esp::physics::RigidObject class

#include <esp/physics/RigidObject.h>

Base classes

class RigidBase

This class specifies the functionality expected of rigid objects and stages, particularly with regard to dynamic simulation, if such a library, such as bullet, is available.

Derived classes

class BulletRigidObject

An individual rigid object instance implementing an interface with Bullet physics to enable dynamic objects. See btRigidBody.

Constructors, destructors, conversion operators

RigidObject(scene::SceneNode* rigidBodyNode, int objectId, const assets::ResourceManager& resMgr)

Constructor for a esp::physics::RigidObject.

~RigidObject() defaulted override

Virtual destructor for a esp::physics::RigidObject.

Public functions

auto initialize(metadata::attributes::AbstractObjectAttributes::ptr initAttributes) -> bool override

Initializes the esp::physics::RigidObject that inherits from this class.

auto finalizeObject() -> bool override

Finalize the creation of the RigidObject.

auto getInitializationAttributes() const -> std::shared_ptr<metadata::attributes::ObjectAttributes>

Get a copy of the template used to initialize this object.

void setIsCOMCorrected(bool _isCOMCorrected)

Set whether this object is COM corrected, which determines how the intial transformation is applied when placing the object.

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

Reverses the COM correction transformation for objects that require it.

auto getCOMCorrection() const -> Magnum::Vector3

Retrieves the COM correction translation for objects that require it.

void setMotionType(MotionType mt) override

Set the MotionType of the object. If the construct is a physics::RigidStage, it can only be physics::MotionType::STATIC. If the object is physics::RigidObject it can also be set to physics::MotionType::KINEMATIC. Only if a dervied physics::PhysicsManager implementing dynamics is in use can the object be set to physics::MotionType::DYNAMIC.

auto getVelocityControl() -> VelocityControl::ptr

Retrieves a reference to the VelocityControl struct for this object.

void resetStateFromSceneInstanceAttr() override

Set the object's state from a esp::metadata::attributes::SceneObjectInstanceAttributes.

Protected variables

bool isCOMCorrected_

Whether or not this object's placement should be COM corrected.

VelocityControl::ptr velControl_

Convenience variable: specifies a constant control velocity (linear | angular) applied to the rigid body before each step.

Private functions

auto initialization_LibSpecific() -> bool override

Finalize the initialization of this esp::physics::RigidObject's geometry. This is overridden by inheriting class specific to certain physics libraries. Necessary to support kinematic objects without any dynamics support.

auto finalizeObject_LibSpecific() -> bool override

any physics-lib-specific finalization code that needs to be run after RigidObject is created. Overridden by inheriting class specific to certain physics libraries. Necessary to support kinematic objects without any dynamics support.

Function documentation