Rigid body. More...

#include <rigid-body.hpp>

Public Member Functions
constexpr void	set_transform (const math::transform< float > &transform) noexcept
	Sets the transformation representing the current state of the rigid body. More...

constexpr void	set_position (const math::fvec3 &position) noexcept
	Sets the current position of the rigid body. More...

constexpr void	set_orientation (const math::fquat &orientation) noexcept
	Sets the current orientation of the rigid body. More...

constexpr void	set_previous_transform (const math::transform< float > &transform) noexcept
	Sets the transformation representing the previous state of the rigid body. More...

constexpr void	set_previous_position (const math::fvec3 &position) noexcept
	Sets the previous position of the rigid body. More...

constexpr void	set_previous_orientation (const math::fquat &orientation) noexcept
	Sets the previous orientation of the rigid body. More...

constexpr void	set_center_of_mass (const math::fvec3 &point) noexcept
	Sets the center of mass of the rigid body. More...

constexpr void	set_mass (float mass) noexcept
	Sets mass of the rigid body. More...

constexpr void	set_inertia (float inertia) noexcept
	Sets the moment of inertia of the rigid body. More...

void	set_collider (std::shared_ptr< collider > collider) noexcept
	Sets the collider of the rigid body. More...

constexpr void	set_linear_damping (float damping) noexcept
	Sets the linear damping factor of the rigid body. More...

constexpr void	set_angular_damping (float damping) noexcept
	Sets the angular damping factor of the rigid body. More...

constexpr void	set_linear_momentum (const math::fvec3 &momentum) noexcept
	Sets the linear momentum of the rigid body. More...

constexpr void	set_angular_momentum (const math::fvec3 &momentum) noexcept
	Sets the angular momentum of the rigid body. More...

constexpr void	set_linear_velocity (const math::fvec3 &velocity) noexcept
	Sets the linear velocity of the rigid body. More...

constexpr void	set_angular_velocity (const math::fvec3 &velocity) noexcept
	Sets the angular velocity of the rigid body. More...

constexpr const math::transform< float > &	get_transform () const noexcept
	Returns the transformation representing the current state of the rigid body. More...

constexpr const math::fvec3 &	get_position () const noexcept
	Returns the current position of the rigid body. More...

constexpr const math::fquat &	get_orientation () const noexcept
	Returns the current orientation of the rigid body. More...

constexpr const math::fvec3 &	get_scale () const noexcept
	Returns the current scale of the rigid body. More...

constexpr const math::transform< float > &	get_previous_transform () const noexcept
	Returns the transformation representing the previous state of the rigid body. More...

constexpr const math::fvec3 &	get_previous_position () const noexcept
	Returns the previous position of the rigid body. More...

constexpr const math::fquat &	get_previous_orientation () const noexcept
	Returns the previous orientation of the rigid body. More...

constexpr const math::fvec3 &	get_previous_scale () const noexcept
	Returns the previous scale of the rigid body. More...

constexpr const math::fvec3 &	get_center_of_mass () const noexcept
	Returns the center of mass of the rigid body. More...

constexpr float	get_mass () const noexcept
	Returns the mass of the rigid body, in kg. More...

constexpr float	get_inverse_mass () const noexcept
	Returns the inverse mass of the rigid body, in kg^-1. More...

constexpr float	get_inertia () const noexcept
	Returns the moment of inertia of the rigid body, in kg⋅m^2. More...

constexpr float	get_inverse_inertia () const noexcept
	Returns the inverse moment of inertia of the rigid body, in kg⋅m^2^-1. More...

constexpr float	get_linear_damping () const noexcept
	Returns the linear damping factor of the rigid body. More...

constexpr float	get_angular_damping () const noexcept
	Returns the angular damping factor of the rigid body. More...

constexpr const std::shared_ptr< collider > &	get_collider () const noexcept
	Returns the collider of the rigid body. More...

constexpr const math::fvec3 &	get_linear_momentum () const noexcept
	Returns the linear momentum of the rigid body, in kg⋅m/s. More...

