Represents a physical rigid body in the physics simulation. More...

#include <RigidBody/CRigidbody.h>

Inheritance diagram for Skylicht::Physics::CRigidbody:

Public Types
enum	EActivationState { Activate , Sleep , Alway , Disable }
	Activation states for the rigid body. More...
Public Types inherited from Skylicht::Physics::ICollisionObject
enum	ECollisionType { Unknown , RigidBody , Character }
	Types of collision objects.

Public Member Functions
virtual void	initComponent ()
virtual void	startComponent ()
virtual void	updateComponent ()
virtual CObjectSerializable *	createSerializable ()
virtual void	loadSerializable (CObjectSerializable *object)
virtual void	setCollisionGroupAndFilter (int group, int filter)
	Sets the collision group and filter mask.
void	setTag (int i)
	Sets a custom tag for the rigid body.
int	getTag ()
	Gets the custom tag of the rigid body.
void	setDynamic (bool b)
	Sets whether the body is dynamic.
bool	isDynamic ()
	Checks if the body is dynamic.
void	setFriction (float f)
	Sets the friction coefficient.
float	getFriction ()
	Gets the friction coefficient.
void	setRollingFriction (float f)
	Sets the rolling friction coefficient.
float	getRollingFriction ()
	Gets the rolling friction coefficient.
void	setSpinningFriction (float f)
	Sets the spinning friction coefficient.
float	getSpinningFriction ()
	Gets the spinning friction coefficient.
void	setMass (float m)
	Sets the mass of the rigid body.
float	getMass ()
	Gets the mass of the rigid body.
void	setRestitution (float s)
	Sets the restitution (bounciness) coefficient.
float	getRestitution ()
	Gets the restitution coefficient.
void	setSleepingThresholds (float linear, float angular)
	Sets the thresholds for linear and angular velocity to enter sleep mode.
void	setCcdSweptSphereRadius (float r=0.0f)
	Sets the radius for Continuous Collision Detection (CCD).
void	setCcdMotionThreshold (float m=0.0f)
	Sets the motion threshold for Continuous Collision Detection (CCD).
bool	initRigidbody ()
	Initializes the rigid body in the physics world.
void	releaseRigidbody ()
	Releases the rigid body from the physics world.
void	setLocalScale (const core::vector3df &scale)
	Sets the local scale of the collision shape.
core::vector3df	getLocalScale ()
	Gets the local scale of the collision shape.
core::vector3df	getPosition ()
	Gets the world position of the rigid body.
void	setPosition (const core::vector3df &pos)
	Sets the world position of the rigid body.
core::vector3df	getRotationEuler ()
	Gets the world rotation as Euler angles.
core::quaternion	getRotation ()
	Gets the world rotation as a quaternion.
void	setRotation (const core::vector3df &eulerDeg)
	Sets the world rotation using Euler angles.
void	setRotation (const core::quaternion &q)
	Sets the world rotation using a quaternion.
void	syncTransform ()
	Synchronizes the GameObject's transform with the physics body's transform.
void	setState (EActivationState state)
	Sets the activation state of the rigid body.
void	activate ()
	Manually activates the rigid body (wakes it up).
EActivationState	getState ()
	Gets the current activation state.
const char *	getStateName ()
	Gets the name of the current activation state as a string.
void	applyCenterForce (const core::vector3df &force)
	Applies a force at the center of mass.
void	applyForce (const core::vector3df &force, const core::vector3df &localPosition)
	Applies a force at a specific local position.
void	applyTorque (const core::vector3df &torque)
	Applies a torque (rotational force).
void	clearForce ()
	Clears all active forces and torques.
void	applyCenterImpulse (const core::vector3df &impulse)
	Applies an instantaneous impulse at the center of mass.
void	applyImpulse (const core::vector3df &impulse, const core::vector3df &localPosition)
	Applies an instantaneous impulse at a specific local position.
void	applyTorqueImpulse (const core::vector3df &torqueImpulse)
	Applies a torque impulse (instantaneous rotation).
void	applyCenterPushImpulse (const core::vector3df &impulse)
	Applies a push impulse at the center of mass.
void	applyPushImpulse (const core::vector3df &impulse, const core::vector3df &localPosition)
	Applies a push impulse at a specific local position.
void	applyTorqueTurnImpulse (const core::vector3df &torqueImpulse)
	Applies a torque turn impulse.
core::vector3df	getLinearVelocity ()
	Gets the current linear velocity.
core::vector3df	getAngularVelocity ()
	Gets the current angular velocity.
void	setLinearVelocity (const core::vector3df &v)
	Sets the linear velocity.
void	setAngularVelocity (const core::vector3df &v)
	Sets the angular velocity.
bool	needUpdateTransform ()
	Checks if the transform needs updating.
void	notifyUpdateTransform (bool b)
	Notifies the component about transform update status.
void	setDrawDebug (bool b)
	Enables or disables debug drawing for this specific rigid body.
bool	enableDrawDebug ()
	Checks if debug drawing is enabled for this body.
core::matrix4	getWorldTransform ()
	Gets the current world transform matrix.
Public Member Functions inherited from Skylicht::Physics::ICollisionObject
ECollisionType	getCollisionType ()
	Gets the collision type.
int	getCollisionGroup ()
	Gets the collision group bitmask.
int	getCollisionFilter ()
	Gets the collision filter bitmask.
Public Member Functions inherited from Skylicht::CComponentSystem
const char *	getName ()
virtual void	reset ()
virtual void	endUpdate ()
virtual void	onEnable (bool b)
virtual void	onUpdateCullingLayer (u32 mask)
void	setEnable (bool b)
bool	isEnable ()
CGameObject *	getGameObject ()
void	setEnableSerializable (bool b)
bool	isSerializable ()
void	addLinkComponent (CComponentSystem *comp)
void	removeAllLink ()
Public Member Functions inherited from Skylicht::IActivatorObject
virtual	~IActivatorObject ()
	Virtual destructor for polymorphic activator objects.

