Unigine.Body Class

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 BodyRigid.HighPriorityContacts.

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 subscribe for certain events of a body to handle them:

Frozen - to perform some actions when a body freezes/unfreezes.
Position - to perform some actions when a body changes its position.
ContactEnter - to perform some actions when a contact emerges (body starts touching another body or collidable surface).
ContactLeave - to perform some actions when a contact ends (body stops touching another body or collidable surface).
Contacts - 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.

Properties:

Name	Description
int NumContacts	The total number of contacts in which the body participates.
int NumJoints	The number of joints in the body.
int NumShapes	The number of shapes comprising the body.
int NumChildren	The number of child bodies.
quat Rotation	The rotation in the world coordinates.
vec3 Position	The body position (in world coordinates).
mat4 Transform	The transformation matrix of the body (in world coordinates).
int PhysicalMask	The bit mask for interactions with physicals.
string Name	The name of the body.
bool Gravity	The value indicating if gravity is affecting the body.
bool Immovable	The value indicating if the body is immovable (static).
bool Frozen	The value indicating if the body is frozen.
bool IsEnabledSelf	The value indicating if the body is enabled.
bool Enabled	The value indicating if physical interactions with the body are enabled.
string TypeName	The name of the body type.
Body.TYPE Type	The type of the body.
int ID	The unique ID of the body.
Object Object	The object approximated with the body.
Body Parent	The parent of the body.
vec3 Direction	The normalized direction vector of the body (in world coordinates).
Event<Body> EventContacts	The event triggered after adding new contacts and before removing the ones that cease to exist.
Event<Body, int> EventContactLeave	The event triggered when a contact with the body ends (the body stops touching another body).
Event<Body, int> EventContactEnter	The event triggered when a contact with the body occurs (the body begins touching another body).
Event<Body> EventPosition	The event triggered when a given body moves a certain distance (rotation is not taken into account).
Event<Body> EventFrozen	The event triggered when a given body freezes/unfreezes (i.

Methods:

Name	Description View: Sort by:
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).
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.

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.

Properties

int NumContacts#

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

int NumJoints#

The number of joints in the body.

int NumShapes#

The number of shapes comprising the body.

int NumChildren#

The number of child bodies.

quat Rotation#

The rotation in the world coordinates.

vec3 Position#

The body position (in world coordinates). When setting the value, body's linear and angular velocities will be reset to 0.

mat4 Transform#

The transformation matrix of the body (in world coordinates). This matrix describes position and orientation of the body. When setting the value, the body's linear and angular velocities are reset to defaults, forces and torques are set to zeros, counted down frozen frames are nullified. Setting the value is required, for example, when the node is dragged to a new position in the editor.

int PhysicalMask#

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

string Name#

The name of the body.

bool Gravity#

The value indicating if gravity is affecting the body.

bool Immovable#

The value indicating if the body is immovable (static).

bool Frozen#

The 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.

bool IsEnabledSelf#

The value indicating if the body is enabled.

bool Enabled#

The value indicating if physical interactions with the body are enabled.

string TypeName#

The name of the body type.

Body.TYPE Type#

The type of the body.

int ID#

The unique ID of the body.

Object Object#

The object approximated with the body.

Body Parent#

The parent of the body.

vec3 Direction#

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.

Event<Body> EventContacts#

The event triggered after adding new contacts and before removing the ones that cease to exist. This event 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 event is triggered, so this is the only point where you can still get them. You can subscribe to events via Connect() and unsubscribe via Disconnect(). You can also use EventConnection and EventConnections classes for convenience (see examples below).

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

Notice

For more details see the Event Handling article.

The event handler signature is as follows: myhandler(Body body)

Usage Example

Source code (C#)

// implement the Contacts event handler
void contacts_event_handler(Body body)
{
	Log.Message("\Handling Contacts event\n");
}

//////////////////////////////////////////////////////////////////////////////
//  1. Multiple subscriptions can be linked to an EventConnections instance
//  class that you can use later to remove all these subscriptions at once
//////////////////////////////////////////////////////////////////////////////

// create an instance of the EventConnections class
EventConnections contacts_event_connections = new EventConnections();


// link to this instance when subscribing to an event (subscription to various events can be linked)
publisher.EventContacts.Connect(contacts_event_connections, contacts_event_handler);

// other subscriptions are also linked to this EventConnections instance 
// (e.g. you can subscribe using lambdas)
publisher.EventContacts.Connect(contacts_event_connections, (Body body) => { 
		Log.Message("Handling Contacts event lambda\n");
		}
	);

// later all of these linked subscriptions can be removed with a single line
contacts_event_connections.DisconnectAll();

//////////////////////////////////////////////////////////////////////////////
//  2. You can subscribe and unsubscribe via the handler function directly
//////////////////////////////////////////////////////////////////////////////

// subscribe to the Contacts event with a handler function
publisher.EventContacts.Connect(contacts_event_handler);


// remove subscription to the Contacts event later by the handler function
publisher.EventContacts.Disconnect(contacts_event_handler);


//////////////////////////////////////////////////////////////////////////////
//   3. Subscribe to an event and unsubscribe later via an EventConnection instance
//////////////////////////////////////////////////////////////////////////////

// define a connection to be used to unsubscribe later
EventConnection contacts_event_connection;

// subscribe to the Contacts event with a lambda handler function and keeping the connection
contacts_event_connection = publisher.EventContacts.Connect((Body body) => { 
		Log.Message("Handling Contacts event lambda\n");
	}
);

// ...

// you can temporarily disable a particular event connection 
contacts_event_connection.Enabled = false;

// ... perform certain actions

// and enable it back when necessary
contacts_event_connection.Enabled = true;

// ...

// remove the subscription later using the saved connection
contacts_event_connection.Disconnect();

//////////////////////////////////////////////////////////////////////////////
//   4. Ignoring Contacts events when necessary
//////////////////////////////////////////////////////////////////////////////

// you can temporarily disable the event to perform certain actions without triggering it
publisher.EventContacts.Enabled = false;

// ... actions to be performed

// and enable it back when necessary
publisher.EventContacts.Enabled = true;

Event<Body, int> EventContactLeave#

The event triggered when a contact with the body ends (the body stops touching another body). You can subscribe to events via Connect() and unsubscribe via Disconnect(). You can also use EventConnection and EventConnections classes for convenience (see examples below).

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

Notice

For more details see the Event Handling article.

The event handler signature is as follows: myhandler(Body body, int contact_id)

Usage Example

Source code (C#)

// implement the ContactLeave event handler
void contactleave_event_handler(Body body,  int contact_id)
{
	Log.Message("\Handling ContactLeave event\n");
}

//////////////////////////////////////////////////////////////////////////////
//  1. Multiple subscriptions can be linked to an EventConnections instance
//  class that you can use later to remove all these subscriptions at once
//////////////////////////////////////////////////////////////////////////////

// create an instance of the EventConnections class
EventConnections contactleave_event_connections = new EventConnections();


// link to this instance when subscribing to an event (subscription to various events can be linked)
publisher.EventContactLeave.Connect(contactleave_event_connections, contactleave_event_handler);

// other subscriptions are also linked to this EventConnections instance 
// (e.g. you can subscribe using lambdas)
publisher.EventContactLeave.Connect(contactleave_event_connections, (Body body,  int contact_id) => { 
		Log.Message("Handling ContactLeave event lambda\n");
		}
	);

// later all of these linked subscriptions can be removed with a single line
contactleave_event_connections.DisconnectAll();

//////////////////////////////////////////////////////////////////////////////
//  2. You can subscribe and unsubscribe via the handler function directly
//////////////////////////////////////////////////////////////////////////////

// subscribe to the ContactLeave event with a handler function
publisher.EventContactLeave.Connect(contactleave_event_handler);


// remove subscription to the ContactLeave event later by the handler function
publisher.EventContactLeave.Disconnect(contactleave_event_handler);


//////////////////////////////////////////////////////////////////////////////
//   3. Subscribe to an event and unsubscribe later via an EventConnection instance
//////////////////////////////////////////////////////////////////////////////

// define a connection to be used to unsubscribe later
EventConnection contactleave_event_connection;

// subscribe to the ContactLeave event with a lambda handler function and keeping the connection
contactleave_event_connection = publisher.EventContactLeave.Connect((Body body,  int contact_id) => { 
		Log.Message("Handling ContactLeave event lambda\n");
	}
);

// ...

// you can temporarily disable a particular event connection 
contactleave_event_connection.Enabled = false;

// ... perform certain actions

// and enable it back when necessary
contactleave_event_connection.Enabled = true;

// ...

// remove the subscription later using the saved connection
contactleave_event_connection.Disconnect();

//////////////////////////////////////////////////////////////////////////////
//   4. Ignoring ContactLeave events when necessary
//////////////////////////////////////////////////////////////////////////////

// you can temporarily disable the event to perform certain actions without triggering it
publisher.EventContactLeave.Enabled = false;

// ... actions to be performed

// and enable it back when necessary
publisher.EventContactLeave.Enabled = true;

Event<Body, int> EventContactEnter#

The event triggered when a contact with the body occurs (the body begins touching another body). You can subscribe to events via Connect() and unsubscribe via Disconnect(). You can also use EventConnection and EventConnections classes for convenience (see examples below).

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

Notice

For more details see the Event Handling article.

The event handler signature is as follows: myhandler(Body body, int contact_id)

Usage Example

Source code (C#)

// implement the ContactEnter event handler
void contactenter_event_handler(Body body,  int contact_id)
{
	Log.Message("\Handling ContactEnter event\n");
}

//////////////////////////////////////////////////////////////////////////////
//  1. Multiple subscriptions can be linked to an EventConnections instance
//  class that you can use later to remove all these subscriptions at once
//////////////////////////////////////////////////////////////////////////////

// create an instance of the EventConnections class
EventConnections contactenter_event_connections = new EventConnections();


// link to this instance when subscribing to an event (subscription to various events can be linked)
publisher.EventContactEnter.Connect(contactenter_event_connections, contactenter_event_handler);

// other subscriptions are also linked to this EventConnections instance 
// (e.g. you can subscribe using lambdas)
publisher.EventContactEnter.Connect(contactenter_event_connections, (Body body,  int contact_id) => { 
		Log.Message("Handling ContactEnter event lambda\n");
		}
	);

// later all of these linked subscriptions can be removed with a single line
contactenter_event_connections.DisconnectAll();

//////////////////////////////////////////////////////////////////////////////
//  2. You can subscribe and unsubscribe via the handler function directly
//////////////////////////////////////////////////////////////////////////////

// subscribe to the ContactEnter event with a handler function
publisher.EventContactEnter.Connect(contactenter_event_handler);


// remove subscription to the ContactEnter event later by the handler function
publisher.EventContactEnter.Disconnect(contactenter_event_handler);


//////////////////////////////////////////////////////////////////////////////
//   3. Subscribe to an event and unsubscribe later via an EventConnection instance
//////////////////////////////////////////////////////////////////////////////

// define a connection to be used to unsubscribe later
EventConnection contactenter_event_connection;

// subscribe to the ContactEnter event with a lambda handler function and keeping the connection
contactenter_event_connection = publisher.EventContactEnter.Connect((Body body,  int contact_id) => { 
		Log.Message("Handling ContactEnter event lambda\n");
	}
);

// ...

// you can temporarily disable a particular event connection 
contactenter_event_connection.Enabled = false;

// ... perform certain actions

// and enable it back when necessary
contactenter_event_connection.Enabled = true;

// ...

// remove the subscription later using the saved connection
contactenter_event_connection.Disconnect();

//////////////////////////////////////////////////////////////////////////////
//   4. Ignoring ContactEnter events when necessary
//////////////////////////////////////////////////////////////////////////////

// you can temporarily disable the event to perform certain actions without triggering it
publisher.EventContactEnter.Enabled = false;

// ... actions to be performed

// and enable it back when necessary
publisher.EventContactEnter.Enabled = true;

Event<Body> EventPosition#

The event triggered when a given body moves a certain distance (rotation is not taken into account). You can subscribe to events via Connect() and unsubscribe via Disconnect(). You can also use EventConnection and EventConnections classes for convenience (see examples below).

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

Notice

For more details see the Event Handling article.

The event handler signature is as follows: myhandler(Body body)

Usage Example

Source code (C#)

// implement the Position event handler
void position_event_handler(Body body)
{
	Log.Message("\Handling Position event\n");
}

//////////////////////////////////////////////////////////////////////////////
//  1. Multiple subscriptions can be linked to an EventConnections instance
//  class that you can use later to remove all these subscriptions at once
//////////////////////////////////////////////////////////////////////////////

// create an instance of the EventConnections class
EventConnections position_event_connections = new EventConnections();


// link to this instance when subscribing to an event (subscription to various events can be linked)
publisher.EventPosition.Connect(position_event_connections, position_event_handler);

// other subscriptions are also linked to this EventConnections instance 
// (e.g. you can subscribe using lambdas)
publisher.EventPosition.Connect(position_event_connections, (Body body) => { 
		Log.Message("Handling Position event lambda\n");
		}
	);

// later all of these linked subscriptions can be removed with a single line
position_event_connections.DisconnectAll();

//////////////////////////////////////////////////////////////////////////////
//  2. You can subscribe and unsubscribe via the handler function directly
//////////////////////////////////////////////////////////////////////////////

// subscribe to the Position event with a handler function
publisher.EventPosition.Connect(position_event_handler);


// remove subscription to the Position event later by the handler function
publisher.EventPosition.Disconnect(position_event_handler);


//////////////////////////////////////////////////////////////////////////////
//   3. Subscribe to an event and unsubscribe later via an EventConnection instance
//////////////////////////////////////////////////////////////////////////////

// define a connection to be used to unsubscribe later
EventConnection position_event_connection;

// subscribe to the Position event with a lambda handler function and keeping the connection
position_event_connection = publisher.EventPosition.Connect((Body body) => { 
		Log.Message("Handling Position event lambda\n");
	}
);

// ...

// you can temporarily disable a particular event connection 
position_event_connection.Enabled = false;

// ... perform certain actions

// and enable it back when necessary
position_event_connection.Enabled = true;

// ...

// remove the subscription later using the saved connection
position_event_connection.Disconnect();

//////////////////////////////////////////////////////////////////////////////
//   4. Ignoring Position events when necessary
//////////////////////////////////////////////////////////////////////////////

// you can temporarily disable the event to perform certain actions without triggering it
publisher.EventPosition.Enabled = false;

// ... actions to be performed

// and enable it back when necessary
publisher.EventPosition.Enabled = true;

Event<Body> EventFrozen#

The event triggered when a given body freezes/unfreezes (i.e. its Frozen state changes). Use Frozen to define whether the body is frozen or unfrozen at the moment. You can subscribe to events via Connect() and unsubscribe via Disconnect(). You can also use EventConnection and EventConnections classes for convenience (see examples below).

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

Notice

For more details see the Event Handling article.

The event handler signature is as follows: myhandler(Body body)

Usage Example

Source code (C#)

// implement the Frozen event handler
void frozen_event_handler(Body body)
{
	Log.Message("\Handling Frozen event\n");
}

//////////////////////////////////////////////////////////////////////////////
//  1. Multiple subscriptions can be linked to an EventConnections instance
//  class that you can use later to remove all these subscriptions at once
//////////////////////////////////////////////////////////////////////////////

// create an instance of the EventConnections class
EventConnections frozen_event_connections = new EventConnections();


// link to this instance when subscribing to an event (subscription to various events can be linked)
publisher.EventFrozen.Connect(frozen_event_connections, frozen_event_handler);

// other subscriptions are also linked to this EventConnections instance 
// (e.g. you can subscribe using lambdas)
publisher.EventFrozen.Connect(frozen_event_connections, (Body body) => { 
		Log.Message("Handling Frozen event lambda\n");
		}
	);

// later all of these linked subscriptions can be removed with a single line
frozen_event_connections.DisconnectAll();

//////////////////////////////////////////////////////////////////////////////
//  2. You can subscribe and unsubscribe via the handler function directly
//////////////////////////////////////////////////////////////////////////////

// subscribe to the Frozen event with a handler function
publisher.EventFrozen.Connect(frozen_event_handler);


// remove subscription to the Frozen event later by the handler function
publisher.EventFrozen.Disconnect(frozen_event_handler);


//////////////////////////////////////////////////////////////////////////////
//   3. Subscribe to an event and unsubscribe later via an EventConnection instance
//////////////////////////////////////////////////////////////////////////////

// define a connection to be used to unsubscribe later
EventConnection frozen_event_connection;

// subscribe to the Frozen event with a lambda handler function and keeping the connection
frozen_event_connection = publisher.EventFrozen.Connect((Body body) => { 
		Log.Message("Handling Frozen event lambda\n");
	}
);

// ...

// you can temporarily disable a particular event connection 
frozen_event_connection.Enabled = false;

// ... perform certain actions

// and enable it back when necessary
frozen_event_connection.Enabled = true;

// ...

// remove the subscription later using the saved connection
frozen_event_connection.Disconnect();

//////////////////////////////////////////////////////////////////////////////
//   4. Ignoring Frozen events when necessary
//////////////////////////////////////////////////////////////////////////////

// you can temporarily disable the event to perform certain actions without triggering it
publisher.EventFrozen.Enabled = false;

// ... actions to be performed

// and enable it back when necessary
publisher.EventFrozen.Enabled = true;

Members

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 instance.

Body CreateBody ( string type_name ) #

Creates a new body of the specified type.

Arguments

string type_name - Body type name.

Return value

New created body instance.

string 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.

bool SetObject ( Object object, bool update ) #

Sets an object, which the body approximates.

Arguments

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.

Return value

true if the body is assigned to the specified object successfully; otherwise, false.

void SetPreserveTransform ( 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

mat4 transform - Transformation matrix. This matrix describes position, orientation and scale of the body.

void SetVelocityTransform ( 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

mat4 transform - Transformation matrix. This matrix describes position, orientation and scale of the body.

void FlushTransform ( ) #

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

void SetDirection ( vec3 dir, 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

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

int IsChild ( Body body ) #

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

Arguments

Body body - Body to check.

Return value

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

int FindChild ( string name ) #

Searches for a child body with a given name.

Arguments

string name - Name of the child body.

Return value

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

Body GetChild ( int num ) #

Returns a given child body.

Arguments

int num - Child number.

Return value

Corresponding body.

void AddShape ( Shape shape, mat4 transform ) #

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

Arguments

Shape shape - New shape to add.
mat4 transform - Shape transformation matrix (in the body's coordinate system).

void AddShape ( Shape shape ) #

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

Arguments

Shape shape - New shape to add.

void RemoveShape ( Shape shape, bool destroy = 0 ) #

Removes a given shape from the body.

Arguments

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 ( Shape shape ) #

Checks if a given shape belongs to the body.

Arguments

Shape shape - Shape to check.

Return value

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

bool InsertShape ( int pos, 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.
Shape shape - Shape to be inserted.

Return value

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

bool InsertShape ( int pos, Shape shape, 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.
Shape shape - Shape to be inserted.
mat4 transform - Shape's transformation (in the body's coordinate system).

Return value

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

int FindShape ( string name ) #

Searches for a shape with a given name.

Arguments

string name - Name of the shape.

Return value

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

Shape GetShape ( int num ) #

Returns a given shape.

Arguments

int num - Shape number.

Return value

Corresponding shape object.

void SetShapeTransform ( int num, 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.
mat4 transform - Transformation matrix (in the body's coordinate system).

mat4 GetShapeTransform ( int num ) #

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 ( Joint joint ) #

Adds a joint to the body.

Arguments

Joint joint - New joint to add.

void RemoveJoint ( Joint joint ) #

Removes a given joint from the body.

Arguments

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 ( Joint joint, int num ) #

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

Arguments

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 ( Joint joint ) #

Checks if a given joint belongs to the body.

Arguments

Joint joint - Joint to check.

Return value

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

int FindJoint ( string name ) #

Searches for a joint with a given name.

Arguments

string name - Name of the joint.

Return value

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

Joint GetJoint ( int num ) #

Returns a given joint.

Arguments

int num - Joint number.

Return value

Corresponding joint.

Shape GetIntersection ( vec3 p0, vec3 p1, int mask, vec3[] OUT_ret_point, vec3[] OUT_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

vec3 p0 - Start point of the line (in world coordinates).
vec3 p1 - End point of the line (in world coordinates).
int mask - Intersection mask.
vec3[] OUT_ret_point - Container to which contact point coordinates (if any) shall be put (in world coordinate system).
Notice
This output buffer is to be filled by the Engine as a result of executing the method.
vec3[] OUT_ret_normal - Container to which contact point normal coordinates (if any) shall be put (in world coordinate system).
Notice
This output buffer is to be filled by the Engine as a result of executing the method.

Return value

First intersected shape, if found; otherwise, 0.

ulong GetContactID ( int num ) #

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 ( ulong id ) #

Returns the number of the contact by its ID.

Arguments

ulong id - Contact ID.

Return value

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

bool IsContactInternal ( int num ) #

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 BodyRigid.HighPriorityContacts.

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 ) #

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 ) #

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 ) #

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.

vec3 GetContactPoint ( int num ) #

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).

vec3 GetContactNormal ( int num ) #

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).

vec3 GetContactVelocity ( int num ) #

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 ) #

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 ) #

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 ) #

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 ) #

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 ) #

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.

Body GetContactBody0 ( int num ) #

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.

Body GetContactBody1 ( int num ) #

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.

Shape GetContactShape0 ( int num ) #

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.

Shape GetContactShape1 ( int num ) #

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.

Object GetContactObject ( int num ) #

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 ) #

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 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.
					

Body Clone ( Object object ) #

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

Arguments

Object object - Object, to which the copy will be assigned.

Return value

Copy of the body.

void Swap ( Body body ) #

Swaps the bodies saving the pointers.

Arguments

Body body - Body to swap.

int SaveState ( Stream stream ) #

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

Example using saveState() and restoreState() methods:

Source code (C#)

// set the body state
body.Position = new vec3(1, 1, 0);

// save state
Blob blob_state = new Blob();
body.SaveState(blob_state);

// change the state
body.Position = new vec3(0, 0, 0);

// restore state
blob_state.SeekSet(0);        // returning the carriage to the start of the blob
body.RestoreState(blob_state);

Arguments

Stream stream - Stream to save body state data.

Return value

true if the body state is successfully saved; otherwise, false.

int RestoreState ( Stream stream ) #

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

Example using saveState() and RestoreState() methods:

Source code (C#)

// set the body state
body.Position = new vec3(1, 1, 0);

// save state
Blob blob_state = new Blob();
body.SaveState(blob_state);

// change the state
body.Position = new vec3(0, 0, 0);

// restore state
blob_state.SeekSet(0);        // returning the carriage to the start of the blob
body.RestoreState(blob_state);

Arguments

Stream stream - Stream with saved body state data.

Return value

true if the body state is successfully restored; otherwise, false.

Last update: 2024-12-13

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Unigine.Body Class

In This Article:

See Also#

Properties:

Methods:

Body Class

Enums

TYPE#

Properties

int NumContacts#

int NumJoints#

int NumShapes#

int NumChildren#

quat Rotation#

vec3 Position#

mat4 Transform#

int PhysicalMask#

string Name#

bool Gravity#

bool Immovable#

bool Frozen#

bool IsEnabledSelf#

bool Enabled#

string TypeName#

Body.TYPE Type#

int ID#

Object Object#

Body Parent#

vec3 Direction#

Event<Body> EventContacts#

Event<Body, int> EventContactLeave#

Event<Body, int> EventContactEnter#

Event<Body> EventPosition#

Event<Body> EventFrozen#

Members

Body CreateBody ( int type ) #

Arguments

Return value

Body CreateBody ( string type_name ) #

Arguments

Return value

string GetTypeName ( int type ) #

Arguments

Return value

bool SetObject ( Object object, bool update ) #

Arguments

Return value

void SetPreserveTransform ( mat4 transform ) #

Arguments

void SetVelocityTransform ( mat4 transform ) #

Arguments

void FlushTransform ( ) #

void SetDirection ( vec3 dir, vec3 up ) #

Arguments

int IsChild ( Body body ) #

Arguments

Return value

int FindChild ( string name ) #

Arguments

Return value

Body GetChild ( int num ) #

Arguments

Return value

void AddShape ( Shape shape, mat4 transform ) #

Arguments

void AddShape ( Shape shape ) #

Arguments

void RemoveShape ( Shape shape, bool destroy = 0 ) #

Arguments

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

Arguments

void ClearShapes ( int destroy = 0 ) #

Arguments

int IsShape ( Shape shape ) #

Arguments

Return value

bool InsertShape ( int pos, Shape shape ) #

Arguments

Return value

bool InsertShape ( int pos, Shape shape, mat4 transform ) #