constexpr const math::fvec3 &	get_angular_momentum () const noexcept
	Returns the angular momentum of the rigid body, in kg⋅m^2⋅s^-1. More...

constexpr const math::fvec3 &	get_linear_velocity () const noexcept
	Returns the linear velocity of the rigid body, in m/s. More...

constexpr const math::fvec3 &	get_angular_velocity () const noexcept
	Returns the angular velocity of the rigid body, in rad/s. More...

constexpr const math::fvec3 &	get_applied_force () const noexcept
	Returns the total pre-integrated force, in N. More...

constexpr const math::fvec3 &	get_applied_torque () const noexcept
	Returns the total pre-integrated torque, in N⋅m. More...

constexpr math::fvec3	get_point_velocity (const math::fvec3 &radius) const noexcept
	Calculates the total velocity at a point on the rigid body. More...

constexpr bool	is_static () const noexcept
	Returns `true` if the rigid body is static, `false` otherwise. More...

constexpr void	apply_force (const math::fvec3 &force, const math::fvec3 &radius) noexcept
	Applies a force at a point on the rigid body. More...

constexpr void	apply_central_force (const math::fvec3 &force) noexcept
	Applies a force at the center of mass of the rigid body. More...

constexpr void	apply_torque (const math::fvec3 &torque) noexcept
	Applies a torque to the rigid body. More...

constexpr void	apply_impulse (const math::fvec3 &impulse, const math::fvec3 &radius) noexcept
	Applies an impulse at a point on the rigid body. More...

constexpr void	apply_central_impulse (const math::fvec3 &impulse) noexcept
	Applies an impulse at the center of mass of the rigid body. More...

constexpr void	apply_torque_impulse (const math::fvec3 &torque) noexcept
	Applies a torque impulse to the rigid body. More...

constexpr void	clear_applied_forces () noexcept
	Clears all pre-integrated forces. More...

void	integrate_forces (float dt) noexcept
	Integrates forces, updating the momentums and velocities of the rigid body. More...

void	integrate_velocities (float dt) noexcept
	Integrates velocities, updating the center of mass and orientation of the rigid body. More...

void	integrate (float dt) noexcept
	Integrates forces and velocities. More...

math::transform< float >	interpolate (float alpha) const
	Returns a transformation representing a state of the rigid body between its current and previous states. More...


constexpr void	set_scale (const math::fvec3 &scale) noexcept
	Sets the current scale of the rigid body. More...

constexpr void	set_scale (float scale) noexcept
	Sets the current scale of the rigid body. More...


constexpr void	set_previous_scale (const math::fvec3 &scale) noexcept
	Sets the previous scale of the rigid body. More...

constexpr void	set_previous_scale (float scale) noexcept
	Sets the previous scale of the rigid body. More...

Detailed Description

Rigid body.

Definition at line 34 of file rigid-body.hpp.

Member Function Documentation

◆ apply_central_force()

constexpr void physics::rigid_body::apply_central_force ( const math::fvec3 & force )

inlineconstexprnoexcept

Applies a force at the center of mass of the rigid body.

Parameters

force Force to apply, in N.

Definition at line 404 of file rigid-body.hpp.

◆ apply_central_impulse()

constexpr void physics::rigid_body::apply_central_impulse ( const math::fvec3 & impulse )

inlineconstexprnoexcept

Applies an impulse at the center of mass of the rigid body.

Parameters

impulse Impulse to apply, in N⋅s.

Definition at line 440 of file rigid-body.hpp.

◆ apply_force()

constexpr void physics::rigid_body::apply_force	(	const math::fvec3 &	force,
		const math::fvec3 &	radius
	)

inlineconstexprnoexcept

Applies a force at a point on the rigid body.

Parameters

force	Force to apply, in N.
radius	Radius vector from the center of mass to the point at which the force should be applied.

Definition at line 393 of file rigid-body.hpp.

