BodyRigid Class
Warning
The scope of applications for UnigineScript is limited to implementing materials-related logic (material expressions, scriptable materials, brush materials). Do not use UnigineScript as a language for application logic, please consider C#/C++ instead, as these APIs are the preferred ones. Availability of new Engine features in UnigineScript (beyond its scope of applications) is not guaranteed, as the current level of support assumes only fixing critical issues.
| Inherits from: | Body |
This class is used to simulate rigid bodies that move according to the rigid bodies dynamics.
See Also#
- The Handling Contacts on Collision usage example
BodyRigid Class
Members
void setAngularVelocity ( vec3 velocity ) #
Sets a new angular velocity of the body.
Arguments
- vec3 velocity - The angular velocity in radians per second, in world coordinates.
vec3 getAngularVelocity() const#
Returns the current angular velocity of the body.
Return value
Current angular velocity in radians per second, in world coordinates.void setLinearVelocity ( vec3 velocity ) #
Sets a new linear velocity of the body.
Arguments
- vec3 velocity - The linear velocity in units per second, in world coordinates.
vec3 getLinearVelocity() const#
Returns the current linear velocity of the body.
Return value
Current linear velocity in units per second, in world coordinates.void setFrozenAngularVelocity ( float velocity ) #
Sets a new angular velocity threshold for freezing body simulation. If the body angular velocity remains lower than this threshold during the number of Frozen frames (together with linear one), it stops being updated.
Arguments
- float velocity - The "freeze" angular velocity. If the value is lower than the setFrozenAngularVelocity of the Physics class, it is overridden.
float getFrozenAngularVelocity() const#
Returns the current angular velocity threshold for freezing body simulation. If the body angular velocity remains lower than this threshold during the number of Frozen frames (together with linear one), it stops being updated.
Return value
Current "freeze" angular velocity. If the value is lower than the setFrozenAngularVelocity of the Physics class, it is overridden.void setFrozenLinearVelocity ( float velocity ) #
Sets a new linear velocity threshold for freezing body simulation. If the body linear velocity remains lower than this threshold during the number of Frozen frames (together with angular one), it stops being updated.
Arguments
- float velocity - The "freeze" linear velocity. If the value is lower than the setFrozenLinearVelocity of the Physics class, it is overridden.
float getFrozenLinearVelocity() const#
Returns the current linear velocity threshold for freezing body simulation. If the body linear velocity remains lower than this threshold during the number of Frozen frames (together with angular one), it stops being updated.
Return value
Current "freeze" linear velocity. If the value is lower than the setFrozenLinearVelocity of the Physics class, it is overridden.void setMaxAngularVelocity ( float velocity ) #
Sets a new
Arguments
- float velocity - The maximum angular velocity in radians per second. If a negative value is provided, 0 will be used instead.
float getMaxAngularVelocity() const#
Returns the current
Return value
Current maximum angular velocity in radians per second. If a negative value is provided, 0 will be used instead.void setMaxLinearVelocity ( float velocity ) #
Sets a new
Arguments
- float velocity - The maximum linear velocity in radians per second. If a negative value is provided, 0 will be used instead.
float getMaxLinearVelocity() const#
Returns the current
Return value
Current maximum linear velocity in radians per second. If a negative value is provided, 0 will be used instead.void setAngularDamping ( float damping ) #
Sets a new angular damping of the body.
Arguments
- float damping - The angular damping. If a negative value is provided, 0 will be used instead.
float getAngularDamping() const#
Returns the current angular damping of the body.
Return value
Current angular damping. If a negative value is provided, 0 will be used instead.void setLinearDamping ( float damping ) #
Sets a new linear damping of the body.
Arguments
- float damping - The linear damping. If a negative value is provided, 0 will be used instead.
float getLinearDamping() const#
Returns the current linear damping of the body.
Return value
Current linear damping. If a negative value is provided, 0 will be used instead.void setAngularScale ( vec3 scale ) #
Sets a new multiplier for the body's angular velocity per axis. If one of vec3 values is set to 0, movement along this axis will be restricted. For example, for 2D physics with movement restricted to a X axis, set the body's angular scale to (1,0,0).
Arguments
- vec3 scale - The angular scale per axis, in world coordinates.
vec3 getAngularScale() const#
Returns the current multiplier for the body's angular velocity per axis. If one of vec3 values is set to 0, movement along this axis will be restricted. For example, for 2D physics with movement restricted to a X axis, set the body's angular scale to (1,0,0).