Protected Attributes
bool	m_isDynamic
float	m_mass
float	m_restitution
float	m_friction
float	m_rollingFriction
float	m_spinningFriction
bool	m_needUpdateTransform
bool	m_drawDebug
int	m_tag
Protected Attributes inherited from Skylicht::Physics::ICollisionObject
ECollisionType	m_collisionType
int	m_group
int	m_filter
Protected Attributes inherited from Skylicht::CComponentSystem
CGameObject *	m_gameObject
bool	m_enable
bool	m_serializable
std::vector< CComponentSystem * >	m_linkComponent

Friends
class	CPhysicsEngine

Additional Inherited Members
Static Public Member Functions inherited from Skylicht::CComponentSystem
static int	useComponent (CComponentSystem *used)
Public Attributes inherited from Skylicht::Physics::ICollisionObject
std::function< void(ICollisionObject , ICollisionObject , SCollisionContactPoint *, int)>	OnCollision
	Callback function triggered when a collision occurs.
Protected Member Functions inherited from Skylicht::CComponentSystem
void	setOwner (CGameObject *obj)

Detailed Description

Represents a physical rigid body in the physics simulation.

A rigid body can be dynamic (affected by forces and gravity) or static/kinematic. It must be attached to a GameObject that also has a CCollider component.

Example: Creating a dynamic box

CGameObject* cubeObj = zone->createEmptyObject();
cubeObj->addComponent<CCube>(); // Visual mesh
 
// 1. Add collider
cubeObj->addComponent<Physics::CBoxCollider>();
 
// 2. Add and init Rigidbody
Physics::CRigidbody* body = cubeObj->addComponent<Physics::CRigidbody>();
body->setMass(1.0f);
body->initRigidbody();
 
// 3. Set initial state
body->setPosition(core::vector3df(0.0f, 10.0f, 0.0f));
body->syncTransform();

Example: Creating a static/kinematic floor

CGameObject* floorObj = zone->createEmptyObject();
floorObj->addComponent<Physics::CStaticPlaneCollider>();
 
Physics::CRigidbody* body = floorObj->addComponent<Physics::CRigidbody>();
body->setDynamic(false); // Static
body->initRigidbody();

Member Function Documentation

◆ applyCenterForce()

void Skylicht::Physics::CRigidbody::applyCenterForce ( const core::vector3df & force )

Applies a force at the center of mass.

