Physics system

Topics
	RigidBody API

Classes
class	Contact
class	Physics
class	Physics6DOFJoint
class	Physics6DOFSpringJoint
class	PhysicsBallSocketJoint
class	PhysicsBlock
class	PhysicsConeTwistJoint
class	PhysicsFixedJoint
class	PhysicsGeom
class	PhysicsGeomDef
class	PhysicsHingeJoint
class	PhysicsJoint
class	PhysicsSliderJoint
class	PhysicsWorld
class	SurfaceProperties

Typedefs
typedef int[]	Physics
typedef int[]	Physics6DOFJoint
typedef int[]	Physics6DOFSpringJoint
typedef int[]	PhysicsBallSocketJoint
typedef int[]	PhysicsBlock
typedef int[]	PhysicsConeTwistJoint
typedef int[]	PhysicsFixedJoint
typedef PhysicsGeom	dGeom
typedef int[]	PhysicsGeom
typedef int[]	PhysicsHingeJoint
typedef int[]	PhysicsJoint
typedef int[]	PhysicsSliderJoint
typedef int[]	SurfaceProperties
typedef int[]	dJoint
typedef int[]	dBlock

Enumerations
enum	ActiveState {   INACTIVE , ACTIVE , ALWAYS_ACTIVE , INACTIVE ,   ACTIVE , ALWAYS_ACTIVE }
enum	ActiveState {   INACTIVE , ACTIVE , ALWAYS_ACTIVE , INACTIVE ,   ACTIVE , ALWAYS_ACTIVE }
enum	SimulationState {   NONE = -1 , COLLISION , SIMULATION , NONE = -1 ,   COLLISION , SIMULATION }
enum	SimulationState {   NONE = -1 , COLLISION , SIMULATION , NONE = -1 ,   COLLISION , SIMULATION }

Functions
proto native int	dGetNumDynamicBodies (notnull IEntity worldEnt)
proto native IEntity	dGetDynamicBody (notnull IEntity worldEnt, int index)
proto native void	dSetInteractionLayer (notnull IEntity worldEntity, int mask1, int mask2, bool enable)
proto native bool	dGetInteractionLayer (notnull IEntity worldEntity, int mask1, int mask2)
proto native vector	dGetGravity (notnull IEntity worldEntity)
	Gets global gravity.
proto native void	dSetGravity (notnull IEntity worldEntity, vector g)
	Changes global gravity.
proto native void	dSetTimeSlice (notnull IEntity worldEntity, float timeSlice)
	Changes fixed time-slice. Default is 1/40, thus simulation runs on 40fps. With smaller values, there is more precise simulation.

Detailed Description

Typedef Documentation

dBlock

typedef int [] dBlock

Definition at line 7 of file enphysics.c.

dGeom

typedef PhysicsGeom dGeom

Geometric shapes relevant for physics simulation

Definition at line 9 of file physicsgeom.c.

dJoint

typedef int [] dJoint

Definition at line 6 of file enphysics.c.

Physics

typedef int [] Physics

Wrapper over a physics simulation of an entity. The entity is capable of the physics simulation only when such object exists (see IEntity.GetPhysics). Two main types of physics bodies are static and dynamic. Static bodies are represented by a collision object and dynamic bodies by a rigid body. This means certain methods make sense only when dealing with a dynamic physics body, e.g., Physics.GetVelocity, Physics.ApplyImpulse.

Physics bodies rely on physics geometries to support collisions or casting. In general a physics body can be made out of multiply physics geometries. Certain methods allow to work with a specific physics geometry (via geometry index).

Definition at line 15 of file physics.c.

Physics6DOFJoint

typedef int [] Physics6DOFJoint

6 DOF joint simulation.

The first 3 DOF axes represent linear motion (translation) and the latter 3 DOF axes represent angular motion. Each axis can be configured to be either free, locked or limited. All axes are locked initially. Some combinations can lead to an undefined behavior.

Configuration of the axes:

• upper < lower - free axis
• upper == lower - locked axis
• upper > lower - limited axis

Ranges of the angular limits:

• x axis - (-PI, PI)
• y axis - (-PI/2, PI/2)
• z axis - (-PI, PI)

Definition at line 23 of file physics6dofjoint.c.

Physics6DOFSpringJoint

typedef int [] Physics6DOFSpringJoint

6 DOF spring joint simulation.

Definition at line 9 of file physics6dofspringjoint.c.

PhysicsBallSocketJoint

typedef int [] PhysicsBallSocketJoint

Ball socket joint simulation

Definition at line 9 of file physicsballsocketjoint.c.

PhysicsBlock

typedef int [] PhysicsBlock

Disables collisions between two entities.

Definition at line 9 of file physicsblock.c.

PhysicsConeTwistJoint

typedef int [] PhysicsConeTwistJoint

Cone twist joint simulation

Definition at line 9 of file physicsconetwistjoint.c.

