RigidBody Class Reference

RigidBody structure for organising data to model physics simulations of convex hull collisions. More...

#include "body.hpp"

Public Member Functions
	RigidBody ()
	Default constructor, RigidBody needs to be init{Type} with one of the inititalization functions. More...
	~RigidBody ()
	Destructor. More...
int	integrateForces (vec3 gravity, float deltaTime)
	Method for integrating all the forces for a timestep. More...
int	integrateVelocities (float deltaTime)
	Method for integrating the velocities for a timestep. More...
void	add (int bodyID)
	Add a CollisionBody to RigidBody. More...
mat4	getModelMatrix ()
	Getter for model matrix, only the integrator can update the model matrix. More...
bool	getColliding ()
	Getter for whether RigidBody is colliding or not. More...

Public Attributes
int	id = -1
float	coefficient_of_restitution
float	mass
float	one_over_mass
float	density = 1.0f
vec3	cm_position
mat3	orientation
vec3	cm_velocity
vec3	angular_momentum
vec3	cm_force
vec3	torque
mat3	inverse_world_inertia_tensor
mat3	inverse_body_inertia_tensor
vec3	angular_velocity
vector< vec3 >	a_bounding_vertices
vector< vec3 >	a_body_bounding_vertices = {}
vector< unsigned int >	bodyIndexes = {}
int	compositeBodyIndex = -1
BodyType	type
bool	apply_gyroscopic_term = false
bool	sleeping = false
unsigned int	colliding = 0

Static Public Attributes
static int	Counter
static vector< RigidBody * >	allBodies

Detailed Description

RigidBody structure for organising data to model physics simulations of convex hull collisions.

Constructor & Destructor Documentation

RigidBody()

RigidBody::RigidBody

(

)

Default constructor, RigidBody needs to be init{Type} with one of the inititalization functions.

~RigidBody()

RigidBody::~RigidBody

(

)

Destructor.

Member Function Documentation

add()

void RigidBody::add

(

int

bodyID

)

Add a CollisionBody to RigidBody.

getColliding()

bool RigidBody::getColliding

(

)

Getter for whether RigidBody is colliding or not.

getModelMatrix()

mat4 RigidBody::getModelMatrix

(

)

Getter for model matrix, only the integrator can update the model matrix.

integrateForces()

int RigidBody::integrateForces	(	vec3	gravity,
		float	deltaTime
	)

Method for integrating all the forces for a timestep.

integrateVelocities()

int RigidBody::integrateVelocities

(

float

deltaTime

)

Method for integrating the velocities for a timestep.

Member Data Documentation

a_body_bounding_vertices

vector<vec3> RigidBody::a_body_bounding_vertices = {}

a_bounding_vertices

vector<vec3> RigidBody::a_bounding_vertices

Initial value:

= { vec3(0,0,0),vec3(0,0,0),vec3(0,0,0),vec3(0,0,0),
                                         vec3(0,0,0),vec3(0,0,0),vec3(0,0,0),vec3(0,0,0) }

allBodies

vector<RigidBody*> RigidBody::allBodies

static

angular_momentum

vec3 RigidBody::angular_momentum

angular_velocity

vec3 RigidBody::angular_velocity

apply_gyroscopic_term

bool RigidBody::apply_gyroscopic_term = false

bodyIndexes

vector<unsigned int> RigidBody::bodyIndexes = {}

cm_force

vec3 RigidBody::cm_force

cm_position

vec3 RigidBody::cm_position

cm_velocity

vec3 RigidBody::cm_velocity

coefficient_of_restitution

float RigidBody::coefficient_of_restitution

colliding

unsigned int RigidBody::colliding = 0

compositeBodyIndex

int RigidBody::compositeBodyIndex = -1

Counter

int RigidBody::Counter

static

density

float RigidBody::density = 1.0f

id

int RigidBody::id = -1

inverse_body_inertia_tensor

mat3 RigidBody::inverse_body_inertia_tensor

inverse_world_inertia_tensor

mat3 RigidBody::inverse_world_inertia_tensor

mass

float RigidBody::mass

one_over_mass

float RigidBody::one_over_mass

orientation

mat3 RigidBody::orientation

sleeping

bool RigidBody::sleeping = false

torque

vec3 RigidBody::torque

type

BodyType RigidBody::type

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

• include/body.hpp