Parameters

force Force vector.

◆ applyCenterImpulse()

void Skylicht::Physics::CRigidbody::applyCenterImpulse ( const core::vector3df & impulse )

Applies an instantaneous impulse at the center of mass.

Parameters

impulse Impulse vector.

◆ applyCenterPushImpulse()

void Skylicht::Physics::CRigidbody::applyCenterPushImpulse ( const core::vector3df & impulse )

Applies a push impulse at the center of mass.

Parameters

impulse Push impulse vector.

◆ applyForce()

void Skylicht::Physics::CRigidbody::applyForce	(	const core::vector3df &	force,
		const core::vector3df &	localPosition )

Applies a force at a specific local position.

Parameters

force	Force vector.
localPosition	Local offset from the center of mass.

◆ applyImpulse()

void Skylicht::Physics::CRigidbody::applyImpulse	(	const core::vector3df &	impulse,
		const core::vector3df &	localPosition )

Applies an instantaneous impulse at a specific local position.

Parameters

impulse	Impulse vector.
localPosition	Local offset from the center of mass.

◆ applyPushImpulse()

void Skylicht::Physics::CRigidbody::applyPushImpulse	(	const core::vector3df &	impulse,
		const core::vector3df &	localPosition )

Applies a push impulse at a specific local position.

Parameters

impulse	Push impulse vector.
localPosition	Local offset from the center of mass.

◆ applyTorque()

void Skylicht::Physics::CRigidbody::applyTorque ( const core::vector3df & torque )

Applies a torque (rotational force).

Parameters

torque Torque vector.

◆ applyTorqueImpulse()

void Skylicht::Physics::CRigidbody::applyTorqueImpulse ( const core::vector3df & torqueImpulse )

Applies a torque impulse (instantaneous rotation).

Parameters

torqueImpulse Torque impulse vector.

◆ applyTorqueTurnImpulse()

void Skylicht::Physics::CRigidbody::applyTorqueTurnImpulse ( const core::vector3df & torqueImpulse )

Applies a torque turn impulse.

Parameters

torqueImpulse Torque impulse vector.

◆ createSerializable()

virtual CObjectSerializable * Skylicht::Physics::CRigidbody::createSerializable ( )

virtual

Reimplemented from Skylicht::CComponentSystem.

◆ enableDrawDebug()

bool Skylicht::Physics::CRigidbody::enableDrawDebug ( )

inline

Checks if debug drawing is enabled for this body.

Returns: True if enabled.

◆ getAngularVelocity()

core::vector3df Skylicht::Physics::CRigidbody::getAngularVelocity ( )

Gets the current angular velocity.

Returns: Angular velocity vector.

◆ getFriction()

float Skylicht::Physics::CRigidbody::getFriction ( )

inline

Gets the friction coefficient.

Returns: Friction value.

◆ getLinearVelocity()

core::vector3df Skylicht::Physics::CRigidbody::getLinearVelocity ( )

Gets the current linear velocity.

Returns: Velocity vector.

◆ getLocalScale()

core::vector3df Skylicht::Physics::CRigidbody::getLocalScale ( )

Gets the local scale of the collision shape.

Returns: Scale vector.

◆ getMass()

float Skylicht::Physics::CRigidbody::getMass ( )

inline

Gets the mass of the rigid body.

Returns: Mass value.

◆ getPosition()

core::vector3df Skylicht::Physics::CRigidbody::getPosition ( )

Gets the world position of the rigid body.

Returns: Position vector.

◆ getRestitution()

float Skylicht::Physics::CRigidbody::getRestitution ( )

inline

Gets the restitution coefficient.

Returns: Restitution value.

◆ getRollingFriction()

float Skylicht::Physics::CRigidbody::getRollingFriction ( )

inline

Gets the rolling friction coefficient.

Returns: Rolling friction value.

◆ getRotation()

core::quaternion Skylicht::Physics::CRigidbody::getRotation ( )

Gets the world rotation as a quaternion.