PhysicsFixedJoint

typedef int [] PhysicsFixedJoint

Fixed joint simulation

Definition at line 9 of file physicsfixedjoint.c.

PhysicsGeom

typedef int [] PhysicsGeom

Definition at line 10 of file physicsgeom.c.

PhysicsHingeJoint

typedef int [] PhysicsHingeJoint

Hinge joint simulation

Definition at line 9 of file physicshingejoint.c.

PhysicsJoint

typedef int [] PhysicsJoint

Wrapper over joint simulation

Joint parameters

• softness
  • 0->1, recommend ~0.8->1
  • describes % of limits where movement is free
  • beyond this softness %, the limit is gradually enforced until the "hard" (1.0) limit is reached
• biasFactor
  • 0->1?, recommend 0.3 +/-0.3 or so
  • strength with which constraint resists zeroth order (angular, not angular velocity) limit violation
• relaxationFactor
  • 0->1, recommend to stay near 1
  • the lower the value, the less the constraint will fight velocities which violate the angular limits

Definition at line 21 of file physicsjoint.c.

PhysicsSliderJoint

typedef int [] PhysicsSliderJoint

Slider joint simulation

Definition at line 9 of file physicssliderjoint.c.

SurfaceProperties

typedef int [] SurfaceProperties

General surface properties

Definition at line 9 of file surfaceproperties.c.

Enumeration Type Documentation

ActiveState [1/2]

enum ActiveState

Activation state of the physics controller in the physics world.

Enumerator
INACTIVE	body is not simulated (sleeps)
ACTIVE	body is simulated
ALWAYS_ACTIVE	body is simulated and cannot sleep
INACTIVE	body is not simulated (sleeps)
ACTIVE	body is simulated
ALWAYS_ACTIVE	body is simulated and cannot sleep

Definition at line 9 of file activestate.c.

ActiveState [2/2]

enum ActiveState

Enumerator
INACTIVE	body is not simulated (sleeps)
ACTIVE	body is simulated
ALWAYS_ACTIVE	body is simulated and cannot sleep
INACTIVE	body is not simulated (sleeps)
ACTIVE	body is simulated
ALWAYS_ACTIVE	body is simulated and cannot sleep

Definition at line 9 of file activestate.c.

SimulationState [1/2]

enum SimulationState

State/presence of the physics controller in physics world. When it's created as static, only SimulationState::NONE or SimulationState::COLLISION can be used. For dynamic ones, there is also SimulationState::SIMULATION for full dynamic simulation.

Enumerator
NONE	body is not in simulation, nor in collision world No automatic destroying. Flags to pass to ParticleSource.StopParticle. Plain Effect base. No flags
COLLISION	body is in collision world, but it's not simulated
SIMULATION	dynamic bodies are colliding and are simulated
NONE	body is not in simulation, nor in collision world No automatic destroying. Flags to pass to ParticleSource.StopParticle. Plain Effect base. No flags
COLLISION	body is in collision world, but it's not simulated
SIMULATION	dynamic bodies are colliding and are simulated

Definition at line 12 of file simulationstate.c.

SimulationState [2/2]

enum SimulationState

Enumerator
NONE	body is not in simulation, nor in collision world No automatic destroying. Flags to pass to ParticleSource.StopParticle. Plain Effect base. No flags
COLLISION	body is in collision world, but it's not simulated
SIMULATION	dynamic bodies are colliding and are simulated
NONE	body is not in simulation, nor in collision world No automatic destroying. Flags to pass to ParticleSource.StopParticle. Plain Effect base. No flags
COLLISION	body is in collision world, but it's not simulated
SIMULATION	dynamic bodies are colliding and are simulated

Definition at line 12 of file simulationstate.c.

Function Documentation

dGetDynamicBody()

proto native IEntity dGetDynamicBody	(	notnull IEntity	worldEnt,
		int	index )

dGetGravity()

proto native vector dGetGravity

(

notnull IEntity

worldEntity

)

Gets global gravity.

dGetInteractionLayer()

proto native bool dGetInteractionLayer	(	notnull IEntity	worldEntity,
		int	mask1,
		int	mask2 )

dGetNumDynamicBodies()

proto native int dGetNumDynamicBodies

(

notnull IEntity

worldEnt

)

dSetGravity()

proto native void dSetGravity	(	notnull IEntity	worldEntity,
		vector	g )

Changes global gravity.

dSetInteractionLayer()

proto native void dSetInteractionLayer	(	notnull IEntity	worldEntity,
		int	mask1,
		int	mask2,
		bool	enable )

dSetTimeSlice()

proto native void dSetTimeSlice	(	notnull IEntity	worldEntity,
		float	timeSlice )

Changes fixed time-slice. Default is 1/40, thus simulation runs on 40fps. With smaller values, there is more precise simulation.