esp::physics::BulletRigidObject class

#include <esp/physics/bullet/BulletRigidObject.h>

Base classes

class BulletBase

This class is intended to implement bullet-specific.

class RigidObject

A RigidBase representing an individual rigid object instance attached to a SceneNode, updating its state through simulation. This may be a esp::physics::MotionType::STATIC scene collision geometry or an object of any MotionType which can interact with other members of a physical world. Must have a collision mesh. By default, a RigidObject is MotionType::KINEMATIC without an underlying simulator implementation. Derived classes can be used to introduce specific implementations of dynamics.

Constructors, destructors, conversion operators

BulletRigidObject(scene::SceneNode* rigidBodyNode, int objectId, const assets::ResourceManager& resMgr, std::shared_ptr<btMultiBodyDynamicsWorld> bWorld, std::shared_ptr<std::map<const btCollisionObject*, int>> collisionObjToObjIds)

Constructor for a BulletRigidObject.

~BulletRigidObject() override

Destructor cleans up simulation structures for the object.

Public functions

auto finalizeObject_LibSpecific() -> bool override

Finalize this object with any necessary post-creation processes.

auto buildPrimitiveCollisionObject(int primTypeVal, double halfLength) -> std::unique_ptr<btCollisionShape>

Instantiate a bullet primtive appropriate for the passed AbstractPrimitiveAttributes object.

auto constructCollisionShape() -> bool

Construct the bObjectShape_ for this object.

auto isActive() const -> bool override

Check whether object is being actively simulated, or sleeping. See btCollisionObject::isActive.

void setActive(bool active) override

Set the object to sleep or wake.

void updateNodes(bool force = false) override

Disable deferred updates if active and sets SceneNode states from internal object physics states.

void setMotionType(MotionType mt) override

Set the MotionType of the object. The object can be set to MotionType::STATIC, MotionType::KINEMATIC or MotionType::DYNAMIC. See btRigidBody::setCollisionFlags and btCollisionObject::CF_STATIC_OBJECT,CF_KINEMATIC_OBJECT.

void setCollidable(bool collidable) override

void shiftOrigin(const Magnum::Vector3& shift) override

Shift the object's local origin by translating all children of this BulletRigidObject and all components of its bObjectShape_.

void applyForce(const Magnum::Vector3& force, const Magnum::Vector3& relPos) override

Apply a force to an object. Does nothing for MotionType::STATIC and MotionType::KINEMATIC objects. Activates the object. See btRigidBody::applyForce.

void applyImpulse(const Magnum::Vector3& impulse, const Magnum::Vector3& relPos) override

Apply an impulse to an object. Directly modifies the object's velocity without requiring integration through simulation. Does nothing for MotionType::STATIC and MotionType::KINEMATIC objects. Activates the object. See btRigidBody::applyImpulse.

void applyTorque(const Magnum::Vector3& torque) override

Apply an internal torque to an object. Does nothing for MotionType::STATIC and MotionType::KINEMATIC objects. Activates the object. See btRigidBody::applyTorque.

void applyImpulseTorque(const Magnum::Vector3& impulse) override

Apply an internal impulse torque to an object. Does nothing for MotionType::STATIC and MotionType::KINEMATIC objects. Activates the object. See btRigidBody::applyTorqueImpulse.

auto getLinearVelocity() const -> Magnum::Vector3 override

Virtual linear velocity getter for an object.

auto getAngularVelocity() const -> Magnum::Vector3 override

Angular velocity getter for an object.

auto getMass() const -> double override

Get the mass of the object. See btRigidBody::getInvMass.

auto getCOM() const -> Magnum::Vector3 override

Get the center of mass (COM) of the object. For Bullet, COM is always the origin of the local coordinate system. See btRigidBody::getCenterOfMassPosition.

auto getInertiaVector() const -> Magnum::Vector3 override

Get the diagonal of the inertia matrix for an object. If an object is aligned with its principle axii of inertia, the 3x3 inertia matrix can be reduced to a diagonal. This is expected for Bullet. See BulletRigidObject::setInertiaVector. See btRigidBody::getInvInertiaDiagLocal.

auto getInertiaMatrix() const -> Magnum::Matrix3 override

Get the 3x3 inertia matrix for an object. For Bullet, this will be a diagonal matrix. See getInertiaVector.