Returns: Rotation quaternion.

◆ getRotationEuler()

core::vector3df Skylicht::Physics::CRigidbody::getRotationEuler ( )

Gets the world rotation as Euler angles.

Returns: Euler angles in degrees.

◆ getSpinningFriction()

float Skylicht::Physics::CRigidbody::getSpinningFriction ( )

inline

Gets the spinning friction coefficient.

Returns: Spinning friction value.

◆ getState()

EActivationState Skylicht::Physics::CRigidbody::getState ( )

Gets the current activation state.

Returns: Current state.

◆ getStateName()

const char * Skylicht::Physics::CRigidbody::getStateName ( )

Gets the name of the current activation state as a string.

Returns: State name string.

◆ getTag()

int Skylicht::Physics::CRigidbody::getTag ( )

inline

Gets the custom tag of the rigid body.

Returns: The tag value.

◆ getWorldTransform()

core::matrix4 Skylicht::Physics::CRigidbody::getWorldTransform ( )

Gets the current world transform matrix.

Returns: 4x4 transform matrix.

◆ initComponent()

virtual void Skylicht::Physics::CRigidbody::initComponent ( )

virtual

Implements Skylicht::CComponentSystem.

◆ initRigidbody()

bool Skylicht::Physics::CRigidbody::initRigidbody ( )

Initializes the rigid body in the physics world.

Returns: True if successful, false otherwise.

◆ isDynamic()

bool Skylicht::Physics::CRigidbody::isDynamic ( )

inline

Checks if the body is dynamic.

Returns: True if dynamic, false otherwise.

◆ loadSerializable()

virtual void Skylicht::Physics::CRigidbody::loadSerializable ( CObjectSerializable * object )

virtual

Reimplemented from Skylicht::CComponentSystem.

◆ needUpdateTransform()

bool Skylicht::Physics::CRigidbody::needUpdateTransform ( )

inline

Checks if the transform needs updating.

Returns: True if update is needed.

◆ notifyUpdateTransform()

void Skylicht::Physics::CRigidbody::notifyUpdateTransform ( bool b )

inline

Notifies the component about transform update status.

Parameters

b	Update status.

◆ setAngularVelocity()

void Skylicht::Physics::CRigidbody::setAngularVelocity ( const core::vector3df & v )

Sets the angular velocity.

Parameters

v	Angular velocity vector.

◆ setCcdMotionThreshold()

void Skylicht::Physics::CRigidbody::setCcdMotionThreshold ( float m = 0.0f )

Sets the motion threshold for Continuous Collision Detection (CCD).

Parameters

m	Motion threshold value.

◆ setCcdSweptSphereRadius()

void Skylicht::Physics::CRigidbody::setCcdSweptSphereRadius ( float r = 0.0f )

Sets the radius for Continuous Collision Detection (CCD).

Parameters

r	Radius value.

◆ setCollisionGroupAndFilter()

virtual void Skylicht::Physics::CRigidbody::setCollisionGroupAndFilter	(	int	group,
		int	filter )

virtual

Sets the collision group and filter mask.

Parameters

group	Bitmask representing the collision group.
filter	Bitmask representing which groups this object should collide with.

Reimplemented from Skylicht::Physics::ICollisionObject.

◆ setDrawDebug()

void Skylicht::Physics::CRigidbody::setDrawDebug ( bool b )

inline

Enables or disables debug drawing for this specific rigid body.

Parameters

b	True to enable, false to disable.

◆ setDynamic()

void Skylicht::Physics::CRigidbody::setDynamic ( bool b )

Sets whether the body is dynamic.

Parameters

b	True for dynamic, false for static/kinematic.

◆ setFriction()

void Skylicht::Physics::CRigidbody::setFriction ( float f )

Sets the friction coefficient.

Parameters

f	Friction value.

◆ setLinearVelocity()

void Skylicht::Physics::CRigidbody::setLinearVelocity ( const core::vector3df & v )

Sets the linear velocity.

Parameters

v	Velocity vector.