◆ apply_impulse()

constexpr void physics::rigid_body::apply_impulse	(	const math::fvec3 &	impulse,
		const math::fvec3 &	radius
	)

inlineconstexprnoexcept

Applies an impulse at a point on the rigid body.

Parameters

impulse	Impulse to apply, in N⋅s.
radius	Radius vector from the center of mass to the point at which the impulse should be applied.

Definition at line 425 of file rigid-body.hpp.

◆ apply_torque()

constexpr void physics::rigid_body::apply_torque ( const math::fvec3 & torque )

inlineconstexprnoexcept

Applies a torque to the rigid body.

Parameters

torque Torque to apply.

Definition at line 414 of file rigid-body.hpp.

◆ apply_torque_impulse()

constexpr void physics::rigid_body::apply_torque_impulse ( const math::fvec3 & torque )

inlineconstexprnoexcept

Applies a torque impulse to the rigid body.

Parameters

torque Torque impulse to apply.

Definition at line 453 of file rigid-body.hpp.

◆ clear_applied_forces()

constexpr void physics::rigid_body::clear_applied_forces ( )

inlineconstexprnoexcept

Clears all pre-integrated forces.

Definition at line 462 of file rigid-body.hpp.

◆ get_angular_damping()

constexpr float physics::rigid_body::get_angular_damping ( ) const

inlineconstexprnoexcept

Returns the angular damping factor of the rigid body.

Definition at line 320 of file rigid-body.hpp.

◆ get_angular_momentum()

constexpr const math::fvec3& physics::rigid_body::get_angular_momentum ( ) const

inlineconstexprnoexcept

Returns the angular momentum of the rigid body, in kg⋅m^2⋅s^-1.

Definition at line 338 of file rigid-body.hpp.

◆ get_angular_velocity()

constexpr const math::fvec3& physics::rigid_body::get_angular_velocity ( ) const

inlineconstexprnoexcept

Returns the angular velocity of the rigid body, in rad/s.

Definition at line 350 of file rigid-body.hpp.

◆ get_applied_force()

constexpr const math::fvec3& physics::rigid_body::get_applied_force ( ) const

inlineconstexprnoexcept

Returns the total pre-integrated force, in N.

Definition at line 356 of file rigid-body.hpp.

◆ get_applied_torque()

constexpr const math::fvec3& physics::rigid_body::get_applied_torque ( ) const

inlineconstexprnoexcept

Returns the total pre-integrated torque, in N⋅m.

Definition at line 362 of file rigid-body.hpp.

◆ get_center_of_mass()

constexpr const math::fvec3& physics::rigid_body::get_center_of_mass ( ) const

inlineconstexprnoexcept

Returns the center of mass of the rigid body.

Definition at line 284 of file rigid-body.hpp.

◆ get_collider()

constexpr const std::shared_ptr<collider>& physics::rigid_body::get_collider ( ) const

inlineconstexprnoexcept

Returns the collider of the rigid body.

Definition at line 326 of file rigid-body.hpp.

◆ get_inertia()

constexpr float physics::rigid_body::get_inertia ( ) const

inlineconstexprnoexcept

Returns the moment of inertia of the rigid body, in kg⋅m^2.

Definition at line 302 of file rigid-body.hpp.

◆ get_inverse_inertia()

constexpr float physics::rigid_body::get_inverse_inertia ( ) const

inlineconstexprnoexcept

Returns the inverse moment of inertia of the rigid body, in kg⋅m^2^-1.

Definition at line 308 of file rigid-body.hpp.

◆ get_inverse_mass()

constexpr float physics::rigid_body::get_inverse_mass ( ) const

inlineconstexprnoexcept

Returns the inverse mass of the rigid body, in kg^-1.

Definition at line 296 of file rigid-body.hpp.

◆ get_linear_damping()

constexpr float physics::rigid_body::get_linear_damping ( ) const

inlineconstexprnoexcept

Returns the linear damping factor of the rigid body.

