The btRigidBody is the main class for rigid body objects. More...

#include <btRigidBody.h>

Inheritance diagram for btRigidBody:

Collaboration diagram for btRigidBody:

Classes
struct	btRigidBodyConstructionInfo
	The btRigidBodyConstructionInfo structure provides information to create a rigid body. More...

Public Member Functions
	btRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	btRigidBody constructor using construction info
	btRigidBody (btScalar mass, btMotionState motionState, btCollisionShape collisionShape, const btVector3 &localInertia=btVector3(0, 0, 0))
	btRigidBody constructor for backwards compatibility.
virtual	~btRigidBody ()
void	proceedToTransform (const btTransform &newTrans)
void	predictIntegratedTransform (btScalar step, btTransform &predictedTransform)
	continuous collision detection needs prediction
void	saveKinematicState (btScalar step)
void	applyGravity ()
void	setGravity (const btVector3 &acceleration)
const btVector3 &	getGravity () const
void	setDamping (btScalar lin_damping, btScalar ang_damping)
btScalar	getLinearDamping () const
btScalar	getAngularDamping () const
btScalar	getLinearSleepingThreshold () const
btScalar	getAngularSleepingThreshold () const
void	applyDamping (btScalar timeStep)
	applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping
const btCollisionShape *	getCollisionShape () const
btCollisionShape *	getCollisionShape ()
void	setMassProps (btScalar mass, const btVector3 &inertia)
const btVector3 &	getLinearFactor () const
void	setLinearFactor (const btVector3 &linearFactor)
btScalar	getInvMass () const
const btMatrix3x3 &	getInvInertiaTensorWorld () const
void	integrateVelocities (btScalar step)
void	setCenterOfMassTransform (const btTransform &xform)
void	applyCentralForce (const btVector3 &force)
const btVector3 &	getTotalForce () const
const btVector3 &	getTotalTorque () const
const btVector3 &	getInvInertiaDiagLocal () const
void	setInvInertiaDiagLocal (const btVector3 &diagInvInertia)
void	setSleepingThresholds (btScalar linear, btScalar angular)
void	applyTorque (const btVector3 &torque)
void	applyForce (const btVector3 &force, const btVector3 &rel_pos)
void	applyCentralImpulse (const btVector3 &impulse)
void	applyTorqueImpulse (const btVector3 &torque)
void	applyImpulse (const btVector3 &impulse, const btVector3 &rel_pos)
void	clearForces ()
void	updateInertiaTensor ()
const btVector3 &	getCenterOfMassPosition () const
btQuaternion	getOrientation () const
const btTransform &	getCenterOfMassTransform () const
const btVector3 &	getLinearVelocity () const
const btVector3 &	getAngularVelocity () const
void	setLinearVelocity (const btVector3 &lin_vel)
void	setAngularVelocity (const btVector3 &ang_vel)
btVector3	getVelocityInLocalPoint (const btVector3 &rel_pos) const
void	translate (const btVector3 &v)
void	getAabb (btVector3 &aabbMin, btVector3 &aabbMax) const
btScalar	computeImpulseDenominator (const btVector3 &pos, const btVector3 &normal) const
btScalar	computeAngularImpulseDenominator (const btVector3 &axis) const
void	updateDeactivation (btScalar timeStep)
bool	wantsSleeping ()
const btBroadphaseProxy *	getBroadphaseProxy () const
btBroadphaseProxy *	getBroadphaseProxy ()
void	setNewBroadphaseProxy (btBroadphaseProxy *broadphaseProxy)
btMotionState *	getMotionState ()
const btMotionState *	getMotionState () const
void	setMotionState (btMotionState *motionState)
void	setAngularFactor (const btVector3 &angFac)
void	setAngularFactor (btScalar angFac)
const btVector3 &	getAngularFactor () const
bool	isInWorld () const
virtual bool	checkCollideWithOverride (const btCollisionObject *co) const
void	addConstraintRef (btTypedConstraint *c)
void	removeConstraintRef (btTypedConstraint *c)
btTypedConstraint *	getConstraintRef (int index)
int	getNumConstraintRefs () const
void	setFlags (int flags)
int	getFlags () const