◆ setLocalScale()

void Skylicht::Physics::CRigidbody::setLocalScale ( const core::vector3df & scale )

Sets the local scale of the collision shape.

Parameters

scale Scale vector.

◆ setMass()

void Skylicht::Physics::CRigidbody::setMass ( float m )

Sets the mass of the rigid body.

Parameters

m	Mass value.

◆ setPosition()

void Skylicht::Physics::CRigidbody::setPosition ( const core::vector3df & pos )

Sets the world position of the rigid body.

Parameters

pos	Position vector.

◆ setRestitution()

void Skylicht::Physics::CRigidbody::setRestitution ( float s )

Sets the restitution (bounciness) coefficient.

Parameters

s	Restitution value.

◆ setRollingFriction()

void Skylicht::Physics::CRigidbody::setRollingFriction ( float f )

Sets the rolling friction coefficient.

Parameters

f	Rolling friction value.

◆ setRotation() [1/2]

void Skylicht::Physics::CRigidbody::setRotation ( const core::quaternion & q )

Sets the world rotation using a quaternion.

Parameters

q	Rotation quaternion.

◆ setRotation() [2/2]

void Skylicht::Physics::CRigidbody::setRotation ( const core::vector3df & eulerDeg )

Sets the world rotation using Euler angles.

Parameters

eulerDeg Euler angles in degrees.

◆ setSleepingThresholds()

void Skylicht::Physics::CRigidbody::setSleepingThresholds	(	float	linear,
		float	angular )

Sets the thresholds for linear and angular velocity to enter sleep mode.

Parameters

linear	Linear velocity threshold.
angular	Angular velocity threshold.

◆ setSpinningFriction()

void Skylicht::Physics::CRigidbody::setSpinningFriction ( float f )

Sets the spinning friction coefficient.

Parameters

f	Spinning friction value.

◆ setState()

void Skylicht::Physics::CRigidbody::setState ( EActivationState state )

Sets the activation state of the rigid body.

Parameters

state New activation state.

◆ setTag()

void Skylicht::Physics::CRigidbody::setTag ( int i )

inline

Sets a custom tag for the rigid body.

Parameters

i	Tag value.

◆ startComponent()

virtual void Skylicht::Physics::CRigidbody::startComponent ( )

virtual

Reimplemented from Skylicht::CComponentSystem.

◆ updateComponent()

virtual void Skylicht::Physics::CRigidbody::updateComponent ( )

virtual

Implements Skylicht::CComponentSystem.

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

RigidBody/CRigidbody.h

Public Types

Public Member Functions

Protected Attributes

Friends

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ applyCenterForce()

◆ applyCenterImpulse()

◆ applyCenterPushImpulse()

◆ applyForce()

◆ applyImpulse()

◆ applyPushImpulse()

◆ applyTorque()

◆ applyTorqueImpulse()

◆ applyTorqueTurnImpulse()

◆ createSerializable()

◆ enableDrawDebug()

◆ getAngularVelocity()

◆ getFriction()

◆ getLinearVelocity()

◆ getLocalScale()

◆ getMass()

◆ getPosition()

◆ getRestitution()

◆ getRollingFriction()

◆ getRotation()

◆ getRotationEuler()

◆ getSpinningFriction()

◆ getState()

◆ getStateName()

◆ getTag()

◆ getWorldTransform()

◆ initComponent()

◆ initRigidbody()

◆ isDynamic()

◆ loadSerializable()

◆ needUpdateTransform()

◆ notifyUpdateTransform()

◆ setAngularVelocity()

◆ setCcdMotionThreshold()

◆ setCcdSweptSphereRadius()

◆ setCollisionGroupAndFilter()

◆ setDrawDebug()

◆ setDynamic()

◆ setFriction()

◆ setLinearVelocity()

◆ setLocalScale()

◆ setMass()

◆ setPosition()

◆ setRestitution()

◆ setRollingFriction()

◆ setRotation() [1/2]

◆ setRotation() [2/2]

◆ setSleepingThresholds()

◆ setSpinningFriction()

◆ setState()

◆ setTag()

◆ startComponent()

◆ updateComponent()