Definition at line 314 of file rigid-body.hpp.

◆ get_linear_momentum()

constexpr const math::fvec3& physics::rigid_body::get_linear_momentum ( ) const

inlineconstexprnoexcept

Returns the linear momentum of the rigid body, in kg⋅m/s.

Definition at line 332 of file rigid-body.hpp.

◆ get_linear_velocity()

constexpr const math::fvec3& physics::rigid_body::get_linear_velocity ( ) const

inlineconstexprnoexcept

Returns the linear velocity of the rigid body, in m/s.

Definition at line 344 of file rigid-body.hpp.

◆ get_mass()

constexpr float physics::rigid_body::get_mass ( ) const

inlineconstexprnoexcept

Returns the mass of the rigid body, in kg.

Definition at line 290 of file rigid-body.hpp.

◆ get_orientation()

constexpr const math::fquat& physics::rigid_body::get_orientation ( ) const

inlineconstexprnoexcept

Returns the current orientation of the rigid body.

Definition at line 248 of file rigid-body.hpp.

◆ get_point_velocity()

constexpr math::fvec3 physics::rigid_body::get_point_velocity ( const math::fvec3 & radius ) const

inlineconstexprnoexcept

Calculates the total velocity at a point on the rigid body.

Parameters

radius Radius vector from the center of mass to the point at which the velocity should be calculated.

Returns: Point velocity.

Definition at line 374 of file rigid-body.hpp.

◆ get_position()

constexpr const math::fvec3& physics::rigid_body::get_position ( ) const

inlineconstexprnoexcept

Returns the current position of the rigid body.

Definition at line 242 of file rigid-body.hpp.

◆ get_previous_orientation()

constexpr const math::fquat& physics::rigid_body::get_previous_orientation ( ) const

inlineconstexprnoexcept

Returns the previous orientation of the rigid body.

Definition at line 272 of file rigid-body.hpp.

◆ get_previous_position()

constexpr const math::fvec3& physics::rigid_body::get_previous_position ( ) const

inlineconstexprnoexcept

Returns the previous position of the rigid body.

Definition at line 266 of file rigid-body.hpp.

◆ get_previous_scale()

constexpr const math::fvec3& physics::rigid_body::get_previous_scale ( ) const

inlineconstexprnoexcept

Returns the previous scale of the rigid body.

Definition at line 278 of file rigid-body.hpp.

◆ get_previous_transform()

constexpr const math::transform<float>& physics::rigid_body::get_previous_transform ( ) const

inlineconstexprnoexcept

Returns the transformation representing the previous state of the rigid body.

Definition at line 260 of file rigid-body.hpp.

◆ get_scale()

constexpr const math::fvec3& physics::rigid_body::get_scale ( ) const

inlineconstexprnoexcept

Returns the current scale of the rigid body.

Definition at line 254 of file rigid-body.hpp.

◆ get_transform()

constexpr const math::transform<float>& physics::rigid_body::get_transform ( ) const

inlineconstexprnoexcept

Returns the transformation representing the current state of the rigid body.

Definition at line 236 of file rigid-body.hpp.

◆ integrate()

void physics::rigid_body::integrate ( float dt )

inlinenoexcept

Integrates forces and velocities.

Parameters

dt	Timestep, in seconds.

Definition at line 487 of file rigid-body.hpp.

◆ integrate_forces()

void physics::rigid_body::integrate_forces ( float dt )

noexcept

Integrates forces, updating the momentums and velocities of the rigid body.

Parameters

dt	Timestep, in seconds.

Definition at line 26 of file rigid-body.cpp.

◆ integrate_velocities()

void physics::rigid_body::integrate_velocities ( float dt )

noexcept

Integrates velocities, updating the center of mass and orientation of the rigid body.

Parameters

dt	Timestep, in seconds.

Definition at line 45 of file rigid-body.cpp.

◆ interpolate()

math::transform< float > physics::rigid_body::interpolate ( float alpha ) const

Returns a transformation representing a state of the rigid body between its current and previous states.

