The Body class only keeps track of state for static bodies, the MotionProperties class keeps the additional state needed for a moving Body. It has a 1-on-1 relationship with the body. More...

#include <MotionProperties.h>

Public Member Functions
JPH_OVERRIDE_NEW_DELETE EMotionQuality	GetMotionQuality () const
	Motion quality, or how well it detects collisions when it has a high velocity.

Vec3	GetLinearVelocity () const
	Get world space linear velocity of the center of mass.

void	SetLinearVelocity (Vec3Arg inLinearVelocity)
	Set world space linear velocity of the center of mass.

void	SetLinearVelocityClamped (Vec3Arg inLinearVelocity)
	Set world space linear velocity of the center of mass, will make sure the value is clamped against the maximum linear velocity.

Vec3	GetAngularVelocity () const
	Get world space angular velocity of the center of mass.

void	SetAngularVelocity (Vec3Arg inAngularVelocity)
	Set world space angular velocity of the center of mass.

void	SetAngularVelocityClamped (Vec3Arg inAngularVelocity)
	Set world space angular velocity of the center of mass, will make sure the value is clamped against the maximum angular velocity.

void	MoveKinematic (Vec3Arg inDeltaPosition, QuatArg inDeltaRotation, float inDeltaTime)
	Set velocity of body such that it will be rotate/translate by inDeltaPosition/Rotation in inDeltaTime seconds.

void	ClampLinearVelocity ()
	Clamp velocity according to limit.

void	ClampAngularVelocity ()

float	GetLinearDamping () const
	Get linear damping: dv/dt = -c * v. c must be between 0 and 1 but is usually close to 0.

void	SetLinearDamping (float inLinearDamping)

float	GetAngularDamping () const
	Get angular damping: dw/dt = -c * w. c must be between 0 and 1 but is usually close to 0.

void	SetAngularDamping (float inAngularDamping)

float	GetGravityFactor () const
	Get gravity factor (1 = normal gravity, 0 = no gravity)

void	SetGravityFactor (float inGravityFactor)

void	SetMassProperties (const MassProperties &inMassProperties)
	Set the mass and inertia tensor.

float	GetInverseMass () const
	Get inverse mass (1 / mass). Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as 1 / mass = 0)

float	GetInverseMassUnchecked () const

void	SetInverseMass (float inInverseMass)

Vec3	GetInverseInertiaDiagonal () const
	Diagonal of inverse inertia matrix: D. Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as D = 0)

Quat	GetInertiaRotation () const
	Rotation (R) that takes inverse inertia diagonal to local space: \(I_{body}^{-1} = R \: D \: R^{-1}\).

void	SetInverseInertia (Vec3Arg inDiagonal, QuatArg inRot)

Mat44	GetLocalSpaceInverseInertia () const
	Get inverse inertia matrix ( \(I_{body}^{-1}\)). Will be a matrix of zeros for a static or kinematic object.

Mat44	GetLocalSpaceInverseInertiaUnchecked () const
	Same as GetLocalSpaceInverseInertia() but doesn't check if the body is dynamic.

Mat44	GetInverseInertiaForRotation (Mat44Arg inRotation) const
	Get inverse inertia matrix ( \(I^{-1}\)) for a given object rotation (translation will be ignored). Zero if object is static or kinematic.

JPH_INLINE Vec3	MultiplyWorldSpaceInverseInertiaByVector (QuatArg inBodyRotation, Vec3Arg inV) const
	Multiply a vector with the inverse world space inertia tensor ( \(I_{world}^{-1}\)). Zero if object is static or kinematic.

JPH_INLINE Vec3	GetPointVelocityCOM (Vec3Arg inPointRelativeToCOM) const
	Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)

JPH_INLINE Vec3	GetAccumulatedForce () const

JPH_INLINE Vec3	GetAccumulatedTorque () const

void	ApplyForceTorqueAndDragInternal (QuatArg inBodyRotation, Vec3Arg inGravity, float inDeltaTime)
	Apply all accumulated forces, torques and drag (should only be called by the PhysicsSystem)

void	ResetForceAndTorqueInternal ()
	At the end of a simulation update the forces and torques need to be reset for the next frame.

uint32	GetIslandIndexInternal () const
	Access to the island index.

void	SetIslandIndexInternal (uint32 inIndex)

uint32	GetIndexInActiveBodiesInternal () const
	Access to the index in the active bodies array.

void	ResetSleepTestSpheres (const RVec3 *inPoints)
	Reset spheres to center around inPoints with radius 0.

void	SaveState (StateRecorder &inStream) const
	Saving state for replay.

void	RestoreState (StateRecorder &inStream)
	Restoring state for replay.

