Unigine::Body Class

Header:

#include <UniginePhysics.h>

This class is used to simulate physical bodies that allow an object to participate in physical interactions. A body can have one or several collision shapes assigned and can be connected together with joints. To transform a body, one of the following functions can be used:

All of these functions take effect when physics calculations are over and updatePhysics() is performed. Only after that transformations of the body are applied to the rendered node. If a node needs to be transformed immediately after its physical body, flushTransform() is to be called.

The simulation of the body can be frozen (if a setFrozen flag is set).

Bodies interact with each other via joints or contacts. A contact can be handled by any of the bodies that participate in it. To which body a contact is assigned is random. If the contact is assigned to and handled by the body it is called an internal one, otherwise it is called external (handled by another body). The total number of contacts for the body includes all, internal and external ones. Iterating through internal contacts is much faster than through external ones, thus you might want a certain body to handle most of the contacts it participates in. This can be done for a rigid body by raising a priority for it via the setHighPriorityContacts() method.

Within the body contacts are referred to via their numbers, in the range from 0 to the total number of contacts. While globally each contact has an ID to refer to it, this can be used .

You can set callbacks for a body to handle certain events:

addFrozenCallback() - to perform some actions when a body freezes.
addPositionCallback() - to perform some actions when a body changes its position.
addContactEnterCallback() - to perform some actions when a contact emerges (body starts touching another body or collidable surface).
addContactLeaveCallback() - to perform some actions when a contact ends (body stops touching another body or collidable surface).
addContactsCallback() - to get all contacts of the body including new ones (enter) and the ending ones (leave). Leave contacts are removed after the callback execution stage, so this is the only point where you can still get them.

Methods:

Name	Description View: Sort by:
setID	Sets the unique ID for the body.
getID	Returns the unique ID of the body.
getType	Returns the type of the body.
getTypeName	Returns the name of the body type.
setObject	Sets an object, which the body approximates.
getObject	Returns the object, which is approximated with the body.
setEnabled	Enables or disables physical interactions with the body.
isEnabled	Returns a value indicating if physical interactions with the body are enabled.
isEnabledSelf	Returns a value indicating if the body is enabled.
setFrozen	Freezes or unfreezes the body.
isFrozen	Returns a value indicating if the body is frozen.
setImmovable	Sets a value indicating if the body is immovable (static).
isImmovable	Return a value indicating if the body is immovable (static).
setGravity	Sets a value indicating if gravity is affecting the body.
isGravity	Returns a value indicating if gravity is affecting the body.
setName	Sets the name of the body.
getName	Returns the name of the body.
setPhysicalMask	Sets the bit mask for interactions with physicals.
getPhysicalMask	Returns the bit mask for interactions with physicals.
setTransform	Sets a transformation matrix for the body (in world coordinates).
getTransform	Returns the transformation matrix of the body (in world coordinates).
setPosition	Updates the body position (in world coordinates).
getPosition	Returns the body position (in world coordinates).
setRotation	Updates the body rotation (in world coordinates).
getRotation	Returns the body rotation (in world coordinates).
getDirection	Returns the normalized direction vector of the body (in world coordinates).
getParent	Returns the parent of the body.
getNumChildren	Returns the number of child bodies.
getNumShapes	Returns the number of shapes comprising the body.
getNumJoints	Returns the number of joints in the body.
getNumContacts	Returns the total number of contacts in which the body participates.
createBody	Creates a new body of the specified type.
getTypeName	Returns the name of a body type with a given ID.
setObject	Sets an object, which the body approximates.
setPreserveTransform	Sets a transformation matrix for the body (in world coordinates).
setVelocityTransform	Sets a transformation matrix (in world coordinates) and computes linear and angular velocities of the body depending on its trajectory from the current position to the specified one.
flushTransform	Forces to set the transformations of the body for the node.
setDirection	Updates the direction vector of the body (in world coordinates).
isChild	Checks if a given body is a child of the body.
findChild	Searches for a child body with a given name.
getChild	Returns a given child body.
addShape	Adds a shape to the list of shapes comprising the body.
removeShape	Removes a given shape from the body.
clearShapes	Clears all shapes from the body.
isShape	Checks if a given shape belongs to the body.
insertShape	Inserts a given shape at the specified position in the list of body's shapes.
findShape	Searches for a shape with a given name.
getShape	Returns a given shape.
setShapeTransform	Sets a transformation matrix for a given shape (in local coordinates).
getShapeTransform	Returns the transformation matrix of a given shape (in local coordinates).
updateShapes	Updates all shapes of the body.
addJoint	Adds a joint to the body.
removeJoint	Removes a given joint from the body.
insertJoint	Inserts a given joint at the specified position in the list of body's joints.
isJoint	Checks if a given joint belongs to the body.
findJoint	Searches for a joint with a given name.
getJoint	Returns a given joint.
getIntersection	Performs tracing from the p0 point to the p1 point to find a body shape intersected by this line.
getContactID	Returns the contact ID by the contact number.
findContactByID	Returns the number of the contact by its ID.
isContactInternal	Returns a value indicating whether the contact with the specified number is internal (handled by the body) or not (handled by another body).
isContactEnter	Returns a value indicating if the body has begun touching another body at the contact point with the specified number (the contact has just occurred).
isContactLeave	Returns a value indicating if the body has stopped touching another body at the contact point with the specified number.
isContactStay	Returns a value indicating if the body keeps touching another body at the contact point with the specified number (the contact lasts).
getContactPoint	Returns world coordinates of the contact point.
getContactNormal	Returns a normal of the contact point, in world coordinates.
getContactVelocity	Returns relative velocity at the given contact point.
getContactImpulse	Returns the relative impulse at the given contact point.
getContactTime	Returns the time when the given contact occurs.
getContactDepth	Returns the depth by which the body penetrated with an obstacle by the given contact.
getContactFriction	Returns relative friction at the given contact point.
getContactRestitution	Returns relative restitution at the given contact point.
getContactBody0	Returns the first body participating in a given contact.
getContactBody1	Returns the second body participating in a given contact.
getContactShape0	Returns the first shape participating in a given contact.
getContactShape1	Returns the second shape participating in a given contact.
getContactObject	Returns an object participating in the contact (used for collisions with non-physical object).
getContactSurface	Returns the surface of the current object, which is in contact (used for collisions with non-physical object).
addFrozenCallback	Adds a callback function to be called when a given body freezes.
removeFrozenCallback	Removes the specified callback from the list of frozen callbacks.
clearFrozenCallbacks	Clears all added frozen callbacks.
addPositionCallback	Adds a callback function to be called when a given body moves a certain distance (rotation is not taken into account).
removePositionCallback	Removes the specified callback from the list of position callbacks.
clearPositionCallbacks	Clears all added position callbacks.
addContactsCallback	Adds a callback function to be called after adding new contacts and before removing the ones that cease to exist.
removeContactsCallback	Removes the specified callback from the list of contacts callbacks.
clearContactsCallbacks	Clears all added contacts callbacks.
addContactEnterCallback	Adds a callback function to be called when a contact with the body emerges (the body begins touching another body).
removeContactEnterCallback	Removes the specified callback from the list of contact enter callbacks.
clearContactEnterCallbacks	Clears all added contact enter callbacks.
addContactLeaveCallback	Adds a callback function to be called when a contact with the body ends (the body stops touching another body).
removeContactLeaveCallback	Removes the specified callback from the list of contact leave callbacks.
clearContactLeaveCallbacks	Clears all added contact leave callbacks.
renderContacts	Renders all contact points of the body including internal and external ones (handled by other bodies).
renderExternalContacts	Renders all external contacts of the body (handled by other bodies).
renderInternalContacts	Renders all internal contacts of the body (handled by it).
renderJoints	Renders joints to which the body is connected.
renderShapes	Renders shapes comprising the body.
renderVisualizer	Renders shapes, joints and contact points of the body.
clone	Clones the body and assigns a copy to a given object.
swap	Swaps the bodies saving the pointers.
saveState	Saves the state of a given body into a binary stream.
restoreState	Restores the state of a given body from a binary stream.

Variables:

Name	Description
BODY_CLOTH = 5	This body simulates cloth.
BODY_DUMMY = 0	This body is used to create an immovable collider for an object.
BODY_FRACTURE = 3	This body simulates breakable objects.
BODY_PATH = 7	This body simulates a path along which rigid bodies are moving, for example, like a train along the railtrack.
BODY_RAGDOLL = 2	This body contains joints connecting parts of the body (represented with rigid bodies).
BODY_RIGID = 1	This is a basic type of body describing a rigid object.
BODY_ROPE = 4	This body simulates ropes.
BODY_WATER = 6	This body simulates water and other fluids.
NUM_BODIES = 8	The number of bodies.

Body Class

Enums

TYPE#

Type of the body defining its physical properties.

Name	Description
BODY_DUMMY = 0	This body is used to create an immovable collider for an object.
BODY_RIGID = 1	This is a basic type of body describing a rigid object.
BODY_RAGDOLL = 2	This body contains joints connecting parts of the body (represented with rigid bodies).
BODY_FRACTURE = 3	This body simulates breakable objects.
BODY_ROPE = 4	This body simulates ropes.
BODY_CLOTH = 5	This body simulates cloth.
BODY_WATER = 6	This body simulates water and other fluids.
BODY_PATH = 7	This body simulates a path along which rigid bodies are moving, for example, like a train along the railtrack.
NUM_BODIES = 8	The number of bodies.

Members

Ptr<Body> createBody ( int type ) #

Creates a new body of the specified type.

Arguments

int type - Body type. One of the BODY_* values.

Return value

New created body smart pointer.

Ptr<Body> createBody ( const char * type_name ) #

Creates a new body of the specified type.

Arguments

const char * type_name - Body type name.

Return value

New created body smart pointer.

void setID ( int id ) #

Sets the unique ID for the body.

Arguments

int id - Unique ID.

int getID ( ) const#

Returns the unique ID of the body.

Return value

Unique ID.

Body::TYPE getType ( ) const#

Returns the type of the body.

Return value

One of the BODY_* pre-defined variables.

const char * getTypeName ( ) const#

Returns the name of the body type.

Return value

Type name.

const char * getTypeName ( int type ) #

Returns the name of a body type with a given ID.

Arguments

int type - Body type ID. One of the BODY_* values.

Return value

Body type name.

void setObject ( const Ptr<Object> & object, bool update ) #

Sets an object, which the body approximates.

Arguments

const Ptr<Object> & object - Object to approximate.
bool update - Update flag: 1 to update the object after assigning the body (by default), 0 not to update right after body assignment.

void setObject ( const Ptr<Object> & val ) #

Sets an object, which the body approximates.

Arguments

const Ptr<Object> & val - Object to approximate.

Ptr<Object> getObject ( ) const#

Returns the object, which is approximated with the body.

Return value

Approximated object.

void setEnabled ( bool enable ) #

Enables or disables physical interactions with the body.

Arguments

bool enable - 1 to enable physical interactions, 0 to disable them.

bool isEnabled ( ) const#

Returns a value indicating if physical interactions with the body are enabled.

Return value

1 if physical interactions with the body are enabled; otherwise, 0.

bool isEnabledSelf ( ) const#

Returns a value indicating if the body is enabled.

Return value

1 if the body is enabled; otherwise, 0.

void setFrozen ( bool frozen ) #

Freezes or unfreezes the body. When a body is frozen, it is not simulated (though its contacts are still calculated), until a collision with a frozen body occurs or some force is applied.

Arguments

bool frozen - 1 to freeze the object, 0 to unfreeze it.

bool isFrozen ( ) const#

Returns a value indicating if the body is frozen. When a body is frozen, it is not simulated (though its contacts are still calculated), until a collision with a frozen body occurs or some force is applied.

Return value

1 if the body is frozen; otherwise, 0.

void setImmovable ( bool immovable ) #

Sets a value indicating if the body is immovable (static).

Arguments

bool immovable - 1 if the body is immovable (static); otherwise, 0.

bool isImmovable ( ) const#

Return a value indicating if the body is immovable (static).

Return value

1 if the body is immovable (static); otherwise, 0.

void setGravity ( bool gravity ) #

Sets a value indicating if gravity is affecting the body.

Arguments

bool gravity - 1 if the body is affected by gravity; otherwise, 0.

bool isGravity ( ) const#

Returns a value indicating if gravity is affecting the body.

Return value

1 if the body is affected by gravity; otherwise, 0.

void setName ( const char * name ) #

Sets the name of the body.

Arguments

const char * name - Name of the body.

const char * getName ( ) const#

Returns the name of the body.

Return value

Name of the body.

void setPhysicalMask ( int mask ) #

Sets the bit mask for interactions with physicals. Two objects interact, if they both have matching masks.

Arguments

int mask - Integer, each bit of which is a mask.

int getPhysicalMask ( ) const#

Returns the bit mask for interactions with physicals. Two objects interact, if they both have matching masks.

Return value

Integer, each bit of which is a mask.

void setTransform ( const Math::Mat4 & transform ) #

Sets a transformation matrix for the body (in world coordinates). This method resets body's linear and angular velocities to defaults, sets forces and torques to zeros, nullifies counted down frozen frames. It is called, for example, when the node is dragged to a new position in the editor.

Arguments

const Math::Mat4 & transform - Transformation matrix. This matrix describes position, orientation and scale of the body.

Math::Mat4 getTransform ( ) const#

Returns the transformation matrix of the body (in world coordinates). This matrix describes position and orientation of the body.

Return value

Transformation matrix.

void setPreserveTransform ( const Math::Mat4 & transform ) #

Sets a transformation matrix for the body (in world coordinates). This method safely preserves body's linear and angular velocities. It changes only body coordinates - all other body parameters stay the same.

Arguments

const Math::Mat4 & transform - Transformation matrix. This matrix describes position, orientation and scale of the body.

void setVelocityTransform ( const Math::Mat4 & transform ) #

Sets a transformation matrix (in world coordinates) and computes linear and angular velocities of the body depending on its trajectory from the current position to the specified one. The time used in calculations corresponds to physics ticks. It clears forces and torques to zeros and nullifies counted down frozen frames.

Arguments

const Math::Mat4 & transform - Transformation matrix. This matrix describes position, orientation and scale of the body.

void flushTransform ( ) const#

Forces to set the transformations of the body for the node.

void setPosition ( const Math::Vec3 & pos ) #

Updates the body position (in world coordinates). Body's linear and angular velocities will be reset to 0.

Arguments

const Math::Vec3 & pos - New position in the world coordinates.

Math::Vec3 getPosition ( ) const#

Returns the body position (in world coordinates).

Return value

The body position in the world coordinates.

void setRotation ( const Math::quat & rot ) #

Updates the body rotation (in world coordinates).

Arguments

const Math::quat & rot - New rotation in the world coordinates.

Math::quat getRotation ( ) const#

Returns the body rotation (in world coordinates).

Return value

The body rotation in the world coordinates.

void setDirection ( const Math::vec3 & dir, const Math::vec3 & up ) #

Updates the direction vector of the body (in world coordinates). By default, a direction vector points along -Z axis. This function changes its direction and reorients the body.

Arguments

const Math::vec3 & dir - New direction vector in the world coordinates. The direction vector always has unit length.
const Math::vec3 & up - New up vector in the world coordinates.

Math::vec3 getDirection ( ) const#

Returns the normalized direction vector of the body (in world coordinates). By default, a direction vector points along -Z axis. It always has an unit length.

Return value

Normalized direction vector in the world coordinates.

Ptr<Body> getParent ( ) const#

Returns the parent of the body.

Return value

Parent body.

int isChild ( const Ptr<Body> & body ) const#

Checks if a given body is a child of the body.

Arguments

const Ptr<Body> & body - Body to check.

Return value

1 if the provided body is a child; otherwise, 0.

int getNumChildren ( ) const#

Returns the number of child bodies.

Return value

Number of children.

int findChild ( const char * name ) const#

Searches for a child body with a given name.

Arguments

const char * name - Name of the child body.

Return value

Number of the child in the list of children, if it is found; otherwise, -1.

Ptr<Body> getChild ( int num ) const#

Returns a given child body.

Arguments

int num - Child number.

Return value

Corresponding body.

void addShape ( const Ptr<Shape> & shape, const Math::mat4 & transform ) #

Adds a shape to the list of shapes comprising the body.

Arguments

const Ptr<Shape> & shape - New shape to add.
const Math::mat4 & transform - Shape transformation matrix (in the body's coordinate system).

void addShape ( const Ptr<Shape> & shape ) #

Adds a shape to the list of shapes comprising the body.

Arguments

const Ptr<Shape> & shape - New shape to add.

void removeShape ( const Ptr<Shape> & shape, bool destroy = 0 ) #

Removes a given shape from the body.

Arguments

const Ptr<Shape> & shape - Shape to be removed.
bool destroy - Flag indicating whether the shape is to be destroyed after removal: use 1 to destroy the shape after removal, or 0 if you plan to use the shape later. The default value is 0.

void removeShape ( int num, bool destroy = 0 ) #

Removes a shape with a given number from the body.

Arguments

int num - Shape number.
bool destroy - Flag indicating whether the shape is to be destroyed after removal: use 1 to destroy the shape after removal, or 0 if you plan to use the shape later. The default value is 0.

void clearShapes ( int destroy = 0 ) #

Clears all shapes from the body.

Arguments

int destroy - Flag indicating whether shapes are to be destroyed after removal: use 1 to destroy shapes after removal, or 0 if you plan to use them later. The default value is 0.

int isShape ( const Ptr<Shape> & shape ) const#

Checks if a given shape belongs to the body.

Arguments

const Ptr<Shape> & shape - Shape to check.

Return value

1 if the shape belongs to the body; otherwise, 0.

bool insertShape ( int pos, const Ptr<Shape> & shape ) #

Inserts a given shape at the specified position in the list of body's shapes.

Arguments

int pos - Position in the list at which the shape is to be inserted in the range from 0 to the number of shapes.
const Ptr<Shape> & shape - Shape to be inserted.

Return value

1 if a shape was successfully inserted; otherwise, 0.

bool insertShape ( int pos, const Ptr<Shape> & shape, const Math::mat4 & transform ) #

Inserts a given shape at the specified position in the list of body's shapes and sets the specified transformation for it.

Arguments

int pos - Position in the list at which the shape is to be inserted in the range from 0 to the number of shapes.
const Ptr<Shape> & shape - Shape to be inserted.
const Math::mat4 & transform - Shape's transformation (in the body's coordinate system).

Return value

1 if a shape was successfully inserted; otherwise, 0.

int getNumShapes ( ) const#

Returns the number of shapes comprising the body.

Return value

Number of shapes.

int findShape ( const char * name ) const#

Searches for a shape with a given name.

Arguments

const char * name - Name of the shape.

Return value

Number of the shape in the list of shapes, if it is found; otherwise, -1.

Ptr<Shape> getShape ( int num ) const#

Returns a given shape.

Arguments

int num - Shape number.

Return value

Corresponding shape object.

void setShapeTransform ( int num, const Math::mat4 & transform ) #

Sets a transformation matrix for a given shape (in local coordinates). This matrix describes position and orientation of the shape.

Arguments

int num - Shape number.
const Math::mat4 & transform - Transformation matrix (in the body's coordinate system).

Math::mat4 getShapeTransform ( int num ) const#

Returns the transformation matrix of a given shape (in local coordinates). This matrix describes position and orientation of the shape.

Arguments

int num - Shape number.

Return value

Transformation matrix.

void updateShapes ( ) #

Updates all shapes of the body.

void addJoint ( const Ptr<Joint> & joint ) #

Adds a joint to the body.

Arguments

const Ptr<Joint> & joint - New joint to add.

void removeJoint ( const Ptr<Joint> & joint ) #

Removes a given joint from the body.

Arguments

const Ptr<Joint> & joint - Joint to be removed.

void removeJoint ( int num ) #

Removes a joint with a given number from the body.

Arguments

int num - Joint number.

void insertJoint ( const Ptr<Joint> & joint, int num ) #

Inserts a given joint at the specified position in the list of body's joints.

Arguments

const Ptr<Joint> & joint - Joint to be inserted.
int num - Position in the list at which the joint is to be inserted in the range from 0 to the number of joints.

int isJoint ( const Ptr<Joint> & joint ) const#

Checks if a given joint belongs to the body.

Arguments

const Ptr<Joint> & joint - Joint to check.

Return value

1 if the joint belongs to the body; otherwise, 0.

int getNumJoints ( ) const#

Returns the number of joints in the body.

Return value

Number of joints.

int findJoint ( const char * name ) const#

Searches for a joint with a given name.

Arguments

const char * name - Name of the joint.

Return value

Number of the joint in the list of joints, if it is found; otherwise, -1.

Ptr<Joint> getJoint ( int num ) const#

Returns a given joint.

Arguments

int num - Joint number.

Return value

Corresponding joint.

Ptr<Shape> getIntersection ( const Math::Vec3 & p0, const Math::Vec3 & p1, int mask, Math::Vec3 * ret_point, Math::vec3 * ret_normal ) #

Performs tracing from the p0 point to the p1 point to find a body shape intersected by this line. Intersection is found only for objects with a matching intersection mask. On success ret_point and ret_normal shall contain information about intersection.

Notice

World space coordinates are used for this function.

Arguments

const Math::Vec3 & p0 - Start point of the line (in world coordinates).
const Math::Vec3 & p1 - End point of the line (in world coordinates).
int mask - Intersection mask.
Math::Vec3 * ret_point - Container to which contact point coordinates (if any) shall be put (in world coordinate system).
Math::vec3 * ret_normal - Container to which contact point normal coordinates (if any) shall be put (in world coordinate system).

Return value

First intersected shape, if found; otherwise, 0.

int getNumContacts ( ) const#

Returns the total number of contacts in which the body participates. It includes internal (handled by the body) and external contacts (handled by other bodies).

Return value

Number of contacts.

unsigned long long getContactID ( int num ) const#

Returns the contact ID by the contact number.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Contact ID.

int findContactByID ( unsigned long long id ) const#

Returns the number of the contact by its ID.

Arguments

unsigned long long id - Contact ID.

Return value

Number of the contact with the specified ID if it exists, otherwise -1.

bool isContactInternal ( int num ) const#

Returns a value indicating whether the contact with the specified number is internal (handled by the body) or not (handled by another body). A contact can be handled by any of the bodies that participate in it. To which body a contact is assigned is random. If the contact is assigned to and handled by the body it is called an internal one, otherwise it is called external (handled by another body). The total number of contacts for the body includes all, internal and external ones. Iterating through internal contacts is much faster than through external ones, thus you might want a certain body to handle most of the contacts it participates in. This can be done for a rigid body by raising a priority for the body via the setHighPriorityContacts() method.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

true if the contact contact with the specified number is internal; otherwise false.

bool isContactEnter ( int num ) const#

Returns a value indicating if the body has begun touching another body at the contact point with the specified number (the contact has just occurred).

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

true if the body has begun touching another body at the contact point with the specified number (the contact has just occurred); otherwise false.

bool isContactLeave ( int num ) const#

Returns a value indicating if the body has stopped touching another body at the contact point with the specified number.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

true if the body has stopped touching another body at the contact point with the specified number; otherwise false.

bool isContactStay ( int num ) const#

Returns a value indicating if the body keeps touching another body at the contact point with the specified number (the contact lasts).

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

true if the body keeps touching another body at the contact point with the specified number (the contact lasts); otherwise false.

Math::Vec3 getContactPoint ( int num ) const#

Returns world coordinates of the contact point.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Contact point (in world coordinates).

Math::vec3 getContactNormal ( int num ) const#

Returns a normal of the contact point, in world coordinates.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Contact normal (in world coordinates).

Math::vec3 getContactVelocity ( int num ) const#

Returns relative velocity at the given contact point.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Velocity vector.

float getContactImpulse ( int num ) const#

Returns the relative impulse at the given contact point.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Impulse value.

float getContactTime ( int num ) const#

Returns the time when the given contact occurs. By CCD (for spheres or capsules), it returns the time starting from the current physics simulation tick to the moment when the calculated contact is bound to happen. By non-continuous collision detection, 0 is always returned.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Time of the calculated contact to happen, in seconds.

float getContactDepth ( int num ) const#

Returns the depth by which the body penetrated with an obstacle by the given contact. This distance is measured along the contact normal.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Penetration depth, in units.

float getContactFriction ( int num ) const#

Returns relative friction at the given contact point.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Friction value.

float getContactRestitution ( int num ) const#

Returns relative restitution at the given contact point.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Restitution.

Ptr<Body> getContactBody0 ( int num ) const#

Returns the first body participating in a given contact. This is not necessarily the current body.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

First body.

Ptr<Body> getContactBody1 ( int num ) const#

Returns the second body participating in a given contact. This is not necessarily the current body.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Second body.

Ptr<Shape> getContactShape0 ( int num ) const#

Returns the first shape participating in a given contact. This shape does not necessarily belong to the current body.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

First shape.

Ptr<Shape> getContactShape1 ( int num ) const#

Returns the second shape participating in a given contact. This shape does not necessarily belong to the current body.

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Second shape.

Ptr<Object> getContactObject ( int num ) const#

Returns an object participating in the contact (used for collisions with non-physical object).

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Object in contact.

int getContactSurface ( int num ) const#

Returns the surface of the current object, which is in contact (used for collisions with non-physical object).

Arguments

int num - Contact number in the range from 0 to the total number of contacts.

Return value

Surface number.

void * addFrozenCallback ( Unigine::CallbackBase1< Ptr<Body> > * func ) #

Adds a callback function to be called when a given body freezes. The signature of the frozen callback function must be as follows:

Source code (C++)

void frozen_callback_function_name(BodyPtr body);

You can set a callback function as follows:

Source code (C++)

addFrozenCallback(MakeCallback(frozen_callback_function_name));

NoticePhysics-based callbacks are executed in the main tread, as they are mainly used for creation, destruction or modification of other objects.

Example: Setting a body frozen callback function for a certain class:

Source code (C++)

class SomeClass {

	/*...*/
	
	// body for which a frozen callback function is to be set
	Unigine::BodyPtr body;
	
	/*...*/
};

/*...*/

// callback function
void SomeClass::on_freezing(BodyPtr body)
{
	// insert your code handling freezing here
}

void SomeClass::registerCallback()
{
	// setting the on_freezing() function to handle freezing for the body
	body->addFrozenCallback(MakeCallback(this, &SomeClass::on_freezing));
}

Arguments

Unigine::CallbackBase1< Ptr<Body> > * func - Callback pointer.

Return value

ID of the last added frozen callback, if the callback was added successfully; otherwise, nullptr. This ID can be used to remove this callback when necessary.

bool removeFrozenCallback ( void * id ) #

Removes the specified callback from the list of frozen callbacks.

Arguments

void * id - Frozen callback ID obtained when adding it.

Return value

True if the frozen callback with the given ID was removed successfully; otherwise false.

void clearFrozenCallbacks ( ) #

Clears all added frozen callbacks.

void * addPositionCallback ( Unigine::CallbackBase1< Ptr<Body> > * func ) #

Adds a callback function to be called when a given body moves a certain distance (rotation is not taken into account). The signature of the position callback function must be as follows:

Source code (C++)

void position_callback_function_name(BodyPtr body);

You can set a callback function as follows:

Source code (C++)

addPositionCallback(MakeCallback(position_callback_function_name));

NoticePhysics-based callbacks are executed in the main tread, as they are mainly used for creation, destruction or modification of other objects.

Example: Setting a body position callback function for a certain class:

Source code (C++)

class SomeClass {

	/*...*/
	
	// body for which a position callback function is to be set
	Unigine::BodyPtr body;
	
	/*...*/
};

/*...*/

// callback function
void SomeClass::on_position(BodyPtr body)
{
	// insert your code handling position changes here
}

void SomeClass::registerCallback()
{
	// setting the on_position() function to handle position changes for the body
	body->addPositionCallback(MakeCallback(this, &SomeClass::on_position));
}

Arguments

Unigine::CallbackBase1< Ptr<Body> > * func - Callback pointer.

Return value

ID of the last added position callback, if the callback was added successfully; otherwise, nullptr. This ID can be used to remove this callback when necessary.

bool removePositionCallback ( void * id ) #

Removes the specified callback from the list of position callbacks.

Arguments

void * id - Position callback ID obtained when adding it.

Return value

True if the position callback with the given ID was removed successfully; otherwise false.

void clearPositionCallbacks ( ) #

Clears all added position callbacks.

void * addContactsCallback ( Unigine::CallbackBase1< Ptr<Body> > * func ) #

Adds a callback function to be called after adding new contacts and before removing the ones that cease to exist. This callback can be used to get all contacts of the body including new ones (enter) and the ending ones (leave). Leave contacts are removed after the callback execution stage, so this is the only point where you can still get them. The signature of the contacts callback function must be as follows:

Source code (C++)

void contacts_callback_function_name(BodyPtr body);

You can set a callback function as follows:

Source code (C++)

addContactsCallback(MakeCallback(contacts_callback_function_name));

Example: Setting a body contacts callback function for a certain class:

Source code (C++)

class SomeClass {

	/*...*/
	
	// body for which a contacts callback function is to be set
	Unigine::BodyPtr body;
	
	/*...*/
};

/*...*/

// callback function
void SomeClass::on_contacts(BodyPtr body)
{
	// insert your code handling contacts here
}

void SomeClass::registerCallback()
{
	// setting the on_contacts() function to handle contacts for the body
	body->addContactsCallback(MakeCallback(this, &SomeClass::on_contacts));
}

NoticePhysics-based callbacks are executed in the main tread, as they are mainly used for creation, destruction or modification of other objects.

Arguments

Unigine::CallbackBase1< Ptr<Body> > * func - Callback pointer.

Return value

ID of the last added contact callback, if the callback was added successfully; otherwise, nullptr. This ID can be used to remove this callback when necessary.

bool removeContactsCallback ( void * id ) #

Removes the specified callback from the list of contacts callbacks. This callback is called after adding new contacts and before removing the ones that cease to exist. It can be used to get all contacts of the body including new ones (enter) and the ending ones (leave). Leave contacts are removed after the callback execution stage, so this is the only point where you can still get them.

Arguments

void * id - Contact callback ID obtained when adding it.

Return value

true if the contacts callback with the given ID was removed successfully; otherwise false.

void clearContactsCallbacks ( ) #

Clears all added contacts callbacks. This callback is called after adding new contacts and before removing the ones that cease to exist. It can be used to get all contacts of the body including new ones (enter) and the ending ones (leave). Leave contacts are removed after the callback execution stage, so this is the only point where you can still get them.

void * addContactEnterCallback ( Unigine::CallbackBase2< Ptr<Body>, int> * func ) #

Adds a callback function to be called when a contact with the body emerges (the body begins touching another body). The signature of the callback function must be as follows:

Source code (C++)

void contact_enter_callback_function_name(BodyPtr body, int num);

You can set a callback function as follows:

Source code (C++)

addContactEnterCallback(MakeCallback(contact_enter_callback_function_name));

Example: Setting a body contact enter callback function for a certain class:

Source code (C++)

class SomeClass {

	/*...*/
	
	// body for which a contact enter callback function is to be set
	Unigine::BodyPtr body;
	
	/*...*/
};

/*...*/

// callback function
void SomeClass::on_contact_enter(BodyPtr body, int num)
{
	// insert your code handling contacts here
}

void SomeClass::registerCallback()
{
	// setting the on_contact_enter() function to handle emerging contacts for the body
	body->addContactEnterCallback(MakeCallback(this, &SomeClass::on_contact_enter));
}

NoticePhysics-based callbacks are executed in the main tread, as they are mainly used for creation, destruction or modification of other objects.

Arguments

Unigine::CallbackBase2< Ptr<Body>, int> * func - Callback pointer.

Return value

ID of the last added contact enter callback, if the callback was added successfully; otherwise, nullptr. This ID can be used to remove this callback when necessary.

bool removeContactEnterCallback ( void * id ) #

Removes the specified callback from the list of contact enter callbacks. These callbacks are called when a contact with the body emerges (the body begins touching another body).

Arguments

void * id - Contact callback ID obtained when adding it.

Return value

true if the contact enter callback with the given ID was removed successfully; otherwise false.

void clearContactEnterCallbacks ( ) #

Clears all added contact enter callbacks. These callbacks are called when a contact with the body emerges (the body begins touching another body).

void * addContactLeaveCallback ( Unigine::CallbackBase2< Ptr<Body>, int> * func ) #

Adds a callback function to be called when a contact with the body ends (the body stops touching another body). The signature of the callback function must be as follows:

Source code (C++)

void contact_leave_callback_function_name(BodyPtr body, int num);

You can set a callback function as follows:

Source code (C++)

addContactLeaveCallback(MakeCallback(contact_leave_callback_function_name));

Example: Setting a body contact leave callback function for a certain class:

Source code (C++)

class SomeClass {

	/*...*/
	
	// body for which a contact leave callback function is to be set
	Unigine::BodyPtr body;
	
	/*...*/
};

/*...*/

// callback function
void SomeClass::on_contact_leave(BodyPtr body, int num)
{
	// insert your code handling contacts here
}

void SomeClass::registerCallback()
{
	// setting the on_contact_leave() function to handle ending contacts for the body
	body->addContactLeaveCallback(MakeCallback(this, &SomeClass::on_contact_leave));
}

NoticePhysics-based callbacks are executed in the main tread, as they are mainly used for creation, destruction or modification of other objects.

