dtCore::Physical Class Reference

A rigid body object which can behave with realistic physical properties. More...

#include <physical.h>

Inheritance diagram for dtCore::Physical:

List of all members.

Public Member Functions
	Physical (const std::string &name="Physical")
	Physical (TransformableNode &node, const std::string &name="Physical")
	Overloaded constructor will use the supplied node instead of creating one internally.
void	SetBodyID (dBodyID bodyID)
	Sets the ODE body identifier associated with this object.
dBodyID	GetBodyID () const
	Returns the ODE body identifier associated with this object.
void	EnableDynamics (bool enable=true)
	Enables or disables dynamics for this object.
bool	DynamicsEnabled () const
	Checks whether or not dynamics are enabled for this object.
void	SetMass (const dMass *mass)
	Sets the ODE mass parameters of this object.
void	GetMass (dMass *mass) const
	Retrieves the ODE mass parameters of this object.
void	SetMass (float mass)
	Sets the mass of this object.
float	GetMass () const
	Returns the mass of this object.
void	SetCenterOfGravity (const osg::Vec3 &centerOfGravity)
	Sets this object's center of gravity.
void	GetCenterOfGravity (osg::Vec3 &dest) const
	Retrieves this object's center of gravity.
void	SetInertiaTensor (const osg::Matrix &inertiaTensor)
	Sets this object's inertia tensor.
void	GetInertiaTensor (osg::Matrix &mat) const
	Retrieves this object's inertia tensor.
virtual void	PostPhysicsStepUpdate ()
	Updates the state of this object just after a physical simulation step.
virtual bool	FilterContact (dContact *contact, Transformable *collider)
	Modifies or cancels the specified contact joint definition according to the relationship between this object and the specified collider.
Protected Member Functions
virtual	~Physical ()

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Detailed Description

A rigid body object which can behave with realistic physical properties.

Typical use would involve supplying the shape to use for the collision detection and the mass of the body. A Physical instance is not enabled by default and must be enabled by calling EnableDynamics().

Since a Physical is derived from DeltaDrawable, it already has a geometry node associated with it. As such, a collision geometry can be assigned to this body by either supplying the shape properties, or by passing a NULL into the SetCollision*() methods.

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Constructor & Destructor Documentation

Physical::Physical

(

const std::string &

name = "Physical"

)

Physical::Physical	(	TransformableNode &	node,
		const std::string &	name = "Physical"
	)

Overloaded constructor will use the supplied node instead of creating one internally.

Parameters:

	node	: A node this class should use internally
	name	: The name of this instance

Physical::~Physical

(

)

[protected, virtual]

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Member Function Documentation

void Physical::SetBodyID

(

dBodyID

bodyID

)

Sets the ODE body identifier associated with this object.

Should only be called by dtCore::Scene. If you call this outside the content of Scene be warning that any transformations you have on bodyID will be removed.

Parameters:

bodyID

the new body identifier

Should only be called by Scene.

Parameters:

bodyID

the new body identifier

dBodyID Physical::GetBodyID

(

)

const

Returns the ODE body identifier associated with this object.

Returns:

the object's body identifier

void Physical::EnableDynamics

(

bool

enable = true

)

Enables or disables dynamics for this object.

Parameters:

enable

true to enable dynamics, false to disable

bool Physical::DynamicsEnabled

(

)

const

Checks whether or not dynamics are enabled for this object.

Returns:

true if dynamics are enabled, false otherwise

void Physical::SetMass

(

const dMass *

mass

)

Sets the ODE mass parameters of this object.

Parameters:

mass

a pointer to the mass structure to copy

void Physical::GetMass

(

dMass *

mass

)

const

Retrieves the ODE mass parameters of this object.

Parameters:

mass

a pointer to the mass structure to fill

void Physical::SetMass

(

float

mass

)

Sets the mass of this object.

Parameters:

mass

the new mass, in kilograms

float Physical::GetMass

(

)

const

Returns the mass of this object.

Returns:

the current mass

void Physical::SetCenterOfGravity

(

const osg::Vec3 &

centerOfGravity

)

Sets this object's center of gravity.

Parameters:

centerOfGravity

the new center of gravity

void Physical::GetCenterOfGravity

(

osg::Vec3 &

dest

)

const

Retrieves this object's center of gravity.

Parameters:

dest

the vector in which to place the center of gravity

void Physical::SetInertiaTensor

(

const osg::Matrix &

inertiaTensor

)

Sets this object's inertia tensor.

Parameters:

	inertiaTensor	the new inertia tensor, uses only the rotation part of the transform matrix
	inertiaTensor	the new inertia tensor, only uses the rotation part of the transform matrix

void Physical::GetInertiaTensor

(

osg::Matrix &

dest

)

const

Retrieves this object's inertia tensor.

Parameters:

dest

the matrix in which to place the inertia tensor, uses only rotation part of the transform matrix

void Physical::PostPhysicsStepUpdate

(

)

[virtual]

Updates the state of this object just after a physical simulation step.

Should only be called by dtCore::Scene. The default implementation copies the new object position into the user-accessible transformation.

Reimplemented from dtCore::Transformable.

virtual bool dtCore::Physical::FilterContact	(	dContact *	contact,
		Transformable *	collider
	)			[inline, virtual]

Modifies or cancels the specified contact joint definition according to the relationship between this object and the specified collider.

Should only be called by dtCore::Scene.

Parameters:

	contact	the joint definition to modify
	collider	the object with which this is colliding

Returns:

true to keep the contact joint as modified, false to cancel it

Reimplemented from dtCore::Transformable.

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