Velocity limits
float	GetMaxLinearVelocity () const
	Maximum linear velocity that a body can achieve. Used to prevent the system from exploding.

void	SetMaxLinearVelocity (float inLinearVelocity)

float	GetMaxAngularVelocity () const
	Maximum angular velocity that a body can achieve. Used to prevent the system from exploding.

void	SetMaxAngularVelocity (float inAngularVelocity)

Update linear and angular velocity (used during constraint solving)
void	AddLinearVelocityStep (Vec3Arg inLinearVelocityChange)

void	SubLinearVelocityStep (Vec3Arg inLinearVelocityChange)

void	AddAngularVelocityStep (Vec3Arg inAngularVelocityChange)

void	SubAngularVelocityStep (Vec3Arg inAngularVelocityChange)

Friends
class	BodyManager

class	Body

Detailed Description

The Body class only keeps track of state for static bodies, the MotionProperties class keeps the additional state needed for a moving Body. It has a 1-on-1 relationship with the body.

Member Function Documentation

◆ AddAngularVelocityStep()

void MotionProperties::AddAngularVelocityStep ( Vec3Arg inAngularVelocityChange )

inline

◆ AddLinearVelocityStep()

void MotionProperties::AddLinearVelocityStep ( Vec3Arg inLinearVelocityChange )

inline

◆ ApplyForceTorqueAndDragInternal()

void MotionProperties::ApplyForceTorqueAndDragInternal	(	QuatArg	inBodyRotation,
		Vec3Arg	inGravity,
		float	inDeltaTime )

inline

Apply all accumulated forces, torques and drag (should only be called by the PhysicsSystem)

◆ ClampAngularVelocity()

void MotionProperties::ClampAngularVelocity ( )

inline

◆ ClampLinearVelocity()

void MotionProperties::ClampLinearVelocity ( )

inline

Clamp velocity according to limit.

◆ GetAccumulatedForce()

JPH_INLINE Vec3 MotionProperties::GetAccumulatedForce ( ) const

inline

◆ GetAccumulatedTorque()

JPH_INLINE Vec3 MotionProperties::GetAccumulatedTorque ( ) const

inline

◆ GetAngularDamping()

float MotionProperties::GetAngularDamping ( ) const

inline

Get angular damping: dw/dt = -c * w. c must be between 0 and 1 but is usually close to 0.

◆ GetAngularVelocity()

Vec3 MotionProperties::GetAngularVelocity ( ) const

inline

Get world space angular velocity of the center of mass.

◆ GetGravityFactor()

float MotionProperties::GetGravityFactor ( ) const

inline

Get gravity factor (1 = normal gravity, 0 = no gravity)

◆ GetIndexInActiveBodiesInternal()

uint32 MotionProperties::GetIndexInActiveBodiesInternal ( ) const

inline

Access to the index in the active bodies array.

◆ GetInertiaRotation()

Quat MotionProperties::GetInertiaRotation ( ) const

inline

Rotation (R) that takes inverse inertia diagonal to local space: \(I_{body}^{-1} = R \: D \: R^{-1}\).

◆ GetInverseInertiaDiagonal()

Vec3 MotionProperties::GetInverseInertiaDiagonal ( ) const

inline

Diagonal of inverse inertia matrix: D. Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as D = 0)

◆ GetInverseInertiaForRotation()

Mat44 MotionProperties::GetInverseInertiaForRotation ( Mat44Arg inRotation ) const

inline

Get inverse inertia matrix ( \(I^{-1}\)) for a given object rotation (translation will be ignored). Zero if object is static or kinematic.

◆ GetInverseMass()

float MotionProperties::GetInverseMass ( ) const

inline

Get inverse mass (1 / mass). Should only be called on a dynamic object (static or kinematic bodies have infinite mass so should be treated as 1 / mass = 0)

◆ GetInverseMassUnchecked()

float MotionProperties::GetInverseMassUnchecked ( ) const

inline

◆ GetIslandIndexInternal()

uint32 MotionProperties::GetIslandIndexInternal ( ) const

inline

Access to the island index.

