#include <iPhysicsBody.h>

Public Member Functions
void	setMatrix (const iaMatrixd &matrix)

void	getMatrix (iaMatrixd &matrix)

void	getTransformNodeMatrix (iaMatrixd &matrix) const

void	setMass (float64 mass)

float64	getMass ()

void	setAngularDamping (const iaVector3d &damping)

const iaVector3d &	getAngularDamping () const

void	setLinearDamping (float64 damping)

float64	getLinearDamping () const

const iaVector3d &	getForce () const

void	setForce (const iaVector3d &force)

void	setUserData (const std::any &userData)

std::any	getUserData () const

const iaVector3d &	getTorque () const

void	setTorque (const iaVector3d &torque)

iaVector3d	getVelocity () const

const iaVector3d &	getOmega () const

uint32	getTransformNodeID () const

void	setMaterial (int64 id)

int64	getMaterial () const

iPhysicsBodyID	getID ()

void *	getNewtonBody ()

void	registerForceAndTorqueDelegate (iApplyForceAndTorqueDelegate applyForceAndTorqueDelegate)

void	unregisterForceAndTorqueDelegate (iApplyForceAndTorqueDelegate applyForceAndTorqueDelegate)

Static Public Attributes
static const uint64	INVALID_PHYSICSBODY_ID = 0

Protected Member Functions
void	setTransformNodeMatrix (const iaMatrixd &matrix)

void	setOmega (const iaVector3d &omega)

void	applyForceAndTorque (float64 timeStep)

	iPhysicsBody (void *newtonBody)

	~iPhysicsBody ()

Protected Attributes
int64	_materialID = iPhysicsMaterial::INVALID_PHYSICSMATERIAL_ID

iPhysicsBodyID	_id = INVALID_PHYSICSBODY_ID

std::any	_userData

float64	_mass = 0

iaVector3d	_angularDamping

float64	_linearDamping

iaVector3d	_force

iaVector3d	_torque

iaVector3d	_velocity

iaVector3d	_omega

void *	_newtonBody = nullptr

uint32	_transformNodeID = iNode::INVALID_NODE_ID

Static Protected Attributes
static iaIDGenerator64	_idGenerator

Friends
class	iPhysics

void	PhysicsNodeDestructor (const void *body)

void	PhysicsApplyForceAndTorque (const void *body, float64 timestep, int threadIndex)

void	PhysicsNodeSetTransform (const void body, const float matrix, int threadIndex)

Detailed Description

wrapper for the NewtonBody handle

Constructor & Destructor Documentation

◆ iPhysicsBody()

igor::iPhysicsBody::iPhysicsBody ( void * newtonBody )

protected

initializes newton body handle

Parameters

newtonBody handle to newton body

◆ ~iPhysicsBody()

igor::iPhysicsBody::~iPhysicsBody ( )

protected

dtor

releases newton collision

Member Function Documentation

◆ applyForceAndTorque()

void igor::iPhysicsBody::applyForceAndTorque ( float64 timeStep )

protected

triggers callback for user implementation of applyForceAndTorque

called by iPhysics

Parameters

timeStep delta of time since last update

◆ getAngularDamping()

const iaVector3d & igor::iPhysicsBody::getAngularDamping ( ) const

Returns: damping values for all 3 axis

◆ getForce()

const iaVector3d & igor::iPhysicsBody::getForce ( ) const

Returns: current force

◆ getID()

uint64 igor::iPhysicsBody::getID ( )

Returns: body ID

◆ getLinearDamping()

float64 igor::iPhysicsBody::getLinearDamping ( ) const

Returns: linear damping value

◆ getMass()

float64 igor::iPhysicsBody::getMass ( )

Returns: mass of body

◆ getMaterial()

int64 igor::iPhysicsBody::getMaterial ( ) const

Returns: physics material id

◆ getMatrix()

void igor::iPhysicsBody::getMatrix ( iaMatrixd & matrix )

returns current body matrix

Parameters

[out] matrix current body matrix

◆ getNewtonBody()

void * igor::iPhysicsBody::getNewtonBody ( )

Returns: pointer to newton body

◆ getOmega()

const iaVector3d & igor::iPhysicsBody::getOmega ( ) const

Returns: current omega (or rotation speed)

◆ getTorque()

const iaVector3d & igor::iPhysicsBody::getTorque ( ) const

Returns: current torque

◆ getTransformNodeID()

uint32 igor::iPhysicsBody::getTransformNodeID ( ) const

Returns: transform node id

returns zero if body is not bound to a transform node

◆ getTransformNodeMatrix()

void igor::iPhysicsBody::getTransformNodeMatrix ( iaMatrixd & matrix ) const

returns the transform node materix

the transform node matrix is affected by the bodys movement within the physics context (see setTransformNodeMatrix) returns identity materix if body is not bound to a transform node

Parameters

matrix[out] destination to put the matrix in

◆ getUserData()

std::any igor::iPhysicsBody::getUserData ( ) const

Returns: pointer to user data

◆ getVelocity()

iaVector3d igor::iPhysicsBody::getVelocity ( ) const

Returns: current velocity

◆ registerForceAndTorqueDelegate()

void igor::iPhysicsBody::registerForceAndTorqueDelegate ( iApplyForceAndTorqueDelegate applyForceAndTorqueDelegate )

registers to apply force and tourque event

Parameters

applyForceAndTorqueDelegate the delegate to register

◆ setAngularDamping()

void igor::iPhysicsBody::setAngularDamping ( const iaVector3d & damping )

sets angular damping

Parameters

damping damping values for all 3 axis

◆ setForce()

void igor::iPhysicsBody::setForce ( const iaVector3d & force )

sets force

Parameters

force the force that affect thos body

◆ setLinearDamping()

void igor::iPhysicsBody::setLinearDamping ( float64 damping )

sets linear damping

Parameters

damping damping value for all 3 dimensions

◆ setMass()

void igor::iPhysicsBody::setMass ( float64 mass )

changes the mass of the newton body

Parameters

mass	the mass of the newton body (if zero the body is considered to be a non moveable object).

