Class BulletRigidBody3D

The Bullet3DRigidBody implements Bullet rigid body for Evergine.

Inheritance
object
DisposableObject
BulletPhysicBody3D
BulletRigidBody3D
Implements
Inherited Members
Namespace: Evergine.Bullet
Assembly: Evergine.Bullet.dll
Syntax
public sealed class BulletRigidBody3D : BulletPhysicBody3D, IRigidBody3D, IPhysicBody3D, IDisposable

Constructors

BulletRigidBody3D(BulletPhysicManager3D, RigidBodyDef3D)

Initializes a new instance of the BulletRigidBody3D class.

Declaration
public BulletRigidBody3D(BulletPhysicManager3D simulation3D, RigidBodyDef3D rigidBodyDef)
Parameters
Type Name Description
BulletPhysicManager3D simulation3D

The bullet world.
RigidBodyDef3D rigidBodyDef

The definition of Rigid body.

Properties

Aabb

Gets the bounding box.

Declaration
public BoundingBox Aabb { get; }
Property Value
Type Description
BoundingBox

ActivationState

Gets or sets the activation state.

Declaration
public ActivationState ActivationState { get; set; }
Property Value
Type Description
ActivationState

AngularDamping

Gets the Angular damping is use to reduce the angular velocity. The damping parameter can be larger than 1.0f but the damping effect becomes sensitive to the time step when the damping parameter is large.

Declaration
public float AngularDamping { get; }
Property Value
Type Description
float

AngularFactor

Gets or sets the angular factor.

Declaration
public Vector3 AngularFactor { get; set; }
Property Value
Type Description
Vector3

AngularSleepingThreshold

Gets the sleeping threshold for angular velocity.

Declaration
public float AngularSleepingThreshold { get; }
Property Value
Type Description
float

AngularVelocity

Gets or sets the angular velocity.

Declaration
public Vector3 AngularVelocity { get; set; }
Property Value
Type Description
Vector3

CenterOfMassPosition

Gets the center of mass position.

Declaration
public Vector3 CenterOfMassPosition { get; }
Property Value
Type Description
Vector3

CenterOfMassTransform

Gets or sets the center of mass transformation.

Declaration
public Matrix4x4 CenterOfMassTransform { get; set; }
Property Value
Type Description
Matrix4x4

Gravity

Gets or sets the gravity applied to that rigid body.

Declaration
public Vector3 Gravity { get; set; }
Property Value
Type Description
Vector3

InvInertiaDiagLocal

Gets or sets the InvInertiaDiagLocal vector of the rigid body.

Declaration
public Vector3 InvInertiaDiagLocal { get; set; }
Property Value
Type Description
Vector3

InvInertiaTensorWorld

Gets the Inverse vector of the inertia tensor of the world.

Declaration
public Matrix4x4 InvInertiaTensorWorld { get; }
Property Value
Type Description
Matrix4x4

InvMass

Gets the inverse of the mass.

Declaration
public float InvMass { get; }
Property Value
Type Description
float

IsInWorld

Gets a value indicating whether this body is in the world.

Declaration
public bool IsInWorld { get; }
Property Value
Type Description
bool

IsKinematicObject

Gets a value indicating whether this body is kinematic.

Declaration
public override bool IsKinematicObject { get; }
Property Value
Type Description
bool
Overrides

IsStaticObject

Gets a value indicating whether this body is static.

Declaration
public override bool IsStaticObject { get; }
Property Value
Type Description
bool
Overrides

LinearDamping

Gets the Linear damping is use to reduce the linear velocity. The damping parameter can be larger than 1.0f but the damping effect becomes sensitive to the time step when the damping parameter is large.

Declaration
public float LinearDamping { get; }
Property Value
Type Description
float

LinearFactor

Gets or sets the linear factor.

Declaration
public Vector3 LinearFactor { get; set; }
Property Value
Type Description
Vector3

LinearSleepingThreshold

Gets the sleeping threshold for linear velocity.