◆ GetLinearDamping()

float MotionProperties::GetLinearDamping ( ) const

inline

Get linear damping: dv/dt = -c * v. c must be between 0 and 1 but is usually close to 0.

◆ GetLinearVelocity()

Vec3 MotionProperties::GetLinearVelocity ( ) const

inline

Get world space linear velocity of the center of mass.

◆ GetLocalSpaceInverseInertia()

Mat44 MotionProperties::GetLocalSpaceInverseInertia ( ) const

inline

Get inverse inertia matrix ( \(I_{body}^{-1}\)). Will be a matrix of zeros for a static or kinematic object.

◆ GetLocalSpaceInverseInertiaUnchecked()

Mat44 MotionProperties::GetLocalSpaceInverseInertiaUnchecked ( ) const

inline

Same as GetLocalSpaceInverseInertia() but doesn't check if the body is dynamic.

◆ GetMaxAngularVelocity()

float MotionProperties::GetMaxAngularVelocity ( ) const

inline

Maximum angular velocity that a body can achieve. Used to prevent the system from exploding.

◆ GetMaxLinearVelocity()

float MotionProperties::GetMaxLinearVelocity ( ) const

inline

Maximum linear velocity that a body can achieve. Used to prevent the system from exploding.

◆ GetMotionQuality()

JPH_OVERRIDE_NEW_DELETE EMotionQuality MotionProperties::GetMotionQuality ( ) const

inline

Motion quality, or how well it detects collisions when it has a high velocity.

◆ GetPointVelocityCOM()

JPH_INLINE Vec3 MotionProperties::GetPointVelocityCOM ( Vec3Arg inPointRelativeToCOM ) const

inline

Velocity of point inPoint (in center of mass space, e.g. on the surface of the body) of the body (unit: m/s)

◆ MoveKinematic()

void MotionProperties::MoveKinematic	(	Vec3Arg	inDeltaPosition,
		QuatArg	inDeltaRotation,
		float	inDeltaTime )

inline

Set velocity of body such that it will be rotate/translate by inDeltaPosition/Rotation in inDeltaTime seconds.

◆ MultiplyWorldSpaceInverseInertiaByVector()

Vec3 MotionProperties::MultiplyWorldSpaceInverseInertiaByVector	(	QuatArg	inBodyRotation,
		Vec3Arg	inV ) const

Multiply a vector with the inverse world space inertia tensor ( \(I_{world}^{-1}\)). Zero if object is static or kinematic.

◆ ResetForceAndTorqueInternal()

void MotionProperties::ResetForceAndTorqueInternal ( )

inline

At the end of a simulation update the forces and torques need to be reset for the next frame.

◆ ResetSleepTestSpheres()

void MotionProperties::ResetSleepTestSpheres ( const RVec3 * inPoints )

inline

Reset spheres to center around inPoints with radius 0.

◆ RestoreState()

void MotionProperties::RestoreState ( StateRecorder & inStream )

Restoring state for replay.

◆ SaveState()

JPH_NAMESPACE_BEGIN void MotionProperties::SaveState ( StateRecorder & inStream ) const

Saving state for replay.

◆ SetAngularDamping()

void MotionProperties::SetAngularDamping ( float inAngularDamping )

inline

◆ SetAngularVelocity()

void MotionProperties::SetAngularVelocity ( Vec3Arg inAngularVelocity )

inline

Set world space angular velocity of the center of mass.

◆ SetAngularVelocityClamped()

void MotionProperties::SetAngularVelocityClamped ( Vec3Arg inAngularVelocity )

inline

Set world space angular velocity of the center of mass, will make sure the value is clamped against the maximum angular velocity.

◆ SetGravityFactor()

void MotionProperties::SetGravityFactor ( float inGravityFactor )

inline

◆ SetInverseInertia()

void MotionProperties::SetInverseInertia	(	Vec3Arg	inDiagonal,
		QuatArg	inRot )

inline

Set the inverse inertia tensor in local space by setting the diagonal and the rotation: \(I_{body}^{-1} = R \: D \: R^{-1}\). Note that mass and inertia are linearly related (e.g. inertia of a sphere with mass m and radius r is \(2/5 \: m \: r^2\)). If you change inertia, mass should probably change as well. See MassProperties::ScaleToMass.