◆ setMaterial()

void igor::iPhysicsBody::setMaterial ( int64 id )

sets material id

Parameters

id	physics material id

◆ setMatrix()

void igor::iPhysicsBody::setMatrix ( const iaMatrixd & matrix )

sets matrix of newton body

Parameters

matrix the matrix for the newton body

◆ setOmega()

void igor::iPhysicsBody::setOmega ( const iaVector3d & omega )

protected

updates the omega by physics event

is called by iPhysics after the body changed it's position

Parameters

omega the omega to set

◆ setTorque()

void igor::iPhysicsBody::setTorque ( const iaVector3d & torque )

sets torque of the body

Parameters

torque the torque to set

◆ setTransformNodeMatrix()

void igor::iPhysicsBody::setTransformNodeMatrix ( const iaMatrixd & matrix )

protected

updates the transform node matrix by physics event

is called by iPhysics after the body changed it's position

Parameters

matrix matrix to be set

◆ setUserData()

void igor::iPhysicsBody::setUserData ( const std::any & userData )

sets user data

Parameters

userData pointer to user data

◆ unregisterForceAndTorqueDelegate()

void igor::iPhysicsBody::unregisterForceAndTorqueDelegate ( iApplyForceAndTorqueDelegate applyForceAndTorqueDelegate )

unregisters from apply force and tourque event

Parameters

applyForceAndTorqueDelegate the delegate to unregister

Friends And Related Function Documentation

◆ iPhysics

friend class iPhysics

friend

◆ PhysicsApplyForceAndTorque

void PhysicsApplyForceAndTorque	(	const void *	body,
		float64	timestep,
		int	threadIndex
	)

friend

redirects all apply force and torque calls to igor physics bodies

Parameters

body	the newton body
timestep	time delta
threadIndex	???

◆ PhysicsNodeDestructor

void PhysicsNodeDestructor ( const void * body )

friend

callback for physics body destruction

Parameters

body	pointer to body that got destroyed

◆ PhysicsNodeSetTransform

void PhysicsNodeSetTransform	(	const void *	body,
		const float *	matrix,
		int	threadIndex
	)

friend

Member Data Documentation

◆ _angularDamping

iaVector3d igor::iPhysicsBody::_angularDamping

protected

current angular damping

◆ _force

iaVector3d igor::iPhysicsBody::_force

protected

current force

◆ _id

iPhysicsBodyID igor::iPhysicsBody::_id = INVALID_PHYSICSBODY_ID

protected

body id

◆ _idGenerator

iaIDGenerator64 igor::iPhysicsBody::_idGenerator

staticprotected

next body id

◆ _linearDamping

float64 igor::iPhysicsBody::_linearDamping

protected

current linear damping

◆ _mass

float64 igor::iPhysicsBody::_mass = 0

protected

the mass of this body

◆ _materialID

int64 igor::iPhysicsBody::_materialID = iPhysicsMaterial::INVALID_PHYSICSMATERIAL_ID

protected

material id of body

◆ _newtonBody

void* igor::iPhysicsBody::_newtonBody = nullptr

protected

handle to newton body

◆ _omega

iaVector3d igor::iPhysicsBody::_omega

protected

current omega or angular speed

◆ _torque

iaVector3d igor::iPhysicsBody::_torque

protected

current torque

◆ _transformNodeID

uint32 igor::iPhysicsBody::_transformNodeID = iNode::INVALID_NODE_ID

protected

bound transform node

◆ _userData

std::any igor::iPhysicsBody::_userData

protected

user data

◆ _velocity

iaVector3d igor::iPhysicsBody::_velocity

protected

current velocity

◆ INVALID_PHYSICSBODY_ID

const uint64 igor::iPhysicsBody::INVALID_PHYSICSBODY_ID = 0

static

defines the invalid body id

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

/home/martin/dev/Igor/src/igor/igor/physics/iPhysicsBody.h
/home/martin/dev/Igor/src/igor/igor/physics/iPhysicsBody.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ iPhysicsBody()

◆ ~iPhysicsBody()

Member Function Documentation

◆ applyForceAndTorque()

◆ getAngularDamping()

◆ getForce()

◆ getID()

◆ getLinearDamping()

◆ getMass()

◆ getMaterial()

◆ getMatrix()

◆ getNewtonBody()

◆ getOmega()

◆ getTorque()

◆ getTransformNodeID()

◆ getTransformNodeMatrix()

◆ getUserData()

◆ getVelocity()

◆ registerForceAndTorqueDelegate()

◆ setAngularDamping()

◆ setForce()

◆ setLinearDamping()

◆ setMass()

◆ setMaterial()

◆ setMatrix()

◆ setOmega()

◆ setTorque()

◆ setTransformNodeMatrix()

◆ setUserData()

◆ unregisterForceAndTorqueDelegate()

Friends And Related Function Documentation

◆ iPhysics

◆ PhysicsApplyForceAndTorque

◆ PhysicsNodeDestructor

◆ PhysicsNodeSetTransform

Member Data Documentation

◆ _angularDamping

◆ _force

◆ _id

◆ _idGenerator

◆ _linearDamping

◆ _mass

◆ _materialID

◆ _newtonBody

◆ _omega

◆ _torque

◆ _transformNodeID

◆ _userData

◆ _velocity

◆ INVALID_PHYSICSBODY_ID