Declaration
public float LinearSleepingThreshold { get; }
Property Value
Type Description
float

LinearVelocity

Gets or sets the linear velocity.

Declaration
public Vector3 LinearVelocity { get; set; }
Property Value
Type Description
Vector3

LocalInertia

Gets the local inertia.

Declaration
public Vector3 LocalInertia { get; }
Property Value
Type Description
Vector3

Mass

Gets or sets the rigid body mass.

Declaration
public float Mass { get; set; }
Property Value
Type Description
float

Orientation

Gets the orientation.

Declaration
public Quaternion Orientation { get; }
Property Value
Type Description
Quaternion

RigidBodyFlags

Gets or sets the rigid body flags.

Declaration
public RigidBody3DFlags RigidBodyFlags { get; set; }
Property Value
Type Description
RigidBody3DFlags

TotalForce

Gets the total force applied to the rigid body.

Declaration
public Vector3 TotalForce { get; }
Property Value
Type Description
Vector3

TotalTorque

Gets the total torque applied to the rigid body.

Declaration
public Vector3 TotalTorque { get; }
Property Value
Type Description
Vector3

Type

Gets or sets the rigid.

Declaration
public RigidBodyType3D Type { get; set; }
Property Value
Type Description
RigidBodyType3D

Methods

AddColliderShape(IColliderShape3D)

Add collider shape to the body.

Declaration
public override void AddColliderShape(IColliderShape3D shape)
Parameters
Type Name Description
IColliderShape3D shape

The shape.
Overrides

ApplyCentralForce(Vector3)

Apply a central force to the rigid body.

Declaration
public void ApplyCentralForce(Vector3 force)
Parameters
Type Name Description
Vector3 force

The force.

ApplyCentralImpulse(Vector3)

Apply an impulse to the center of the rigid body.

Declaration
public void ApplyCentralImpulse(Vector3 impulse)
Parameters
Type Name Description
Vector3 impulse

The impulse.

ApplyDamping(float)

Apply the damping.

Declaration
public void ApplyDamping(float step)
Parameters
Type Name Description
float step

Delta time.

ApplyForce(Vector3, Vector3)

Apply a force to the rigid body.

Declaration
public void ApplyForce(Vector3 force, Vector3 relativePosition)
Parameters
Type Name Description
Vector3 force

The force vector.
Vector3 relativePosition

Relative poosition of the point where the force will be applied.

ApplyGravity()

Apply the gravity.

Declaration
public void ApplyGravity()

ApplyImpulse(Vector3, Vector3)

Apply an impulse to the rigid body.

Declaration
public void ApplyImpulse(Vector3 impulse, Vector3 relativePosition)
Parameters
Type Name Description
Vector3 impulse

The impulse.
Vector3 relativePosition

Relative poosition of the point where the force will be applied.

ApplyTorque(Vector3)

Apply a torque force to the rigid body.

Declaration
public void ApplyTorque(Vector3 torque)
Parameters
Type Name Description
Vector3 torque

The torque.

ApplyTorqueImpulse(Vector3)

Apply torque impulse to the rigid body.

Declaration
public void ApplyTorqueImpulse(Vector3 torque)
Parameters
Type Name Description
Vector3 torque

Torque impulse.

BaseAddToWorld()

Add this body to the world simulation.

Declaration
protected override void BaseAddToWorld()
Overrides

BaseRemoveFromWorld()

Remove physic body from simulation world.

Declaration
protected override void BaseRemoveFromWorld()
Overrides

ClearForces()

Clear all forces applied to the rigid body.

Declaration
public void ClearForces()

ComputeAngularImpulseDenominator(Vector3)

Compute the angular impulse denominator.

Declaration
public float ComputeAngularImpulseDenominator(Vector3 axis)
Parameters
Type Name Description
Vector3 axis

The axis.
Returns
Type Description
float

The angular impulse denominator.

ComputeGyroscopicForceExplicit(float)

Compute the gyrocsopic forces explicit.

