PhysicsBody Class Reference

an interface to the Bullet physics engine, although parameters controlled by PhysicsBody::ComponentListener and its associated LinkComponent More...

#include <PhysicsBody.h>

Detailed Description

an interface to the Bullet physics engine, although parameters controlled by PhysicsBody::ComponentListener and its associated LinkComponent

Definition at line 21 of file PhysicsBody.h.

List of all members.

Classes
class	ComponentListener
	This object subscribes to a LinkComponent (usually the root KinematicJoint of a chain) and creates a corresponding PhysicsBodies for it and its children. More...
Public Member Functions
KinematicJoint &	getLinkComponent ()
std::string	getPath () const
std::string	getModel () const
btRigidBody &	getBody () const
const btVector3 &	getCenterOffset () const
void	getCurrent (fmat::Column< 3 > &pos, fmat::Quaternion &quat) const
bool	hasJoint () const
float	getJoint () const
fmat::Column< 3 >	getInertia () const
void	teleport (const fmat::Column< 3 > &pos)
	removes from world, then re-builds at new location
void	teleport (const fmat::Quaternion &quat)
	removes from world, then re-builds at new location
void	teleport (const fmat::Column< 3 > &pos, const fmat::Quaternion &quat)
	removes from world, then re-builds at new location
void	teleport (const btTransform &tr)
	removes from world, then re-builds at new location
void	setVelocity (const fmat::Column< 3 > &linear, const fmat::Column< 3 > &angular)
	sets a linear and angular velocity (world coordinates), also applies to children
void	setVelocity (const btVector3 &linear, const btVector3 &angular)
	sets a linear and angular velocity (world coordinates), also applies to children
Protected Member Functions
	PhysicsBody (PhysicsWorld &world_, KinematicJoint &link_, const plist::Primitive< float > pos_, const btTransform &tr, PhysicsBody parent)
	~PhysicsBody ()
void	init ()
void	build ()
void	buildLink (const KinematicJoint &kj, const fmat::Transform &tr)
void	addComponent (const LinkComponent &comp, const fmat::Transform &tr)
void	resetTransform ()
void	clear ()
void	updateFrictionForce ()
void	updateAnistropicFriction ()
void	rebuild ()
Static Protected Member Functions
static bool	isChild (const LinkComponent &pb, const LinkComponent &child)
Protected Attributes
PhysicsWorld &	world
KinematicJoint &	link
const plist::Primitive< float > *	qpos
float	totalMass
btVector3	centerOffset
btVector3	inertia
btCompoundShape *	compound
btRigidBody *	body
btGeneric6DofConstraint *	joint
ConstraintInterface *	jointInterface
MotorController *	jointController
btTransform	lastTransform
PhysicsBody *	parentBody
std::set< PhysicsBody * >	children
std::string	collisionDataName
plist::PrimitiveCallbackMember < PhysicsBody >	frictionForceListener
plist::CollectionCallbackMember < PhysicsBody >	anistropicFrictionListener
Static Protected Attributes
static std::map< std::string, CollisionData * >	collisionData
Private Member Functions
	PhysicsBody (const PhysicsBody &)
	do not call
PhysicsBody &	operator= (const PhysicsBody &)
	do not call
Friends
class	PhysicsWorld
class	CollisionData

Constructor & Destructor Documentation

PhysicsBody::PhysicsBody	(	PhysicsWorld &	world_,
		KinematicJoint &	link_,
		const plist::Primitive< float > *	pos_,
		const btTransform &	tr,
		PhysicsBody *	parent
	)			`[protected]`