLMath::Vector3 &vPosition) const
	Gets the body position.
PLPHYSICS_API void	SetPosition (const PLMath::Vector3 &vPosition)
	Sets the body position.
PLPHYSICS_API void	GetRotation (PLMath::Quaternion &qRotation) const
	Gets the body rotation.
PLPHYSICS_API void	SetRotation (const PLMath::Quaternion &qRotation)
	Sets the body rotation.
PLPHYSICS_API void	GetTransformMatrix (PLMath::Matrix3x4 &mTrans) const
	Gets the body transform matrix.
PLPHYSICS_API void	SetTransformMatrix (const PLMath::Matrix3x4 &mTrans)
	Sets the body transform matrix.
PLPHYSICS_API void	GetAABoundingBox (PLMath::AABoundingBox &cAABoundingBox) const
	Gets the global space axis aligned bounding box of the body.
PLPHYSICS_API void	GetLinearVelocity (PLMath::Vector3 &vVelocity) const
	Gets the linear body velocity.
PLPHYSICS_API void	SetLinearVelocity (const PLMath::Vector3 &vVelocity)
	Sets the linear body velocity.
PLPHYSICS_API void	GetAngularVelocity (PLMath::Vector3 &vVelocity) const
	Gets the angular body velocity.
PLPHYSICS_API void	SetAngularVelocity (const PLMath::Vector3 &vVelocity)
	Sets the angular body velocity.
PLPHYSICS_API void	GetForce (PLMath::Vector3 &vForce) const
	Gets the force applied to the body at the next simulation update.
PLPHYSICS_API void	AddForce (const PLMath::Vector3 &vForce)
	Adds a force to the body.
PLPHYSICS_API void	SetForce (const PLMath::Vector3 &vForce)
	Sets the force applied to the body at the next simulation update.
PLPHYSICS_API void	GetTorque (PLMath::Vector3 &vTorque) const
	Gets the torque applied to the body at the next simulation update.
PLPHYSICS_API void	AddTorque (const PLMath::Vector3 &vTorque)
	Adds a torque to the body.
PLPHYSICS_API void	SetTorque (const PLMath::Vector3 &vTorque)
	Sets the torque applied to the body at the next simulation update.
PLPHYSICS_API bool	IsAutoFreeze () const
	Returns whether the body is frozen automatically or not.
PLPHYSICS_API void	SetAutoFreeze (bool bAutoFreeze=true)
	Sets whether the body is frozen automatically or not.
PLPHYSICS_API void	GetFreezeThreshold (float &fLinearVelocity, float &fAngularVelocity, PLCore::uint32 &nSteps) const
	Returns the freeze threshold.
PLPHYSICS_API void	SetFreezeThreshold (float fLinearVelocity=0.01f, float fAngularVelocity=0.01f, PLCore::uint32 nSteps=10)
	Sets the freeze threshold.
PLPHYSICS_API bool	IsFrozen () const
	Returns whether the body is currently frozen or not.
PLPHYSICS_API void	SetFrozen (bool bFrozen=true)
	Sets whether the body is currently frozen or not.
PLPHYSICS_API bool	IsCollisionActive () const
	Returns whether the body can collide or not.
PLPHYSICS_API void	SetCollisionActive (bool bActive=true)
	Sets whether the body can collide or not.
PLPHYSICS_API bool	GetUseGravity () const
	Returns whether the body ignores the gravity or not.
PLPHYSICS_API void	SetUseGravity (bool bUseGravity=true)
	Sets whether the body ignores the gravity or not.
PLPHYSICS_API PLCore::uint8	GetCollisionGroup () const
	Returns the collision group the body is in.
PLPHYSICS_API void	SetCollisionGroup (PLCore::uint8 nCollisionGroup=0)
	Sets the collision group the body is in.
PLPHYSICS_API PLCore::uint32	GetNumOfPartners () const
	Returns the number of partner bodies.
PLPHYSICS_API Body *	GetPartner (PLCore::uint32 nIndex) const
	Returns a partner body.
virtual PLPHYSICS_API void	SetMass (float fMass=0.0f)
	Sets the mass of the physics body.
virtual PLPHYSICS_API bool	IsBody () const override
	Returns whether or not this is a body.
virtual PLPHYSICS_API bool	IsJoint () const override
	Returns whether or not this is a joint.
virtual PLPHYSICS_API bool	IsSensor () const override
	Returns whether or not this is a sensor.
Public Attributes
PLCore::Event	EventTransform
Protected Member Functions
PLPHYSICS_API	Body (World &cWorld, BodyImpl &cBodyImpl)
	Constructor.

Detailed Description

Abstract PL physics (rigid) body base class.

Remarks:: If a physics body is created, it is frozen automatically. Bodies can interact if they are in collision groups (see GetCollisionGroup()) which can collide, (see World::GetGroupCollision()) and if within the body pair flag (see World::GetBodyPairFlags()) World::Ignore is NOT set - AND at least, IsCollisionActive() of both must return 'true'.

Constructor & Destructor Documentation

virtual PLPHYSICS_API PLPhysics::Body::~Body ( ) [virtual]

Destructor.