Parameters

alpha State interpolation factor.

Returns: Interpolated transformation.

Definition at line 58 of file rigid-body.cpp.

◆ is_static()

constexpr bool physics::rigid_body::is_static ( ) const

inlineconstexprnoexcept

Returns true if the rigid body is static, false otherwise.

Definition at line 382 of file rigid-body.hpp.

◆ set_angular_damping()

constexpr void physics::rigid_body::set_angular_damping ( float damping )

inlineconstexprnoexcept

Sets the angular damping factor of the rigid body.

Parameters

damping Angular damping factor.

Definition at line 186 of file rigid-body.hpp.

◆ set_angular_momentum()

constexpr void physics::rigid_body::set_angular_momentum ( const math::fvec3 & momentum )

inlineconstexprnoexcept

Sets the angular momentum of the rigid body.

Parameters

momentum Angular momentum, in kg⋅m^2⋅s^-1.

Definition at line 207 of file rigid-body.hpp.

◆ set_angular_velocity()

constexpr void physics::rigid_body::set_angular_velocity ( const math::fvec3 & velocity )

inlineconstexprnoexcept

Sets the angular velocity of the rigid body.

Parameters

velocity Angular velocity, rad/s.

Definition at line 229 of file rigid-body.hpp.

◆ set_center_of_mass()

constexpr void physics::rigid_body::set_center_of_mass ( const math::fvec3 & point )

inlineconstexprnoexcept

Sets the center of mass of the rigid body.

Parameters

point World-space center of mass.

Definition at line 134 of file rigid-body.hpp.

◆ set_collider()

void physics::rigid_body::set_collider ( std::shared_ptr< collider > collider )

inlinenoexcept

Sets the collider of the rigid body.

Parameters

collider Shared pointer to a collider.

Definition at line 166 of file rigid-body.hpp.

◆ set_inertia()

constexpr void physics::rigid_body::set_inertia ( float inertia )

inlineconstexprnoexcept

Sets the moment of inertia of the rigid body.

Parameters

inertia Moment of inertia, in kg⋅m^2.

Definition at line 155 of file rigid-body.hpp.

◆ set_linear_damping()

constexpr void physics::rigid_body::set_linear_damping ( float damping )

inlineconstexprnoexcept

Sets the linear damping factor of the rigid body.

Parameters

damping Linear damping factor.

Definition at line 176 of file rigid-body.hpp.

◆ set_linear_momentum()

constexpr void physics::rigid_body::set_linear_momentum ( const math::fvec3 & momentum )

inlineconstexprnoexcept

Sets the linear momentum of the rigid body.

Parameters

momentum Linear momentum, in kg⋅m/s.

Definition at line 196 of file rigid-body.hpp.

◆ set_linear_velocity()

constexpr void physics::rigid_body::set_linear_velocity ( const math::fvec3 & velocity )

inlineconstexprnoexcept

Sets the linear velocity of the rigid body.

Parameters

velocity Linear velocity, in m/s.

Definition at line 218 of file rigid-body.hpp.

◆ set_mass()

constexpr void physics::rigid_body::set_mass ( float mass )

inlineconstexprnoexcept

Sets mass of the rigid body.

Parameters

mass	Mass, in kg.

Definition at line 144 of file rigid-body.hpp.

◆ set_orientation()

constexpr void physics::rigid_body::set_orientation ( const math::fquat & orientation )

inlineconstexprnoexcept

Sets the current orientation of the rigid body.

Parameters

orientation Orientation of the rigid body.

Definition at line 62 of file rigid-body.hpp.

◆ set_position()

constexpr void physics::rigid_body::set_position ( const math::fvec3 & position )

inlineconstexprnoexcept

Sets the current position of the rigid body.

Parameters

position Position of the rigid body.

Definition at line 52 of file rigid-body.hpp.