Declaration
public Vector3 ComputeGyroscopicForceExplicit(float step)
Parameters
Type Name Description
float step

The step.
Returns
Type Description
Vector3

The Gyroscopic impulse.

ComputeGyroscopicImpulseImplicit_Body(float)

Compute the gyrocsopic impulse implicit by Body.

Declaration
public Vector3 ComputeGyroscopicImpulseImplicit_Body(float step)
Parameters
Type Name Description
float step

The step.
Returns
Type Description
Vector3

The Gyroscopic impulse.

ComputeGyroscopicImpulseImplicit_World(float)

Compute the gyroscopic impulse implicit by world.

Declaration
public Vector3 ComputeGyroscopicImpulseImplicit_World(float step)
Parameters
Type Name Description
float step

The step.
Returns
Type Description
Vector3

The Gyroscopic impulse.

ComputeImpulseDenominator(Vector3, Vector3)

Compute impulse dominator.

Declaration
public float ComputeImpulseDenominator(Vector3 pos, Vector3 normal)
Parameters
Type Name Description
Vector3 pos

The position.
Vector3 normal

The normal.
Returns
Type Description
float

The impulse denominator.

GetVelocityInLocalPoint(Vector3)

Gets the velocity in a local point of the rigid body.

Declaration
public Vector3 GetVelocityInLocalPoint(Vector3 relativePosition)
Parameters
Type Name Description
Vector3 relativePosition

The relative position.
Returns
Type Description
Vector3

The velocity in the specified point.

InstantiateCollisionObject(PhysicBodyDef3D)

Create the rigid body.

Declaration
protected override void InstantiateCollisionObject(PhysicBodyDef3D bodyDef)
Parameters
Type Name Description
PhysicBodyDef3D bodyDef

The body definition.
Overrides

IntegrateVelocities(float)

Integrate velocities.

Declaration
public void IntegrateVelocities(float step)
Parameters
Type Name Description
float step

Delta time.

RemoveColliderShape(IColliderShape3D)

Remove collider shape to the body.

Declaration
public override void RemoveColliderShape(IColliderShape3D shape)
Parameters
Type Name Description
IColliderShape3D shape

The shape to remove.
Overrides

ResetMassProperty(float, Vector3)

Reset the mass property.

Declaration
public void ResetMassProperty(float mass, Vector3 inertia)
Parameters
Type Name Description
float mass

The mass.
Vector3 inertia

The inertia.

SetDamping(float, float)

Set Damping values.

Declaration
public void SetDamping(float linearDamping, float angularDamping)
Parameters
Type Name Description
float linearDamping

Linear damping value.
float angularDamping

Angular damping value.

SetSleepingThresholds(float, float)

Set sleeping threshold values.

Declaration
public void SetSleepingThresholds(float linear, float angular)
Parameters
Type Name Description
float linear

Linear threshold value.
float angular

Angular threshold value.

SetTransform(Vector3, Quaternion, Vector3)

Set the position of the body's origin and rotation. This breaks any contacts and wakes the other bodies. Manipulating a body's transform may cause non-physical behavior.

Declaration
public override void SetTransform(Vector3 position, Quaternion orientation, Vector3 scale)
Parameters
Type Name Description
Vector3 position

the world position of the body's local origin.
Quaternion orientation

the world rotation as a quaternion.
Vector3 scale

the world scale.
Overrides

UpdateDeactivation(float)

Update the deactivation.

Declaration
public void UpdateDeactivation(float step)
Parameters
Type Name Description
float step

The time step.

UpdateInertiaTensor()

Update the inertia tensor.

Declaration
public void UpdateInertiaTensor()

WakeUp()

Wake up the rigid body.

Declaration
public void WakeUp()

WantsSleeping()

Return if the entity need to sleep.

Declaration
public bool WantsSleeping()
Returns
Type Description
bool

The rigid body need to sleep.

Implements

Extension Methods