PLPHYSICS_API PLPhysics::Body::Body	(	World &	cWorld,
		BodyImpl &	cBodyImpl
	)		`[protected]`

Constructor.

Parameters:

[in]	cWorld	World this body is in
[in]	cBodyImpl	Reference to the physics API specific body implementation

Member Function Documentation

PLPHYSICS_API BodyImpl& PLPhysics::Body::GetBodyImpl ( ) const

Returns a reference to the physics API specific body implementation.

Returns:: Reference to the physics API specific body implementation

PLPHYSICS_API bool PLPhysics::Body::IsActive ( ) const

Returns whether the body is currently active or not.

Returns:: 'true' if the body is currently active, else 'false'

Note:

With 'active' we mean 'totally ignored' and not 'just currently frozen' (see IsFrozen())

PLPHYSICS_API void PLPhysics::Body::SetActive ( bool bActive = true )

Sets whether the body is currently active or not.

Parameters:

[in] bActive 'true' if the body is currently active, else 'false'

See also:

IsActive()

PLPHYSICS_API float PLPhysics::Body::GetCollisionVolume ( ) const

Returns the collision volume of the physics body.

Returns:: The collision volume of the physics body

Remarks:: The collision volume of the body can for instance be used for buoyancy.

PLPHYSICS_API float PLPhysics::Body::GetMass ( ) const

Returns the mass of the physics body.

Returns:: Mass of the physics body

PLPHYSICS_API void PLPhysics::Body::GetCenterOfMass ( PLMath::Vector3 & vPosition ) const

Gets the relative center of the mass.

Parameters:

[out] vPosition Will receive the relative center of the mass

Note:

The relative center of the mass does't 'move' the body, it just has an influence on it's behavior

PLPHYSICS_API void PLPhysics::Body::SetCenterOfMass ( const PLMath::Vector3 & vPosition )

Sets the relative center of the mass.

Parameters:

[in] vPosition New relative center of the mass (PLMath::Vector3::Zero by default)

See also:

GetCenterOfMass()

PLPHYSICS_API void PLPhysics::Body::GetPosition ( PLMath::Vector3 & vPosition ) const

Gets the body position.

Parameters:

[out] vPosition Will receive the current body position

PLPHYSICS_API void PLPhysics::Body::SetPosition ( const PLMath::Vector3 & vPosition )

Sets the body position.

Parameters:

[in] vPosition New body position

PLPHYSICS_API void PLPhysics::Body::GetRotation ( PLMath::Quaternion & qRotation ) const

Gets the body rotation.

Parameters:

[out] qRotation Will receive the body rotation

PLPHYSICS_API void PLPhysics::Body::SetRotation ( const PLMath::Quaternion & qRotation )

Sets the body rotation.

Parameters:

[in] qRotation New body rotation

PLPHYSICS_API void PLPhysics::Body::GetTransformMatrix ( PLMath::Matrix3x4 & mTrans ) const

Gets the body transform matrix.

Parameters:

[out] mTrans Will receive the body transform matrix

PLPHYSICS_API void PLPhysics::Body::SetTransformMatrix ( const PLMath::Matrix3x4 & mTrans )

Sets the body transform matrix.

Parameters:

[in] mTrans New body transform matrix

PLPHYSICS_API void PLPhysics::Body::GetAABoundingBox ( PLMath::AABoundingBox & cAABoundingBox ) const

Gets the global space axis aligned bounding box of the body.

Parameters:

[out] cAABoundingBox Will receive the global space axis aligned bounding box of the body

PLPHYSICS_API void PLPhysics::Body::GetLinearVelocity ( PLMath::Vector3 & vVelocity ) const

Gets the linear body velocity.

Parameters:

[out] vVelocity Will receive the current linear body velocity

PLPHYSICS_API void PLPhysics::Body::SetLinearVelocity ( const PLMath::Vector3 & vVelocity )

Sets the linear body velocity.

Parameters:

[in] vVelocity New linear body velocity

PLPHYSICS_API void PLPhysics::Body::GetAngularVelocity ( PLMath::Vector3 & vVelocity ) const

Gets the angular body velocity.

Parameters:

[out] vVelocity Will receive the current angular body velocity

PLPHYSICS_API void PLPhysics::Body::SetAngularVelocity ( const PLMath::Vector3 & vVelocity )

Sets the angular body velocity.

Parameters:

[in] vVelocity New angular body velocity

PLPHYSICS_API void PLPhysics::Body::GetForce ( PLMath::Vector3 & vForce ) const

Gets the force applied to the body at the next simulation update.

Parameters:

[out] vForce Will receive the force applied to the body at the next simulation update

Remarks:: The forces are accumulated on to each body, and the accumulators are zeroed after each simulation update.

PLPHYSICS_API void PLPhysics::Body::AddForce ( const PLMath::Vector3 & vForce )

Adds a force to the body.

Parameters:

[in] vForce Force to add

Remarks:: If the simulation is currently inactive, it's NOT recommended to add forces because they are not reset each frame!