Arguments

Unigine::CallbackBase2< Ptr<Body>, int> * func - Callback pointer.

Return value

ID of the last added contact leave callback, if the callback was added successfully; otherwise, nullptr. This ID can be used to remove this callback when necessary.

bool removeContactLeaveCallback ( void * id ) #

Removes the specified callback from the list of contact leave callbacks. These callbacks are called when a contact with the body ends (the body stops touching another body).

Arguments

void * id - Contact callback ID obtained when adding it.

Return value

true if the contact leave callback with the given ID was removed successfully; otherwise false.

void clearContactLeaveCallbacks ( ) #

Clears all added contact leave callbacks. These callbacks are called when a contact with the body ends (the body stops touching another body).

void renderContacts ( ) #

Renders all contact points of the body including internal and external ones (handled by other bodies).

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

void renderExternalContacts ( ) #

Renders all external contacts of the body (handled by other bodies).

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

void renderInternalContacts ( ) #

Renders all internal contacts of the body (handled by it).

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

void renderJoints ( ) #

Renders joints to which the body is connected.

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

void renderShapes ( ) #

Renders shapes comprising the body.

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

void renderVisualizer ( ) #

Renders shapes, joints and contact points of the body.

NoticeYou should enable the engine visualizer via the show_visualizer 1 console command.

Ptr<Body> clone ( const Ptr<Object> & object ) const#

Clones the body and assigns a copy to a given object.

Arguments

const Ptr<Object> & object - Object, to which the copy will be assigned.

Return value

Copy of the body.

void swap ( const Ptr<Body> & body ) const#

Swaps the bodies saving the pointers.

Arguments

const Ptr<Body> & body - Body to swap.

int saveState ( const Ptr<Stream> & stream ) const#

Saves the state of a given body into a binary stream.

Arguments

const Ptr<Stream> & stream - Stream to save body state data.

Return value

1 if body state is successfully saved; otherwise, 0.

int restoreState ( const Ptr<Stream> & stream ) #

Restores the state of a given body from a binary stream.

Arguments

const Ptr<Stream> & stream - Stream with saved body state data.

Return value

1 if body state is successfully restored; otherwise, 0.

Last update: 05.08.2020

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Unigine::Body Class

See Also#

Methods:

Variables:

Body Class

Enums

TYPE#

Members

Ptr<Body> createBody ( int type ) #

Arguments

Return value

Ptr<Body> createBody ( const char * type_name ) #

Arguments

Return value

void setID ( int id ) #

Arguments

int getID ( ) const#

Return value

Body::TYPE getType ( ) const#

Return value

const char * getTypeName ( ) const#

Return value

const char * getTypeName ( int type ) #

Arguments

Return value

void setObject ( const Ptr<Object> & object, bool update ) #

Arguments

void setObject ( const Ptr<Object> & val ) #

Arguments

Ptr<Object> getObject ( ) const#

Return value

void setEnabled ( bool enable ) #

Arguments

bool isEnabled ( ) const#

Return value

bool isEnabledSelf ( ) const#

Return value

void setFrozen ( bool frozen ) #

Arguments

bool isFrozen ( ) const#

Return value

void setImmovable ( bool immovable ) #

Arguments

bool isImmovable ( ) const#

Return value

void setGravity ( bool gravity ) #

Arguments

bool isGravity ( ) const#

Return value

void setName ( const char * name ) #

Arguments

const char * getName ( ) const#

Return value

void setPhysicalMask ( int mask ) #

Arguments

int getPhysicalMask ( ) const#

Return value

void setTransform ( const Math::Mat4 & transform ) #

Arguments

Math::Mat4 getTransform ( ) const#

Return value

void setPreserveTransform ( const Math::Mat4 & transform ) #

Arguments

void setVelocityTransform ( const Math::Mat4 & transform ) #

Arguments

void flushTransform ( ) const#

void setPosition ( const Math::Vec3 & pos ) #

Arguments

Math::Vec3 getPosition ( ) const#

Return value

void setRotation ( const Math::quat & rot ) #

Arguments

Math::quat getRotation ( ) const#

Return value

void setDirection ( const Math::vec3 & dir, const Math::vec3 & up ) #

Arguments

Math::vec3 getDirection ( ) const#

Return value

Ptr<Body> getParent ( ) const#

Return value