#include <WRigidBody.hpp>

Inheritance diagram for WRigidBody:

Public Member Functions
	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)

virtual WError	Create (W_RIGID_BODY_CREATE_INFO createInfo, bool bSaveInfo=false)=0

virtual void	Update (float deltaTime)=0

virtual void	BindObject (WOrientation obj, WBase objBase=nullptr)=0

virtual void	SetLinearVelocity (WVector3 vel)=0

virtual void	SetAngularVelocity (WVector3 vel)=0

virtual void	SetLinearDamping (float power)=0

virtual void	SetAngularDamping (float power)=0

virtual void	SetBouncingPower (float bouncing)=0

virtual void	SetMass (float mass)=0

virtual void	SetMassCenter (float x, float y, float z)=0

virtual void	SetFriction (float friction)=0

virtual void	ApplyForce (WVector3 force)=0

virtual void	ApplyForce (WVector3 force, WVector3 relative_pos)=0

virtual void	ApplyImpulse (WVector3 impulse)=0

virtual void	ApplyImpulse (WVector3 impulse, WVector3 relative_pos)=0

virtual void	ApplyTorque (WVector3 torque)=0

virtual WVector3	getLinearVelocity () const =0

virtual WVector3	getAngularVelocity () const =0

virtual WVector3	getTotalForce () const =0

virtual WVector3	getTotalTorque () const =0

virtual void	OnStateChange (STATE_CHANGE_TYPE type)=0

virtual WError	SaveToStream (WFile *file, std::ostream &outputStream)=0

virtual WError	LoadFromStream (WFile file, std::istream &inputStream, std::vector< void > &args, std::string nameSuffix)=0

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

virtual void	SetID (uint32_t newID)=0

virtual void	SetName (std::string newName)=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

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

uint32_t	m_ID

std::string	m_name

Detailed Description

This is an interface for implementing a rigid body.

Member Function Documentation

◆ ApplyForce() [1/2]

virtual void WRigidBody::ApplyForce ( WVector3 force )

pure virtual

Applies force to the center of the rigid body

Implemented in WBulletRigidBody.

◆ ApplyForce() [2/2]

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

pure virtual

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

Implemented in WBulletRigidBody.

◆ ApplyImpulse() [1/2]

virtual void WRigidBody::ApplyImpulse ( WVector3 impulse )

pure virtual

Applies an impulse to the center of the rigid body

Implemented in WBulletRigidBody.

◆ ApplyImpulse() [2/2]

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

pure virtual

Applies an impulse to the rigid body relative to a coordinate

Implemented in WBulletRigidBody.

◆ ApplyTorque()

virtual void WRigidBody::ApplyTorque ( WVector3 torque )

pure virtual

Applies torque to the rigid body

Implemented in WBulletRigidBody.

◆ BindObject()

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

pure virtual

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.

Implemented in WBulletRigidBody.

◆ Create()

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

pure virtual

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

Implemented in WBulletRigidBody.

◆ getAngularVelocity()

virtual WVector3 WRigidBody::getAngularVelocity ( ) const

pure virtual

Retrieves the angular velocity of the rigid body

Implemented in WBulletRigidBody.

◆ getLinearVelocity()

virtual WVector3 WRigidBody::getLinearVelocity ( ) const

pure virtual

Retrieves the linear velocity of the rigid body

Implemented in WBulletRigidBody.

◆ getTotalForce()

virtual WVector3 WRigidBody::getTotalForce ( ) const

pure virtual

Retrieves the total force currently applied on the rigid body

Implemented in WBulletRigidBody.

◆ getTotalTorque()

virtual WVector3 WRigidBody::getTotalTorque ( ) const

pure virtual

Retrieves the total torque currently applied on the rigid body

Implemented in WBulletRigidBody.

◆ OnStateChange() [1/2]

void WRigidBody::OnStateChange ( STATE_CHANGE_TYPE type )

virtual

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

Parameters

type	Orientation change type

Reimplemented from WOrientation.

◆ OnStateChange() [2/2]

virtual void WRigidBody::OnStateChange ( STATE_CHANGE_TYPE type )

pure virtual

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

Parameters

type	Orientation change type

Reimplemented from WOrientation.

Implemented in WBulletRigidBody.

◆ SetAngularDamping()

virtual void WRigidBody::SetAngularDamping ( float power )

pure virtual

Sets the angular damping of the rigid body

Implemented in WBulletRigidBody.

◆ SetAngularVelocity()

virtual void WRigidBody::SetAngularVelocity ( WVector3 vel )

pure virtual

Sets the angular velocity of the rigid body

Implemented in WBulletRigidBody.

◆ SetBouncingPower()

virtual void WRigidBody::SetBouncingPower ( float bouncing )

pure virtual

Sets the bouncing power (restitution) of the rigid body

Implemented in WBulletRigidBody.

◆ SetFriction()

virtual void WRigidBody::SetFriction ( float friction )

pure virtual

Sets the friction of the rigid body

Implemented in WBulletRigidBody.

◆ SetLinearDamping()

virtual void WRigidBody::SetLinearDamping ( float power )

pure virtual

Sets the linear damping of the rigid body

Implemented in WBulletRigidBody.

◆ SetLinearVelocity()

virtual void WRigidBody::SetLinearVelocity ( WVector3 vel )

pure virtual

Sets the linear velocity of the rigid body

Implemented in WBulletRigidBody.

◆ SetMass()

virtual void WRigidBody::SetMass ( float mass )

pure virtual

Sets the mass of the rigid body

Implemented in WBulletRigidBody.

◆ SetMassCenter()

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

pure virtual

Sets the center of mass of the rigid body

Implemented in WBulletRigidBody.

◆ Update()

virtual void WRigidBody::Update ( float deltaTime )

pure virtual

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

Parameters

deltaTime Time elapsed since last frame

Implemented in WBulletRigidBody.

◆ Valid()

bool WRigidBody::Valid ( ) const

virtual

Must be implemented by the child. This function should report the validity status of the object, in whatever sense of "validity" it chooses.

Returns: true if the object is "valid", false otherwise

Implements WBase.

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

include/Wasabi/Physics/Havok/WHavokPhysics.hpp
include/Wasabi/Physics/WRigidBody.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ ApplyForce() [1/2]

◆ ApplyForce() [2/2]

◆ ApplyImpulse() [1/2]

◆ ApplyImpulse() [2/2]

◆ ApplyTorque()

◆ BindObject()

◆ Create()

◆ getAngularVelocity()

◆ getLinearVelocity()

◆ getTotalForce()

◆ getTotalTorque()

◆ OnStateChange() [1/2]

◆ OnStateChange() [2/2]

◆ SetAngularDamping()

◆ SetAngularVelocity()

◆ SetBouncingPower()

◆ SetFriction()

◆ SetLinearDamping()

◆ SetLinearVelocity()

◆ SetMass()

◆ SetMassCenter()

◆ Update()

◆ Valid()