◆ SetInverseMass()

void MotionProperties::SetInverseMass ( float inInverseMass )

inline

Set the inverse mass (1 / mass). Note that mass and inertia are linearly related (e.g. inertia of a sphere with mass m and radius r is \(2/5 \: m \: r^2\)). If you change mass, inertia should probably change as well. See MassProperties::ScaleToMass.

◆ SetIslandIndexInternal()

void MotionProperties::SetIslandIndexInternal ( uint32 inIndex )

inline

◆ SetLinearDamping()

void MotionProperties::SetLinearDamping ( float inLinearDamping )

inline

◆ SetLinearVelocity()

void MotionProperties::SetLinearVelocity ( Vec3Arg inLinearVelocity )

inline

Set world space linear velocity of the center of mass.

◆ SetLinearVelocityClamped()

void MotionProperties::SetLinearVelocityClamped ( Vec3Arg inLinearVelocity )

inline

Set world space linear velocity of the center of mass, will make sure the value is clamped against the maximum linear velocity.

◆ SetMassProperties()

JPH_NAMESPACE_BEGIN void MotionProperties::SetMassProperties ( const MassProperties & inMassProperties )

inline

Set the mass and inertia tensor.

◆ SetMaxAngularVelocity()

void MotionProperties::SetMaxAngularVelocity ( float inAngularVelocity )

inline

◆ SetMaxLinearVelocity()

void MotionProperties::SetMaxLinearVelocity ( float inLinearVelocity )

inline

◆ SubAngularVelocityStep()

void MotionProperties::SubAngularVelocityStep ( Vec3Arg inAngularVelocityChange )

inline

◆ SubLinearVelocityStep()

void MotionProperties::SubLinearVelocityStep ( Vec3Arg inLinearVelocityChange )

inline

Friends And Related Symbol Documentation

◆ Body

friend class Body

friend

◆ BodyManager

friend class BodyManager

friend

The documentation for this class was generated from the following files:

Jolt/Physics/Body/MotionProperties.h
Jolt/Physics/Body/MotionProperties.cpp
Jolt/Physics/Body/MotionProperties.inl

Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ AddAngularVelocityStep()

◆ AddLinearVelocityStep()

◆ ApplyForceTorqueAndDragInternal()

◆ ClampAngularVelocity()

◆ ClampLinearVelocity()

◆ GetAccumulatedForce()

◆ GetAccumulatedTorque()

◆ GetAngularDamping()

◆ GetAngularVelocity()

◆ GetGravityFactor()

◆ GetIndexInActiveBodiesInternal()

◆ GetInertiaRotation()

◆ GetInverseInertiaDiagonal()

◆ GetInverseInertiaForRotation()

◆ GetInverseMass()

◆ GetInverseMassUnchecked()

◆ GetIslandIndexInternal()

◆ GetLinearDamping()

◆ GetLinearVelocity()

◆ GetLocalSpaceInverseInertia()

◆ GetLocalSpaceInverseInertiaUnchecked()

◆ GetMaxAngularVelocity()

◆ GetMaxLinearVelocity()

◆ GetMotionQuality()

◆ GetPointVelocityCOM()

◆ MoveKinematic()

◆ MultiplyWorldSpaceInverseInertiaByVector()

◆ ResetForceAndTorqueInternal()

◆ ResetSleepTestSpheres()

◆ RestoreState()

◆ SaveState()

◆ SetAngularDamping()

◆ SetAngularVelocity()

◆ SetAngularVelocityClamped()

◆ SetGravityFactor()

◆ SetInverseInertia()

◆ SetInverseMass()

◆ SetIslandIndexInternal()

◆ SetLinearDamping()

◆ SetLinearVelocity()

◆ SetLinearVelocityClamped()

◆ SetMassProperties()

◆ SetMaxAngularVelocity()

◆ SetMaxLinearVelocity()

◆ SubAngularVelocityStep()

◆ SubLinearVelocityStep()

Friends And Related Symbol Documentation

◆ Body

◆ BodyManager