DigitalSpaces::DIPhysicsBody Struct Reference
[Physics]

#include <Physics_Body.h>

Detailed Description

Interface to a physics body.

A physics body is an organizational object. It can be thought of to contain collision shapes, and to be linked to other bodies by joints. It contains (or represents) the center of mass of an object, and is the part that is considered to move when a physics object moves (shapes are relative to the body).

Properties supported from DIPhysicsBase:

position - vector - Note: May only be the initial value, and not the current value.
orientation - quaternion - Note: May only be the initial value, and not the current value.
mass - float
inertia_tensor - vector - Inertia Tensor is the x,y,z component of the <mass> tag used in the .scene format
center_of_gravity - vector
ignore_gravity - bool


Public Member Functions
void	WorldPointToLocal (out_Vector3f *point)
	Convert a world coordinate position to a position relative to this object.
void	LocalPointToWorld (out_Vector3f *point)
	Convert a position relative to this object to a world coordinate position.
void	ApplyForce (in_Vector3f vecForce, in_Vector3f vecPosition)
	Apply a force to the object, using world co-ordinates for the force vector and the point to apply it to.
void	ApplyRelativeForce (in_Vector3f vecForce, in_Vector3f vecPosition)
	Apply a force to the object, using local co-ordinates for the force vector and point to apply it to.
void	ApplyTorque (in_Vector3f *vecTorque)
	Apply a rotational force, with the axis specified in the world coordinate system.
void	ApplyRelativeTorque (in_Vector3f *vecTorque)
	Apply a rotational force, with the axis as relative to the objects orientation.
void	GetTotalForce (out_Vector3f *force)
	Get the total force being applied to the object.
void	GetTotalTorque (out_Vector3f *torque)
	Get the total torque being applied to the object.
float	GetMass ()
	Used to retreive the mass property of this object.
void	GetAttachedShapeNames (DIStringList1 *names)
	Returns the names of all the DIPhysicsShapes which are attached to this body.
void	GetAttachedJointNames (DIStringList1 *names)
	Returns the names of all the DIPhysicsJoints which are attached to this body.
Set Property functions
void	SetAbsolutePosition (in_Vector3f *vecPosition)
	Set the absolute position of the physics body.
void	SetLinearVelocity (in_Vector3f *vecVelocity)
	Set the linear velocity (change in position per second) in world coordinates.
void	SetAngularVelocity (in_Vector3f *vecVelocity)
	Set the angular velocity (rotation around the euler axis), in world coordinates.
void	SetRelativeLinearVelocity (in_Vector3f *vecVelocity)
	Set the linear velocity (change in position per second) in local coordinates.
void	SetRelativeAngularVelocity (in_Vector3f *vecVelocity)
	Set the angular velocity (rotation around the euler axis), in local coordinates.
void	SetAbsoluteOrientation (in_Quaternionf *quatRot)
	Set the orientation of the physics body, in world coordinates.
void	SetLinearDamping (float fDamp)
	Sets the linear damping factor.
void	SetAngularDamping (float fDamp)
	Sets the angular damping factor.
void	SetMaximumAngularVelocity (float fMaxVel)
	Sets the maximum angular velocity.
Get Property functions
void	GetAbsolutePosition (out_Vector3f *)
	Retreives the position of the physics body, in world coordinates.
void	GetLinearVelocity (out_Vector3f *)
	Retreives the velocity of the physics body, in world coordinates.
void	GetAngularVelocity (out_Vector3f *angVelocity)
	Retreives the angular velocity (change of orientation).
void	GetRelativeAngularVelocity (out_Vector3f *angVelocity)
	Retreives the angular velocity (change of orientation), in local coordinates.
void	GetRelativeLinearVelocity (out_Vector3f *)
	Retreives the velocity of the physics body, in local coordinates.
void	GetAbsoluteOrientation (out_Quaternionf *)
	Retreives the physics bodies absolute orientation, in world coordinates.
float	GetLinearDamping ()
	Retreives the linear damping of the object.
float	GetAngularDamping ()
	Retreives the angular damping of the object.
float	GetMaximumAngularVelocity ()
	Retreives the maximum angular velocity of the object.

Member Function Documentation

void DigitalSpaces::DIPhysicsBody::SetAbsolutePosition ( in_Vector3f * vecPosition )

Set the absolute position of the physics body.

Parameters:

vecPosition

New position of the physics body, in world coordinates.

void DigitalSpaces::DIPhysicsBody::SetLinearVelocity ( in_Vector3f * vecVelocity )

Set the linear velocity (change in position per second) in world coordinates.

void DigitalSpaces::DIPhysicsBody::SetAngularVelocity ( in_Vector3f * vecVelocity )

Set the angular velocity (rotation around the euler axis), in world coordinates.

Parameters:

vecVelocity

Rotation, measured in radians per second, around each of the world axis.

void DigitalSpaces::DIPhysicsBody::SetRelativeLinearVelocity ( in_Vector3f * vecVelocity )

Set the linear velocity (change in position per second) in local coordinates.

void DigitalSpaces::DIPhysicsBody::SetRelativeAngularVelocity ( in_Vector3f * vecVelocity )

Set the angular velocity (rotation around the euler axis), in local coordinates.

Parameters:

vecVelocity

Rotation, measured in radians per second, around each of the local axis.

void DigitalSpaces::DIPhysicsBody::SetAbsoluteOrientation ( in_Quaternionf * quatRot )

Set the orientation of the physics body, in world coordinates.

Parameters:

quatRot

The new orientation of the physics body, in world coordinates.

void DigitalSpaces::DIPhysicsBody::SetLinearDamping ( float fDamp )

Sets the linear damping factor.

Linear damping is a multiplier applied to the objects current velocity (change in position) each simulation heartbeat. A multiplier of 0.2 causes the linear velocity to be decreased by a factor of 0.2 each simulation heartbeat.

This is useful to simulate generic resistance forces applied by the medium the object is moving through.

The default value is 0.0

void DigitalSpaces::DIPhysicsBody::SetAngularDamping ( float fDamp )

Sets the angular damping factor.

angular damping is a multiplier applied to the objects current angular velocity (change in orientation) each simulation heartbeat. A multiplier of 0.2 causes the angular velocity to be decreased by a factor of 0.2 each simulation heartbeat.

This is useful to simulate generic resistance forces applied by the medium the object is moving through.

The default value is 0.0

void DigitalSpaces::DIPhysicsBody::SetMaximumAngularVelocity ( float fMaxVel )

Sets the maximum angular velocity.

This sets a maximum speed of rotation for this object. The current rotation "speed" is calculated as the square root of the sum of the squared speed around each axis. If the calculated speed is greater then specified by this function, the angular velocity is scaled by the difference, and re-applied.

If set to 0 or a negative value, then no limiting is done. 0 is the default value.

void DigitalSpaces::DIPhysicsBody::GetAbsolutePosition ( out_Vector3f * )

Retreives the position of the physics body, in world coordinates.

void DigitalSpaces::DIPhysicsBody::GetLinearVelocity ( out_Vector3f * )

Retreives the velocity of the physics body, in world coordinates.

void DigitalSpaces::DIPhysicsBody::GetAngularVelocity ( out_Vector3f * angVelocity )

Retreives the angular velocity (change of orientation).

Parameters:

[out] angVelocity Change in rotation around each of the world coordinate euler axis, measured in radians per second.

void DigitalSpaces::DIPhysicsBody::GetRelativeAngularVelocity ( out_Vector3f * angVelocity )

Retreives the angular velocity (change of orientation), in local coordinates.

Parameters:

[out] angVelocity Change in rotation around each of the local coordinate euler axis, measured in radians per second.

void DigitalSpaces::DIPhysicsBody::GetRelativeLinearVelocity ( out_Vector3f * )

Retreives the velocity of the physics body, in local coordinates.

void DigitalSpaces::DIPhysicsBody::GetAbsoluteOrientation ( out_Quaternionf * )

Retreives the physics bodies absolute orientation, in world coordinates.

float DigitalSpaces::DIPhysicsBody::GetLinearDamping ( )

Retreives the linear damping of the object.

See SetLinearDamping for an explanation on linear damping.

float DigitalSpaces::DIPhysicsBody::GetAngularDamping ( )

Retreives the angular damping of the object.

See SetAngularDamping for an explanation on angular damping.

float DigitalSpaces::DIPhysicsBody::GetMaximumAngularVelocity ( )

Retreives the maximum angular velocity of the object.

See SetMaximumAngularVelocity for an explanation on angular velocity.

void DigitalSpaces::DIPhysicsBody::WorldPointToLocal ( out_Vector3f * point )

Convert a world coordinate position to a position relative to this object.

Parameters:

[in,out] point Contains the world coordinate position, is set to the local coordinate position.

void DigitalSpaces::DIPhysicsBody::LocalPointToWorld ( out_Vector3f * point )

Convert a position relative to this object to a world coordinate position.

Parameters:

[in,out] point Contains the local coordinate position, is set to the world coordinate position.

void DigitalSpaces::DIPhysicsBody::ApplyForce	(	in_Vector3f *	vecForce,
		in_Vector3f *	vecPosition
	)

Apply a force to the object, using world co-ordinates for the force vector and the point to apply it to.

Applying a vector off center will impart some spin to the object.

Note:: This force should be considered to be applied instantaneously.

void DigitalSpaces::DIPhysicsBody::ApplyRelativeForce	(	in_Vector3f *	vecForce,
		in_Vector3f *	vecPosition
	)

Apply a force to the object, using local co-ordinates for the force vector and point to apply it to.

Applying a vector off center will impart some spin to the object.

Note:: This force should be considered to be applied instantaneously.
I'm not sure if the implementation of this function (as of 4th Sept 2007) is correct.

void DigitalSpaces::DIPhysicsBody::ApplyTorque ( in_Vector3f * vecTorque )

Apply a rotational force, with the axis specified in the world coordinate system.

Parameters:

vecTorque

The rotational force to be applied, around each of the Euler axis (x, y, z).

Note:: This force should be considered to be applied instantaneously.

void DigitalSpaces::DIPhysicsBody::ApplyRelativeTorque ( in_Vector3f * vecTorque )

Apply a rotational force, with the axis as relative to the objects orientation.

Parameters:

vecTorque

The rotational force to be applied, around each of the Euler axis (x, y, z).

Note:: This force should be considered to be applied instantaneously.

void DigitalSpaces::DIPhysicsBody::GetTotalForce ( out_Vector3f * force )

Get the total force being applied to the object.

This is only the force as the sum of calls to ApplyForce and ApplyLocalForce, as applied within the last Heartbeat. It does not include force induced by joints or contacts.

void DigitalSpaces::DIPhysicsBody::GetTotalTorque ( out_Vector3f * torque )

Get the total torque being applied to the object.

This is only the torque as the sum of calls to ApplyTorque and ApplyRelativeTorque, as applied within the last Heartbeat. It does not include torque induced by joints or contacts.

float DigitalSpaces::DIPhysicsBody::GetMass ( )

Used to retreive the mass property of this object.

Deprecated:: Use GetFloat("mass") instead.

void DigitalSpaces::DIPhysicsBody::GetAttachedShapeNames ( DIStringList1 * names )

Returns the names of all the DIPhysicsShapes which are attached to this body.

These names can be used to find the shapes, via DIPhysicsWorld::FindShape

Parameters:

names

A String List that will have the names of the attached shapes appended to it. The implementation does not clear the list before appending the names.

void DigitalSpaces::DIPhysicsBody::GetAttachedJointNames ( DIStringList1 * names )

Returns the names of all the DIPhysicsJoints which are attached to this body.

These names can be used to find the shapes, via DIPhysicsWorld::FindJoint

Parameters:

names

A String List that will have the names of the attached joints appended to it. The implementation does not clear the list before appending the names.

The documentation for this struct was generated from the following file:

PhysicsInterfaces/Physics_Body.h

DigitalSpaces::DIPhysicsBody Struct Reference [Physics]

Detailed Description

Public Member Functions

Member Function Documentation

DigitalSpaces::DIPhysicsBody Struct Reference
[Physics]