Interface IRigidBody3D

Interface for RigidBody in 3D physics.

Inherited Members
Namespace: Evergine.Framework.Physics3D
Assembly: Evergine.Framework.dll
Syntax
public interface IRigidBody3D : IPhysicBody3D

Properties

Aabb

Gets the bounding box.

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

ActivationState

Gets or sets the activation state.

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

AngularDamping

Gets the angular damping used 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
float AngularDamping { get; }
Property Value
Type Description
float

AngularFactor

Gets or sets the angular factor.

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

AngularSleepingThreshold

Gets the sleep threshold for angular velocity.

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

AngularVelocity

Gets or sets the angular velocity.

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

CenterOfMassPosition

Gets the center of mass.

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

CenterOfMassTransform

Gets or sets the center of mass transformation.

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

Gravity

Gets or sets the gravity applied to this rigid body.

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

InvInertiaDiagLocal

Gets or sets the InvInertiaDiagLocal vector of the rigid body.

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

InvInertiaTensorWorld

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

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

InvMass

Gets the inverse of the mass.

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

IsInWorld

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

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

IsKinematicObject

Gets a value indicating whether this body is kinematic.

Declaration
bool IsKinematicObject { get; }
Property Value
Type Description
bool

IsStaticOrKinematicObject

Gets a value indicating whether this body is kinematic.

Declaration
bool IsStaticOrKinematicObject { get; }
Property Value
Type Description
bool

LinearDamping

Gets the linear damping used 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
float LinearDamping { get; }
Property Value
Type Description
float

LinearFactor

Gets or sets the linear factor.

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

LinearSleepingThreshold

Gets the sleep threshold for linear velocity.

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

LinearVelocity

Gets or sets the linear velocity.

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

LocalInertia

Gets the local inertia.

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

Mass

Gets or sets the mass of the rigid body.

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

Orientation

Gets the orientation.

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

TotalForce

Gets the total force applied to the rigid body.

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

TotalTorque

Gets the total torque applied to the rigid body.

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

Methods

ApplyCentralForce(Vector3)

Applies a central force to the rigid body.

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

The force.

ApplyCentralImpulse(Vector3)

Applies an impulse to the center of the rigid body.

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

The impulse.

ApplyDamping(float)

Applies the damping.

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

Delta time.

ApplyForce(Vector3, Vector3)

Apply a force to the rigid body.

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

The force vector.
Vector3 relativePosition

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

ApplyGravity()

Applies the gravity.

Declaration
void ApplyGravity()

ApplyImpulse(Vector3, Vector3)

Apply an impulse to the rigid body.

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

The impulse.
Vector3 relativePosition

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

ApplyTorque(Vector3)

Applies a torque force to the rigid body.

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

The torque.

ApplyTorqueImpulse(Vector3)

Applies a torque impulse to the rigid body.

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

The torque impulse.

ClearForces()

Clears all forces applied to the rigid body.

Declaration
void ClearForces()

ComputeAngularImpulseDenominator(Vector3)

Computes the angular impulse denominator.

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

The axis.
Returns
Type Description
float

The angular impulse denominator.

ComputeGyroscopicForceExplicit(float)

Compute the gyroscopic impulse implicitly.

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

The step.
Returns
Type Description
Vector3

The gyroscopic impulse.

ComputeGyroscopicImpulseImplicit_Body(float)

Computes the gyroscopic impulse imparted by the body.

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

The step.
Returns
Type Description
Vector3

The gyroscopic impulse.

ComputeGyroscopicImpulseImplicit_World(float)

Computes the gyroscopic impulse implied by the world.

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

The step.
Returns
Type Description
Vector3

The gyroscopic impulse.

ComputeImpulseDenominator(Vector3, Vector3)

Computes the impulse denominator.

Declaration
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 at a local point of the rigid body.

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

The relative position.
Returns
Type Description
Vector3

The velocity at the specified point.

IntegrateVelocities(float)

Integrates velocities.

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

Delta time.

ResetMassProperty(float, Vector3)

Resets the mass property.

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

The mass.
Vector3 inertia

The inertia.

SetDamping(float, float)

Sets damping values.

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

Linear damping value.
float angularDamping

Angular damping value.

SetSleepingThresholds(float, float)

Sets sleeping threshold values.

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

Linear threshold value.
float angular

Angular threshold value.

UpdateDeactivation(float)

Updates the deactivation.

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

The time step.

UpdateInertiaTensor()

Updates the inertia tensor.

Declaration
void UpdateInertiaTensor()

WakeUp()

Wakes up the rigid body.

Declaration
void WakeUp()

WantsSleeping()

Returns whether the entity needs to sleep.

Declaration
bool WantsSleeping()
Returns
Type Description
bool

The rigid body needs to sleep.

Extension Methods