btVector3	computeGyroscopicForce (btScalar maxGyroscopicForce) const
virtual int	calculateSerializeBufferSize () const
virtual const char *	serialize (void dataBuffer, class btSerializer serializer) const
	fills the dataBuffer and returns the struct name (and 0 on failure)
virtual void	serializeSingleObject (class btSerializer *serializer) const
Public Member Functions inherited from btCollisionObject
	BT_DECLARE_ALIGNED_ALLOCATOR ()
bool	mergesSimulationIslands () const
const btVector3 &	getAnisotropicFriction () const
void	setAnisotropicFriction (const btVector3 &anisotropicFriction, int frictionMode=CF_ANISOTROPIC_FRICTION)
bool	hasAnisotropicFriction (int frictionMode=CF_ANISOTROPIC_FRICTION) const
void	setContactProcessingThreshold (btScalar contactProcessingThreshold)
	the constraint solver can discard solving contacts, if the distance is above this threshold.
btScalar	getContactProcessingThreshold () const
bool	isStaticObject () const
bool	isKinematicObject () const
bool	isStaticOrKinematicObject () const
bool	hasContactResponse () const
	btCollisionObject ()
virtual	~btCollisionObject ()
virtual void	setCollisionShape (btCollisionShape *collisionShape)
void *	internalGetExtensionPointer () const
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions.
void	internalSetExtensionPointer (void *pointer)
	Avoid using this internal API call, the extension pointer is used by some Bullet extensions If you need to store your own user pointer, use 'setUserPointer/getUserPointer' instead.
int	getActivationState () const
void	setActivationState (int newState) const
void	setDeactivationTime (btScalar time)
btScalar	getDeactivationTime () const
void	forceActivationState (int newState) const
void	activate (bool forceActivation=false) const
bool	isActive () const
void	setRestitution (btScalar rest)
btScalar	getRestitution () const
void	setFriction (btScalar frict)
btScalar	getFriction () const
void	setRollingFriction (btScalar frict)
btScalar	getRollingFriction () const
int	getInternalType () const
	reserved for Bullet internal usage
btTransform &	getWorldTransform ()
const btTransform &	getWorldTransform () const
void	setWorldTransform (const btTransform &worldTrans)
btBroadphaseProxy *	getBroadphaseHandle ()
const btBroadphaseProxy *	getBroadphaseHandle () const
void	setBroadphaseHandle (btBroadphaseProxy *handle)
const btTransform &	getInterpolationWorldTransform () const
btTransform &	getInterpolationWorldTransform ()
void	setInterpolationWorldTransform (const btTransform &trans)
void	setInterpolationLinearVelocity (const btVector3 &linvel)
void	setInterpolationAngularVelocity (const btVector3 &angvel)
const btVector3 &	getInterpolationLinearVelocity () const
const btVector3 &	getInterpolationAngularVelocity () const
int	getIslandTag () const
void	setIslandTag (int tag)
int	getCompanionId () const
void	setCompanionId (int id)
btScalar	getHitFraction () const
void	setHitFraction (btScalar hitFraction)
int	getCollisionFlags () const
void	setCollisionFlags (int flags)
btScalar	getCcdSweptSphereRadius () const
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
void	setCcdSweptSphereRadius (btScalar radius)
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar	getCcdMotionThreshold () const
btScalar	getCcdSquareMotionThreshold () const
void	setCcdMotionThreshold (btScalar ccdMotionThreshold)
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
void *	getUserPointer () const
	users can point to their objects, userPointer is not used by Bullet
int	getUserIndex () const
void	setUserPointer (void *userPointer)
	users can point to their objects, userPointer is not used by Bullet
void	setUserIndex (int index)
	users can point to their objects, userPointer is not used by Bullet
int	getUpdateRevisionInternal () const
bool	checkCollideWith (const btCollisionObject *co) const

Static Public Member Functions
static const btRigidBody *	upcast (const btCollisionObject *colObj)
	to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast
static btRigidBody *	upcast (btCollisionObject *colObj)

Public Attributes
int	m_contactSolverType
int	m_frictionSolverType

Protected Member Functions
void	setupRigidBody (const btRigidBodyConstructionInfo &constructionInfo)
	setupRigidBody is only used internally by the constructor

Protected Attributes
btVector3	m_deltaLinearVelocity
btVector3	m_deltaAngularVelocity
btVector3	m_angularFactor
btVector3	m_invMass
btVector3	m_pushVelocity
btVector3	m_turnVelocity
Protected Attributes inherited from btCollisionObject
btTransform	m_worldTransform
btTransform	m_interpolationWorldTransform
	m_interpolationWorldTransform is used for CCD and interpolation it can be either previous or future (predicted) transform
btVector3	m_interpolationLinearVelocity
btVector3	m_interpolationAngularVelocity
btVector3	m_anisotropicFriction
int	m_hasAnisotropicFriction
btScalar	m_contactProcessingThreshold
btBroadphaseProxy *	m_broadphaseHandle
btCollisionShape *	m_collisionShape
void *	m_extensionPointer
	m_extensionPointer is used by some internal low-level Bullet extensions.
btCollisionShape *	m_rootCollisionShape
	m_rootCollisionShape is temporarily used to store the original collision shape The m_collisionShape might be temporarily replaced by a child collision shape during collision detection purposes If it is NULL, the m_collisionShape is not temporarily replaced.
int	m_collisionFlags
int	m_islandTag1
int	m_companionId
int	m_activationState1
btScalar	m_deactivationTime
btScalar	m_friction
btScalar	m_restitution
btScalar	m_rollingFriction
int	m_internalType
	m_internalType is reserved to distinguish Bullet's btCollisionObject, btRigidBody, btSoftBody, btGhostObject etc.
union {
void * m_userObjectPointer
int m_userIndex
};
	users can point to their objects, m_userPointer is not used by Bullet, see setUserPointer/getUserPointer
btScalar	m_hitFraction
	time of impact calculation
btScalar	m_ccdSweptSphereRadius
	Swept sphere radius (0.0 by default), see btConvexConvexAlgorithm::
btScalar	m_ccdMotionThreshold
	Don't do continuous collision detection if the motion (in one step) is less then m_ccdMotionThreshold.
int	m_checkCollideWith
	If some object should have elaborate collision filtering by sub-classes.
int	m_updateRevision
	internal update revision number. It will be increased when the object changes. This allows some subsystems to perform lazy evaluation.

Additional Inherited Members
Public Types inherited from btCollisionObject
enum	CollisionFlags { CF_STATIC_OBJECT = 1, CF_KINEMATIC_OBJECT = 2, CF_NO_CONTACT_RESPONSE = 4, CF_CUSTOM_MATERIAL_CALLBACK = 8, CF_CHARACTER_OBJECT = 16, CF_DISABLE_VISUALIZE_OBJECT = 32, CF_DISABLE_SPU_COLLISION_PROCESSING = 64 }
enum	CollisionObjectTypes { CO_COLLISION_OBJECT = 1, CO_RIGID_BODY = 2, CO_GHOST_OBJECT = 4, CO_SOFT_BODY = 8, CO_HF_FLUID = 16, CO_USER_TYPE = 32, CO_FEATHERSTONE_LINK = 64 }
enum	AnisotropicFrictionFlags { CF_ANISOTROPIC_FRICTION_DISABLED = 0, CF_ANISOTROPIC_FRICTION = 1, CF_ANISOTROPIC_ROLLING_FRICTION = 2 }

Detailed Description

The btRigidBody is the main class for rigid body objects.

It is derived from btCollisionObject, so it keeps a pointer to a btCollisionShape. It is recommended for performance and memory use to share btCollisionShape objects whenever possible. There are 3 types of rigid bodies:

A) Dynamic rigid bodies, with positive mass. Motion is controlled by rigid body dynamics.
B) Fixed objects with zero mass. They are not moving (basically collision objects)
C) Kinematic objects, which are objects without mass, but the user can move them. There is on-way interaction, and Bullet calculates a velocity based on the timestep and previous and current world transform. Bullet automatically deactivates dynamic rigid bodies, when the velocity is below a threshold for a given time. Deactivated (sleeping) rigid bodies don't take any processing time, except a minor broadphase collision detection impact (to allow active objects to activate/wake up sleeping objects)

Definition at line 59 of file btRigidBody.h.

Constructor & Destructor Documentation

btRigidBody::btRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

btRigidBody constructor using construction info

Definition at line 30 of file btRigidBody.cpp.

btRigidBody::btRigidBody	(	btScalar	mass,
		btMotionState *	motionState,
		btCollisionShape *	collisionShape,
		const btVector3 &	localInertia = `btVector3(0,0,0)`
	)

btRigidBody constructor for backwards compatibility.

To specify friction (etc) during rigid body construction, please use the other constructor (using btRigidBodyConstructionInfo)

Definition at line 35 of file btRigidBody.cpp.

virtual btRigidBody::~btRigidBody ( )

inlinevirtual

Definition at line 179 of file btRigidBody.h.

Member Function Documentation

void btRigidBody::addConstraintRef ( btTypedConstraint * c )

Definition at line 339 of file btRigidBody.cpp.

void btRigidBody::applyCentralForce ( const btVector3 & force )

inline

Definition at line 276 of file btRigidBody.h.

void btRigidBody::applyCentralImpulse ( const btVector3 & impulse )

inline

Definition at line 318 of file btRigidBody.h.

void btRigidBody::applyDamping ( btScalar timeStep )

applyDamping damps the velocity, using the given m_linearDamping and m_angularDamping

Definition at line 159 of file btRigidBody.cpp.

void btRigidBody::applyForce	(	const btVector3 &	force,
		const btVector3 &	rel_pos
	)

inline

Definition at line 312 of file btRigidBody.h.

void btRigidBody::applyGravity ( )

Definition at line 216 of file btRigidBody.cpp.

void btRigidBody::applyImpulse	(	const btVector3 &	impulse,
		const btVector3 &	rel_pos
	)

inline

Definition at line 328 of file btRigidBody.h.

void btRigidBody::applyTorque ( const btVector3 & torque )

inline

Definition at line 307 of file btRigidBody.h.

void btRigidBody::applyTorqueImpulse ( const btVector3 & torque )

inline

Definition at line 323 of file btRigidBody.h.

int btRigidBody::calculateSerializeBufferSize ( ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 354 of file btRigidBody.cpp.

bool btRigidBody::checkCollideWithOverride ( const btCollisionObject * co ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 320 of file btRigidBody.cpp.

void btRigidBody::clearForces ( )

inline

Definition at line 340 of file btRigidBody.h.

btScalar btRigidBody::computeAngularImpulseDenominator ( const btVector3 & axis ) const

inline

Definition at line 409 of file btRigidBody.h.

btVector3 btRigidBody::computeGyroscopicForce ( btScalar maxGyroscopicForce ) const

Definition at line 260 of file btRigidBody.cpp.

btScalar btRigidBody::computeImpulseDenominator	(	const btVector3 &	pos,
		const btVector3 &	normal
	)		const

inline

Definition at line 397 of file btRigidBody.h.

void btRigidBody::getAabb	(	btVector3 &	aabbMin,
		btVector3 &	aabbMax
	)		const

Definition at line 127 of file btRigidBody.cpp.

btScalar btRigidBody::getAngularDamping ( ) const

inline

Definition at line 231 of file btRigidBody.h.

const btVector3& btRigidBody::getAngularFactor ( ) const

inline

Definition at line 498 of file btRigidBody.h.

btScalar btRigidBody::getAngularSleepingThreshold ( ) const

inline

Definition at line 241 of file btRigidBody.h.

const btVector3& btRigidBody::getAngularVelocity ( ) const

inline

Definition at line 359 of file btRigidBody.h.

const btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( ) const

inline

Definition at line 454 of file btRigidBody.h.

btBroadphaseProxy* btRigidBody::getBroadphaseProxy ( )

inline

Definition at line 458 of file btRigidBody.h.

const btVector3& btRigidBody::getCenterOfMassPosition ( ) const

inline

Definition at line 348 of file btRigidBody.h.

const btTransform& btRigidBody::getCenterOfMassTransform ( ) const

inline

Definition at line 353 of file btRigidBody.h.

const btCollisionShape* btRigidBody::getCollisionShape ( ) const

inline

Reimplemented from btCollisionObject.

Definition at line 248 of file btRigidBody.h.

btCollisionShape* btRigidBody::getCollisionShape ( )

inline

Reimplemented from btCollisionObject.

Definition at line 252 of file btRigidBody.h.

btTypedConstraint* btRigidBody::getConstraintRef ( int index )

inline

Definition at line 514 of file btRigidBody.h.

int btRigidBody::getFlags ( ) const

inline

Definition at line 529 of file btRigidBody.h.

const btVector3& btRigidBody::getGravity ( ) const

inline

Definition at line 219 of file btRigidBody.h.

const btVector3& btRigidBody::getInvInertiaDiagLocal ( ) const

inline

Definition at line 291 of file btRigidBody.h.

const btMatrix3x3& btRigidBody::getInvInertiaTensorWorld ( ) const

inline

Definition at line 268 of file btRigidBody.h.

btScalar btRigidBody::getInvMass ( ) const

inline

Definition at line 267 of file btRigidBody.h.

btScalar btRigidBody::getLinearDamping ( ) const

inline

Definition at line 226 of file btRigidBody.h.

const btVector3& btRigidBody::getLinearFactor ( ) const

inline

Definition at line 258 of file btRigidBody.h.

btScalar btRigidBody::getLinearSleepingThreshold ( ) const

inline

Definition at line 236 of file btRigidBody.h.

const btVector3& btRigidBody::getLinearVelocity ( ) const

inline

Definition at line 356 of file btRigidBody.h.

btMotionState* btRigidBody::getMotionState ( )

inline

Definition at line 468 of file btRigidBody.h.

const btMotionState* btRigidBody::getMotionState ( ) const

inline

Definition at line 472 of file btRigidBody.h.

int btRigidBody::getNumConstraintRefs ( ) const

inline

Definition at line 519 of file btRigidBody.h.

btQuaternion btRigidBody::getOrientation ( ) const

Definition at line 295 of file btRigidBody.cpp.

const btVector3& btRigidBody::getTotalForce ( ) const

inline

Definition at line 281 of file btRigidBody.h.

const btVector3& btRigidBody::getTotalTorque ( ) const

inline

Definition at line 286 of file btRigidBody.h.

btVector3 btRigidBody::getVelocityInLocalPoint ( const btVector3 & rel_pos ) const

inline

Definition at line 376 of file btRigidBody.h.

void btRigidBody::integrateVelocities ( btScalar step )

clamp angular velocity. collision calculations will fail on higher angular velocities

Definition at line 277 of file btRigidBody.cpp.

bool btRigidBody::isInWorld ( ) const

inline

Definition at line 504 of file btRigidBody.h.

void btRigidBody::predictIntegratedTransform	(	btScalar	step,
		btTransform &	predictedTransform
	)

continuous collision detection needs prediction

Definition at line 104 of file btRigidBody.cpp.

void btRigidBody::proceedToTransform ( const btTransform & newTrans )

Definition at line 225 of file btRigidBody.cpp.

void btRigidBody::removeConstraintRef ( btTypedConstraint * c )

Definition at line 348 of file btRigidBody.cpp.

void btRigidBody::saveKinematicState ( btScalar step )

Definition at line 109 of file btRigidBody.cpp.

const char * btRigidBody::serialize	(	void *	dataBuffer,
		class btSerializer *	serializer
	)		const

virtual

fills the dataBuffer and returns the struct name (and 0 on failure)

Reimplemented from btCollisionObject.

Definition at line 361 of file btRigidBody.cpp.

void btRigidBody::serializeSingleObject ( class btSerializer * serializer ) const

virtual

Reimplemented from btCollisionObject.

Definition at line 393 of file btRigidBody.cpp.

void btRigidBody::setAngularFactor ( const btVector3 & angFac )

inline

Definition at line 487 of file btRigidBody.h.

void btRigidBody::setAngularFactor ( btScalar angFac )

inline

Definition at line 493 of file btRigidBody.h.

void btRigidBody::setAngularVelocity ( const btVector3 & ang_vel )

inline

Definition at line 370 of file btRigidBody.h.

void btRigidBody::setCenterOfMassTransform ( const btTransform & xform )

Definition at line 303 of file btRigidBody.cpp.

void btRigidBody::setDamping	(	btScalar	lin_damping,
		btScalar	ang_damping
	)

Definition at line 149 of file btRigidBody.cpp.

void btRigidBody::setFlags ( int flags )

inline

Definition at line 524 of file btRigidBody.h.

void btRigidBody::setGravity ( const btVector3 & acceleration )

Definition at line 135 of file btRigidBody.cpp.

void btRigidBody::setInvInertiaDiagLocal ( const btVector3 & diagInvInertia )

inline

Definition at line 296 of file btRigidBody.h.

void btRigidBody::setLinearFactor ( const btVector3 & linearFactor )

inline

Definition at line 262 of file btRigidBody.h.

void btRigidBody::setLinearVelocity ( const btVector3 & lin_vel )

inline

Definition at line 364 of file btRigidBody.h.

void btRigidBody::setMassProps	(	btScalar	mass,
		const btVector3 &	inertia
	)

Definition at line 231 of file btRigidBody.cpp.

void btRigidBody::setMotionState ( btMotionState * motionState )

inline

Definition at line 476 of file btRigidBody.h.

void btRigidBody::setNewBroadphaseProxy ( btBroadphaseProxy * broadphaseProxy )

inline

Definition at line 462 of file btRigidBody.h.

void btRigidBody::setSleepingThresholds	(	btScalar	linear,
		btScalar	angular
	)

inline

Definition at line 301 of file btRigidBody.h.

void btRigidBody::setupRigidBody ( const btRigidBodyConstructionInfo & constructionInfo )

protected

setupRigidBody is only used internally by the constructor

Definition at line 41 of file btRigidBody.cpp.

void btRigidBody::translate ( const btVector3 & v )

inline

Definition at line 385 of file btRigidBody.h.

static const btRigidBody* btRigidBody::upcast ( const btCollisionObject * colObj )

inlinestatic

to keep collision detection and dynamics separate we don't store a rigidbody pointer but a rigidbody is derived from btCollisionObject, so we can safely perform an upcast

Definition at line 197 of file btRigidBody.h.

static btRigidBody* btRigidBody::upcast ( btCollisionObject * colObj )

inlinestatic

Definition at line 203 of file btRigidBody.h.

void btRigidBody::updateDeactivation ( btScalar timeStep )

inline

Definition at line 415 of file btRigidBody.h.

void btRigidBody::updateInertiaTensor ( )

Definition at line 254 of file btRigidBody.cpp.

bool btRigidBody::wantsSleeping ( )

inline

Definition at line 432 of file btRigidBody.h.

Member Data Documentation

btScalar btRigidBody::m_additionalAngularDampingFactor

private

Definition at line 81 of file btRigidBody.h.

btScalar btRigidBody::m_additionalAngularDampingThresholdSqr

private

Definition at line 80 of file btRigidBody.h.

bool btRigidBody::m_additionalDamping

private

Definition at line 77 of file btRigidBody.h.

btScalar btRigidBody::m_additionalDampingFactor

private

Definition at line 78 of file btRigidBody.h.

btScalar btRigidBody::m_additionalLinearDampingThresholdSqr

private

Definition at line 79 of file btRigidBody.h.

btScalar btRigidBody::m_angularDamping

private

Definition at line 75 of file btRigidBody.h.

btVector3 btRigidBody::m_angularFactor

protected

Definition at line 102 of file btRigidBody.h.

btScalar btRigidBody::m_angularSleepingThreshold

private

Definition at line 85 of file btRigidBody.h.

btVector3 btRigidBody::m_angularVelocity

private

Definition at line 64 of file btRigidBody.h.

btAlignedObjectArray<btTypedConstraint*> btRigidBody::m_constraintRefs

private

Definition at line 91 of file btRigidBody.h.

int btRigidBody::m_contactSolverType

Definition at line 484 of file btRigidBody.h.

int btRigidBody::m_debugBodyId

private

Definition at line 95 of file btRigidBody.h.

btVector3 btRigidBody::m_deltaAngularVelocity

protected

Definition at line 101 of file btRigidBody.h.

btVector3 btRigidBody::m_deltaLinearVelocity

protected

Definition at line 100 of file btRigidBody.h.

int btRigidBody::m_frictionSolverType

Definition at line 485 of file btRigidBody.h.

btVector3 btRigidBody::m_gravity

private

Definition at line 68 of file btRigidBody.h.

btVector3 btRigidBody::m_gravity_acceleration

private

Definition at line 69 of file btRigidBody.h.

btScalar btRigidBody::m_inverseMass

private

Definition at line 65 of file btRigidBody.h.

btVector3 btRigidBody::m_invInertiaLocal

private

Definition at line 70 of file btRigidBody.h.

btMatrix3x3 btRigidBody::m_invInertiaTensorWorld

private

Definition at line 62 of file btRigidBody.h.

btVector3 btRigidBody::m_invMass

protected

Definition at line 103 of file btRigidBody.h.

btScalar btRigidBody::m_linearDamping

private

Definition at line 74 of file btRigidBody.h.

btVector3 btRigidBody::m_linearFactor

private

Definition at line 66 of file btRigidBody.h.

btScalar btRigidBody::m_linearSleepingThreshold

private

Definition at line 84 of file btRigidBody.h.

btVector3 btRigidBody::m_linearVelocity

private

Definition at line 63 of file btRigidBody.h.

btMotionState* btRigidBody::m_optionalMotionState

private

Definition at line 88 of file btRigidBody.h.

btVector3 btRigidBody::m_pushVelocity

protected

Definition at line 104 of file btRigidBody.h.

int btRigidBody::m_rigidbodyFlags

private

Definition at line 93 of file btRigidBody.h.

btVector3 btRigidBody::m_totalForce

private

Definition at line 71 of file btRigidBody.h.

btVector3 btRigidBody::m_totalTorque

private

Definition at line 72 of file btRigidBody.h.

btVector3 btRigidBody::m_turnVelocity

protected

Definition at line 105 of file btRigidBody.h.

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

Private Attributes
btMatrix3x3	m_invInertiaTensorWorld
btVector3	m_linearVelocity
btVector3	m_angularVelocity
btScalar	m_inverseMass
btVector3	m_linearFactor
btVector3	m_gravity
btVector3	m_gravity_acceleration
btVector3	m_invInertiaLocal
btVector3	m_totalForce
btVector3	m_totalTorque
btScalar	m_linearDamping
btScalar	m_angularDamping
bool	m_additionalDamping
btScalar	m_additionalDampingFactor
btScalar	m_additionalLinearDampingThresholdSqr
btScalar	m_additionalAngularDampingThresholdSqr
btScalar	m_additionalAngularDampingFactor
btScalar	m_linearSleepingThreshold
btScalar	m_angularSleepingThreshold
btMotionState *	m_optionalMotionState
btAlignedObjectArray < btTypedConstraint * >	m_constraintRefs
int	m_rigidbodyFlags
int	m_debugBodyId

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