See also:

GetForce()

PLPHYSICS_API void PLPhysics::Body::SetForce ( const PLMath::Vector3 & vForce )

Sets the force applied to the body at the next simulation update.

Parameters:

[in] vForce Force to set

Remarks:: It's not recommended to set the force directly by using this function, use AddForce() instead whenever possible!

See also:

GetForce()

PLPHYSICS_API void PLPhysics::Body::GetTorque ( PLMath::Vector3 & vTorque ) const

Gets the torque applied to the body at the next simulation update.

Parameters:

[out] vTorque Will receive the torque applied to the body at the next simulation update

Remarks:: The torques are accumulated on to each body, and the accumulators are zeroed after each simulation update.

PLPHYSICS_API void PLPhysics::Body::AddTorque ( const PLMath::Vector3 & vTorque )

Adds a torque to the body.

Parameters:

[in] vTorque Torque to add

Remarks:: If the simulation is currently inactive, it's NOT recommended to add torques because they are not reset each frame!

See also:

GetTorque()

PLPHYSICS_API void PLPhysics::Body::SetTorque ( const PLMath::Vector3 & vTorque )

Sets the torque applied to the body at the next simulation update.

Parameters:

[in] vTorque Torque to set

Remarks:: It's not recommended to set the torque directly by using this function, use AddTorque() instead whenever possible!

See also:

GetTorque()

PLPHYSICS_API bool PLPhysics::Body::IsAutoFreeze ( ) const

Returns whether the body is frozen automatically or not.

Returns:: 'true' if the body is frozen automatically, else 'false'

Remarks:: A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at

PLPHYSICS_API void PLPhysics::Body::SetAutoFreeze ( bool bAutoFreeze = true )

Sets whether the body is frozen automatically or not.

Parameters:

[in] bAutoFreeze 'true' if the body is frozen automatically, else 'false'

PLPHYSICS_API void PLPhysics::Body::GetFreezeThreshold	(	float &	fLinearVelocity,
		float &	fAngularVelocity,
		PLCore::uint32 &	nSteps
	)		const

Returns the freeze threshold.

Parameters:

[out]	fLinearVelocity	Receives the linear velocity threshold
[out]	fAngularVelocity	Receives the angular velocity threshold
[out]	nSteps	Receives the number of steps the linear and angular velocity must be below the thresholds before the body is frozen

Note:

nSteps may not be supported by each physics API, in this case, this setting has no effect

PLPHYSICS_API void PLPhysics::Body::SetFreezeThreshold	(	float	fLinearVelocity = `0.01f`,
		float	fAngularVelocity = `0.01f`,
		PLCore::uint32	nSteps = `10`
	)

Sets the freeze threshold.

Parameters:

[in]	fLinearVelocity	Linear velocity threshold
[in]	fAngularVelocity	Angular velocity threshold
[in]	nSteps	Number of steps the linear and angular velocity must be below the thresholds before the body is frozen

See also:

SetFreezeThreshold()

PLPHYSICS_API bool PLPhysics::Body::IsFrozen ( ) const

Returns whether the body is currently frozen or not.

Returns:: 'true' if the body is currently frozen, else 'false'

PLPHYSICS_API void PLPhysics::Body::SetFrozen ( bool bFrozen = true )

Sets whether the body is currently frozen or not.

Parameters:

[in] bFrozen 'true' if the body is currently frozen, else 'false'

PLPHYSICS_API bool PLPhysics::Body::IsCollisionActive ( ) const

Returns whether the body can collide or not.

Returns:: 'true' if the body can collide, else 'false'

PLPHYSICS_API void PLPhysics::Body::SetCollisionActive ( bool bActive = true )

Sets whether the body can collide or not.

Parameters:

[in] bActive 'true' if the body can collide, else 'false'

PLPHYSICS_API bool PLPhysics::Body::GetUseGravity ( ) const

Returns whether the body ignores the gravity or not.

Returns:: 'false' if the body ignores the gravity, else 'true'

PLPHYSICS_API void PLPhysics::Body::SetUseGravity ( bool bUseGravity = true )

Sets whether the body ignores the gravity or not.

Parameters:

[in] bUseGravity 'false' if the body ignores the gravity, else 'true'

PLPHYSICS_API PLCore::uint8 PLPhysics::Body::GetCollisionGroup ( ) const

Returns the collision group the body is in.

Returns:: The collision group the body is in (0-31)

See also:

World::GetGroupCollision()

PLPHYSICS_API void PLPhysics::Body::SetCollisionGroup ( PLCore::uint8 nCollisionGroup = 0 )

Sets the collision group the body is in.

Parameters:

[in] nCollisionGroup The collision group the body is in (0-31)

See also:

World::GetGroupCollision()

PLPHYSICS_API PLCore::uint32 PLPhysics::Body::GetNumOfPartners ( ) const

Returns the number of partner bodies.

Returns:: The number of partner bodies

Remarks:: Each body can have multiple partners. You can set certain flags for each of this pairs using World::SetBodyPairFlags(), for instance disabling contact generation between them. If a body pair flag is set to 0, the partners are removed automatically from each other.

See also: