#include <WBulletRigidBody.hpp>

Inheritance diagram for WBulletRigidBody:

Public Member Functions
virtual std::string	GetTypeName () const override

virtual void	SetID (uint32_t newID) override

virtual void	SetName (std::string newName) override

	WBulletRigidBody (class Wasabi *const app, uint32_t ID=0)

virtual WError	Create (W_RIGID_BODY_CREATE_INFO createInfo, bool bSaveInfo=false) override

virtual void	Update (float deltaTime) override

virtual void	BindObject (WOrientation obj, WBase objBase=nullptr) override

virtual void	SetLinearVelocity (WVector3 vel) override

virtual void	SetAngularVelocity (WVector3 vel) override

virtual void	SetLinearDamping (float power) override

virtual void	SetAngularDamping (float power) override

virtual void	SetBouncingPower (float bouncing) override

virtual void	SetMass (float mass) override

virtual void	SetMassCenter (float x, float y, float z) override

virtual void	SetFriction (float friction) override

virtual void	ApplyForce (WVector3 force) override

virtual void	ApplyForce (WVector3 force, WVector3 relative_pos) override

virtual void	ApplyImpulse (WVector3 impulse) override

virtual void	ApplyImpulse (WVector3 impulse, WVector3 relative_pos) override

virtual void	ApplyTorque (WVector3 torque) override

virtual WVector3	getLinearVelocity () const override

virtual WVector3	getAngularVelocity () const override

virtual WVector3	getTotalForce () const override

virtual WVector3	getTotalTorque () const override

WMatrix	GetWorldMatrix ()

virtual bool	Valid () const override

virtual void	OnStateChange (STATE_CHANGE_TYPE type) override

virtual WError	SaveToStream (WFile *file, std::ostream &outputStream) override

virtual WError	LoadFromStream (WFile file, std::istream &inputStream, std::vector< void > &args, std::string nameSuffix) override

Public Member Functions inherited from WRigidBody
	WRigidBody (class Wasabi *const app, uint32_t ID=0)

WError	BuildFromGeometries (W_RIGIDBODYTYPE type, class WGeometry const geometries, uint32_t numGeometries, bool bFixed=false, bool bSimplify=true, void *mopp=nullptr, uint32_t moppsize=0)

void	Destroy ()

void	BindObject (class WObject *const object)

void	UnbindObject (class WObject *const object)

void	UnbindObject (uint32_t ID)

void	Enable ()

void	Disable ()

bool	Enabled () const

void	SetLinearVelocity (float velX, float velY, float velZ)

void	SetAngularVelocity (float velX, float velY, float velZ)

void	SetLinearDamping (float power)

void	SetAngularDamping (float power)

void	SetMaxLinearVelocity (float fScalarVelocity)

void	SetMaxAngularVelocity (float fScalarVelocity)

void	SetMotionType (W_MOTIONTYPE type)

void	SetBouncingPower (float bouncing)

void	SetMass (float mass)

void	SetMassCenter (float x, float y, float z)

void	SetFriction (float friction)

void	SetCollisionQuality (W_COLLISIONQUALITY quality)

void	UpdateLocals ()

WMatrix	GetWorldMatrix ()

hkQuaternion	GetRotationQuat ()

W_RIGIDBODYTYPE	GetType () const

hkpRigidBody *	GetRigidBody () const

bool	Valid () const

void	OnStateChange (STATE_CHANGE_TYPE type)

	WRigidBody (class Wasabi *const app, uint32_t ID=0)

Public Member Functions inherited from WBase
	WBase (class Wasabi *const app, uint32_t ID=0)

uint32_t	GetID () const

std::string	GetName () const

class Wasabi *	GetAppPtr () const

void	AddReference ()

void	RemoveReference ()

Public Member Functions inherited from WOrientation
void	SetPosition (float x, float y, float z)

void	SetPosition (const WVector3 pos)

void	Point (float x, float y, float z)

void	Point (WVector3 target)

void	SetAngle (WQuaternion quat)

void	SetToRotation (const WOrientation *const device)

void	SetULRVectors (WVector3 up, WVector3 look, WVector3 right)

void	SetToTransformation (WMatrix mtx)

void	Yaw (float angle)

void	Roll (float angle)

void	Pitch (float angle)

void	Move (float units)

void	Strafe (float units)

void	Fly (float units)

float	GetPositionX () const

float	GetPositionY () const

float	GetPositionZ () const

WVector3	GetPosition () const

float	GetAngleX () const

float	GetAngleY () const

float	GetAngleZ () const

WQuaternion	GetRotation () const

WVector3	GetUVector () const

WVector3	GetLVector () const

WVector3	GetRVector () const

virtual void	SetBindingMatrix (WMatrix mtx)

void	RemoveBinding ()

WMatrix	GetBindingMatrix () const

bool	IsBound () const

WMatrix	ComputeTransformation () const

WMatrix	ComputeInverseTransformation () const

Static Public Member Functions
static std::string	_GetTypeName ()

static std::vector< void * >	LoadArgs (bool bSaveInfo=false)

Additional Inherited Members
Protected Attributes inherited from WBase
class Wasabi *	m_app

uint32_t	m_ID

std::string	m_name

Detailed Description

This represents a rigid body and is responsible for integrating it with the Bullet physics simulation.

Member Function Documentation

◆ _GetTypeName()

static std::string WBulletRigidBody::_GetTypeName ( )

static

Returns "RigidBody" string.

Returns: Returns "RigidBody" string

◆ ApplyForce() [1/2]

virtual void WBulletRigidBody::ApplyForce ( WVector3 force )

overridevirtual

Applies force to the center of the rigid body

Implements WRigidBody.

◆ ApplyForce() [2/2]

virtual void WBulletRigidBody::ApplyForce	(	WVector3	force,
		WVector3	relative_pos
	)

overridevirtual

Applies force to the rigid body relative to a coordinate (will also apply rotation)

Implements WRigidBody.

◆ ApplyImpulse() [1/2]

virtual void WBulletRigidBody::ApplyImpulse ( WVector3 impulse )

overridevirtual

Applies an impulse to the center of the rigid body

Implements WRigidBody.

◆ ApplyImpulse() [2/2]

virtual void WBulletRigidBody::ApplyImpulse	(	WVector3	impulse,
		WVector3	relative_pos
	)

overridevirtual

Applies an impulse to the rigid body relative to a coordinate

Implements WRigidBody.

◆ ApplyTorque()

virtual void WBulletRigidBody::ApplyTorque ( WVector3 torque )

overridevirtual

Applies torque to the rigid body

Implements WRigidBody.

◆ BindObject()

virtual void WBulletRigidBody::BindObject	(	WOrientation *	obj,
		WBase *	objBase = `nullptr`
	)

overridevirtual

Must be implemented to attach a WOrientation to this rigid body

Parameters

obj	A WOrientation (WObject, WCamera, etc...) to attach
objBase	An optional (but highly recommended) parameter to specify the WBase* pointer that obj is associated with. This will cause the rigid body to hold a reference to the object until unbound.

Implements WRigidBody.

◆ Create()

virtual WError WBulletRigidBody::Create	(	W_RIGID_BODY_CREATE_INFO	createInfo,
		bool	bSaveInfo = `false`
	)

overridevirtual

Must be implemented to initialize the rigid body.

Parameters

createInfo	Various parameters for the rigid body creation
bSaveInfo	If set to true, the rigid body will store the creation information so that it can be later saved to file

Returns: Error code, see WError.h

Implements WRigidBody.

◆ getAngularVelocity()

virtual WVector3 WBulletRigidBody::getAngularVelocity ( ) const

overridevirtual

Retrieves the angular velocity of the rigid body

Implements WRigidBody.

◆ getLinearVelocity()

virtual WVector3 WBulletRigidBody::getLinearVelocity ( ) const

overridevirtual

Retrieves the linear velocity of the rigid body

Implements WRigidBody.

◆ getTotalForce()

virtual WVector3 WBulletRigidBody::getTotalForce ( ) const

overridevirtual

Retrieves the total force currently applied on the rigid body

Implements WRigidBody.

◆ getTotalTorque()

virtual WVector3 WBulletRigidBody::getTotalTorque ( ) const

overridevirtual

Retrieves the total torque currently applied on the rigid body

Implements WRigidBody.

◆ GetTypeName()

virtual std::string WBulletRigidBody::GetTypeName ( ) const

overridevirtual

This function must be implemented by a child class. This is used for debugging, in which a class should return its name.

Returns: The name of the class

Implements WBase.

◆ GetWorldMatrix()

WMatrix WBulletRigidBody::GetWorldMatrix ( )

Retrieves the world matrix for the rigid body.

Returns: World matrix for the rigid body

◆ OnStateChange()

virtual void WBulletRigidBody::OnStateChange ( STATE_CHANGE_TYPE type )

overridevirtual

A callback called by this class when the entity changes its position or orientation.

Parameters

type	Orientation change type

Implements WRigidBody.

◆ SetAngularDamping()

virtual void WBulletRigidBody::SetAngularDamping ( float power )

overridevirtual

Sets the angular damping of the rigid body

Implements WRigidBody.

◆ SetAngularVelocity()

virtual void WBulletRigidBody::SetAngularVelocity ( WVector3 vel )

overridevirtual

Sets the angular velocity of the rigid body

Implements WRigidBody.

◆ SetBouncingPower()

virtual void WBulletRigidBody::SetBouncingPower ( float bouncing )

overridevirtual

Sets the bouncing power (restitution) of the rigid body

Implements WRigidBody.

◆ SetFriction()

virtual void WBulletRigidBody::SetFriction ( float friction )

overridevirtual

Sets the friction of the rigid body

Implements WRigidBody.

◆ SetID()

virtual void WBulletRigidBody::SetID ( uint32_t newID )

overridevirtual

Sets the ID of this object and notifies its manager.

Parameters

newID New ID

Implements WBase.

◆ SetLinearDamping()

virtual void WBulletRigidBody::SetLinearDamping ( float power )

overridevirtual

Sets the linear damping of the rigid body

Implements WRigidBody.

◆ SetLinearVelocity()

virtual void WBulletRigidBody::SetLinearVelocity ( WVector3 vel )

overridevirtual

Sets the linear velocity of the rigid body

Implements WRigidBody.

◆ SetMass()

virtual void WBulletRigidBody::SetMass ( float mass )

overridevirtual

Sets the mass of the rigid body

Implements WRigidBody.

◆ SetMassCenter()

virtual void WBulletRigidBody::SetMassCenter	(	float	x,
		float	y,
		float	z
	)

overridevirtual

Sets the center of mass of the rigid body

Implements WRigidBody.

◆ SetName()

virtual void WBulletRigidBody::SetName ( std::string newName )

overridevirtual

Sets the name of this object.

Parameters

name	New name for the object

Implements WBase.

◆ Update()

virtual void WBulletRigidBody::Update ( float deltaTime )

overridevirtual

Called by WBulletPhysics after stepping the physics simulation to update the rigid bodies.

Parameters

deltaTime Time elapsed since last frame

Implements WRigidBody.

◆ Valid()

virtual bool WBulletRigidBody::Valid ( ) const

overridevirtual

Returns: Whether or not the rigid body will render properly

Implements WBase.

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

include/Wasabi/Physics/Bullet/WBulletRigidBody.hpp

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ _GetTypeName()

◆ ApplyForce() [1/2]

◆ ApplyForce() [2/2]

◆ ApplyImpulse() [1/2]

◆ ApplyImpulse() [2/2]

◆ ApplyTorque()

◆ BindObject()

◆ Create()

◆ getAngularVelocity()

◆ getLinearVelocity()

◆ getTotalForce()

◆ getTotalTorque()

◆ GetTypeName()

◆ GetWorldMatrix()

◆ OnStateChange()

◆ SetAngularDamping()

◆ SetAngularVelocity()

◆ SetBouncingPower()

◆ SetFriction()

◆ SetID()

◆ SetLinearDamping()

◆ SetLinearVelocity()

◆ SetMass()

◆ SetMassCenter()

◆ SetName()

◆ Update()

◆ Valid()