esp::physics::BulletRigidStage class

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

Base classes

class BulletBase

This class is intended to implement bullet-specific.

class RigidStage

A RigidBase representing an individual rigid stage instance attached to a SceneNode. This construction currently may only be esp::physics::MotionType::STATIC.

Constructors, destructors, conversion operators

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

~BulletRigidStage() override

Destructor cleans up simulation structures for the stage object.

Public functions

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.

auto getFrictionCoefficient() const -> double override

Get the scalar friction coefficient of the stage object. Only used for dervied dynamic implementations of RigidStage.

auto getRestitutionCoefficient() const -> double override

Get the scalar coefficient of restitution of the stage object. Only used for dervied dynamic implementations of RigidStage.

void setFrictionCoefficient(double frictionCoefficient) override

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

void setRestitutionCoefficient(double restitutionCoefficient) override

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

Private functions

auto initialization_LibSpecific() -> bool override

Finalize the initialization of this RigidScene geometry. This holds bullet-specific functionality for stages.

void setCollidable(bool collidable) override

Set the stage to collidable or not by adding/removing the static collision shapes from the simulation world.

Function documentation