◆ set_previous_orientation()

constexpr void physics::rigid_body::set_previous_orientation ( const math::fquat & orientation )

inlineconstexprnoexcept

Sets the previous orientation of the rigid body.

Parameters

orientation Orientation of the rigid body.

Definition at line 108 of file rigid-body.hpp.

◆ set_previous_position()

constexpr void physics::rigid_body::set_previous_position ( const math::fvec3 & position )

inlineconstexprnoexcept

Sets the previous position of the rigid body.

Parameters

position Position of the rigid body.

Definition at line 98 of file rigid-body.hpp.

◆ set_previous_scale() [1/2]

constexpr void physics::rigid_body::set_previous_scale ( const math::fvec3 & scale )

inlineconstexprnoexcept

Sets the previous scale of the rigid body.

Parameters

scale Scale of the rigid body.

Definition at line 119 of file rigid-body.hpp.

◆ set_previous_scale() [2/2]

constexpr void physics::rigid_body::set_previous_scale ( float scale )

inlineconstexprnoexcept

Sets the previous scale of the rigid body.

Parameters

scale Scale of the rigid body.

Definition at line 123 of file rigid-body.hpp.

◆ set_previous_transform()

constexpr void physics::rigid_body::set_previous_transform ( const math::transform< float > & transform )

inlineconstexprnoexcept

Sets the transformation representing the previous state of the rigid body.

Parameters

transform Transformation representing the previous state of the rigid body.

Definition at line 88 of file rigid-body.hpp.

◆ set_scale() [1/2]

constexpr void physics::rigid_body::set_scale ( const math::fvec3 & scale )

inlineconstexprnoexcept

Sets the current scale of the rigid body.

Parameters

scale Scale of the rigid body.

Definition at line 73 of file rigid-body.hpp.

◆ set_scale() [2/2]

constexpr void physics::rigid_body::set_scale ( float scale )

inlineconstexprnoexcept

Sets the current scale of the rigid body.

Parameters

scale Scale of the rigid body.

Definition at line 77 of file rigid-body.hpp.

◆ set_transform()

constexpr void physics::rigid_body::set_transform ( const math::transform< float > & transform )

inlineconstexprnoexcept

Sets the transformation representing the current state of the rigid body.

Parameters

transform Transformation representing the current state of the rigid body.

Definition at line 42 of file rigid-body.hpp.

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

Public Member Functions

Detailed Description

Member Function Documentation

◆ apply_central_force()

◆ apply_central_impulse()

◆ apply_force()

◆ apply_impulse()

◆ apply_torque()

◆ apply_torque_impulse()

◆ clear_applied_forces()

◆ get_angular_damping()

◆ get_angular_momentum()

◆ get_angular_velocity()

◆ get_applied_force()

◆ get_applied_torque()

◆ get_center_of_mass()

◆ get_collider()

◆ get_inertia()

◆ get_inverse_inertia()

◆ get_inverse_mass()

◆ get_linear_damping()

◆ get_linear_momentum()

◆ get_linear_velocity()

◆ get_mass()

◆ get_orientation()

◆ get_point_velocity()

◆ get_position()

◆ get_previous_orientation()

◆ get_previous_position()

◆ get_previous_scale()

◆ get_previous_transform()

◆ get_scale()

◆ get_transform()

◆ integrate()

◆ integrate_forces()

◆ integrate_velocities()

◆ interpolate()

◆ is_static()

◆ set_angular_damping()

◆ set_angular_momentum()

◆ set_angular_velocity()

◆ set_center_of_mass()

◆ set_collider()

◆ set_inertia()

◆ set_linear_damping()

◆ set_linear_momentum()

◆ set_linear_velocity()

◆ set_mass()

◆ set_orientation()

◆ set_position()

◆ set_previous_orientation()

◆ set_previous_position()

◆ set_previous_scale() [1/2]

◆ set_previous_scale() [2/2]

◆ set_previous_transform()

◆ set_scale() [1/2]

◆ set_scale() [2/2]

◆ set_transform()