auto getFrictionCoefficient() const -> double override

Get the scalar friction coefficient of the object. See btCollisionObject::getFriction.

auto getRollingFrictionCoefficient() const -> double override

Get the scalar rolling friction coefficient of the object. See btCollisionObject::getRollingFriction.

auto getSpinningFrictionCoefficient() const -> double override

Get the scalar spinning friction coefficient of the object. See btCollisionObject::getSpinningFriction.

auto getRestitutionCoefficient() const -> double override

Get the scalar coefficient of restitution of the object. See btCollisionObject::getRestitution.

auto getLinearDamping() const -> double override

Get the scalar linear damping coefficient of the object. See btRigidBody::getLinearDamping.

auto getAngularDamping() const -> double override

Get the scalar angular damping coefficient of the object. See btRigidBody::getAngularDamping.

auto getMargin() const -> double override

Get the scalar collision margin of an object. See btCompoundShape::getMargin.

void setLinearVelocity(const Magnum::Vector3& linVel) override

Linear velocity setter for an object.

void setAngularVelocity(const Magnum::Vector3& angVel) override

Angular velocity setter for an object.

void setMass(const double mass) override

Set the mass of the object. See btRigidBody::setMassProps. Note that changing mass should affect inertia, but this is not done automatically.

void setCOM(const Magnum::Vector3& COM) override

Set the center of mass (COM) of the object.

void setInertiaVector(const Magnum::Vector3& inertia) override

Set the diagonal of the inertia matrix for the object. If an object is aligned with its principle axii of inertia, the 3x3 inertia matrix can be reduced to a diagonal. This is the requirement for Bullet btRigidBody objects. See btRigidBody::setMassProps.

void setFrictionCoefficient(const double frictionCoefficient) override

Set the scalar friction coefficient of the object. See btCollisionObject::setFriction.

void setRollingFrictionCoefficient(const double rollingFrictionCoefficient) override

Set the scalar rolling friction coefficient of the object. See btCollisionObject::setRollingFriction.

void setSpinningFrictionCoefficient(const double spinningFrictionCoefficient) override

Set the scalar spinning friction coefficient of the object. See btCollisionObject::setSpinningFriction.

void setRestitutionCoefficient(const double restitutionCoefficient) override

Set the scalar coefficient of restitution of the object. See btCollisionObject::setRestitution.

void setLinearDamping(const double linearDamping) override

Set the scalar linear damping coefficient of the object. See btRigidBody::setDamping.

void setAngularDamping(const double angularDamping) override

Set the scalar angular damping coefficient for the object. See btRigidBody::setDamping.

void setMargin(const double margin) override

Set the scalar collision margin of an object. See btCompoundShape::setMargin.

void setCollisionFromBB()

Sets the object's collision shape to its bounding box. Since the bounding hierarchy is not constructed when the object is initialized, this needs to be called after loading the SceneNode.

auto isUsingBBCollisionShape() const -> bool

Public getter for usingBBCollisionShape_ set from configuration.

auto contactTest() -> bool override

Return result of a discrete contact test between the object and collision world.

void overrideCollisionGroup(CollisionGroup group) override

Manually set the collision group for an object.

auto getCollisionShapeAabb() const -> Magnum::Range3D override

Query the Aabb from bullet physics for the root compound shape of the rigid body in its local space. See btCompoundShape::getAabb.

Public variables

std::unique_ptr<btRigidBody> bObjectRigidBody_

Object data: All BulletRigidObject components are wrapped into one btRigidBody.

Protected functions

void syncPose() override

Used to synchronize Bullet's notion of the object state after it was changed kinematically. Called automatically on kinematic updates. See btRigidBody::setWorldTransform.

void constructAndAddRigidBody(MotionType mt)

construct a btRigidBody for this object configured by MotionType and add it to the world.

void shiftObjectCollisionShape(const Magnum::Vector3& shift)

shift all child shapes of the bObjectShape_ to modify collision shape origin.

void activateCollisionIsland()

Iterate through all collision objects and active all objects sharing a collision island tag with this object's collision shape.

Private functions

auto initialization_LibSpecific() -> bool override

Finalize initialization of this BulletRigidObject as a MotionType::DYNAMIC object. See btRigidBody. This holds bullet-specific functionality for objects.

Function documentation