Return value
Current angular scale per axis, in world coordinates.void setLinearScale ( vec3 scale ) #
Sets a new multiplier for the body's linear velocity per axis. if one of vec3 values is set to 0, movement along this axis will be restricted. For example, for 2D physics with movement restricted to a X axis, set the body's linear scale to (0,1,1).
Arguments
- vec3 scale - The linear scale per axis, in world coordinates.
vec3 getLinearScale() const#
Returns the current multiplier for the body's linear velocity per axis. if one of vec3 values is set to 0, movement along this axis will be restricted. For example, for 2D physics with movement restricted to a X axis, set the body's linear scale to (0,1,1).
Return value
Current linear scale per axis, in world coordinates.Vec3 getWorldCenterOfMass() const#
Returns the current world coordinates of the body's center of mass.
Return value
Current world coordinates of the body's center of mass.void setCenterOfMass ( vec3 mass ) #
Sets a new coordinates of the center of mass of the body.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the center of mass is calculated (i.e. set) automatically.
Arguments
- vec3 mass - The coordinates of the center of mass in local space of the body.
vec3 getCenterOfMass() const#
Returns the current coordinates of the center of mass of the body.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the center of mass is calculated (i.e. set) automatically.
Return value
Current coordinates of the center of mass in local space of the body.mat3 getIWorldInertia() const#
Returns the current inverse inertia tensor of the body, in the world coordinates.
Return value
Current inverse inertia tensor of the body, in the world coordinates.void setInertia ( mat3 inertia ) #
Sets a new inertia tensor of the body. The inertia tensor describes the distribution of the mass over the body relative to the body's center of mass.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the inertia tensor is calculated (i.e. set) automatically.
Arguments
- mat3 inertia - The inertia tensor.
mat3 getInertia() const#
Returns the current inertia tensor of the body. The inertia tensor describes the distribution of the mass over the body relative to the body's center of mass.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the inertia tensor is calculated (i.e. set) automatically.
Return value
Current inertia tensor.float getIMass() const#
Returns the current inverse mass of the body.
Return value
Current inverse mass of the body.void setMass ( float mass ) #
Sets a new body mass. If g (Earth's gravity) equals to 9.8 m/s2, and 1 unit equals to 1 m, the mass is measured in kilograms.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the mass is calculated (i.e. set) automatically.
Arguments
- float mass - The mass of the body.
float getMass() const#
Returns the current body mass. If g (Earth's gravity) equals to 9.8 m/s2, and 1 unit equals to 1 m, the mass is measured in kilograms.
Notice
If the Shape-based option is enabled, ajusting this parameter will cause the assertion failure, because in this case the mass is calculated (i.e. set) automatically.
Return value
Current mass of the body.void setHighPriorityContacts ( int contacts ) #
Sets a new value indicating if the body has the priority of handling detected contacts it participates in. 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). Iterating through internal contacts is much faster than through external ones, so this method can be used if you want a certain body to handle most of the contacts it participates in (i.e., have them as internal) to gain some performance.
Notice
A contact between two bodies with high priority shall be handled by one of them determined at random.
Arguments
- int contacts - The high priority of handling detected contacts for the body
int isHighPriorityContacts() const#
Returns the current value indicating if the body has the priority of handling detected contacts it participates in. 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). Iterating through internal contacts is much faster than through external ones, so this method can be used if you want a certain body to handle most of the contacts it participates in (i.e., have them as internal) to gain some performance.
Notice
A contact between two bodies with high priority shall be handled by one of them determined at random.
Return value
Current high priority of handling detected contacts for the bodyvoid setFreezable ( int freezable ) #
Sets a new value indicating if the object is freezable, meaning that it is not simulated if both its linear and angular velocities are below "freeze" ones (see setFrozenLinearVelocity and setFrozenAngularVelocity functions).
Arguments
- int freezable - The the "freezable" state of the body
int isFreezable() const#
Returns the current value indicating if the object is freezable, meaning that it is not simulated if both its linear and angular velocities are below "freeze" ones (see setFrozenLinearVelocity and setFrozenAngularVelocity functions).
Return value
Current the "freezable" state of the bodyvoid setShapeBased ( int based ) #
Sets a new value indicating if mass and inertia of the body are bound to its shape properties and cannot be changed manually.
Arguments
- int based - The calculation of mass and inertia based on shape properties
int isShapeBased() const#
Returns the current value indicating if mass and inertia of the body are bound to its shape properties and cannot be changed manually.
Return value
Current calculation of mass and inertia based on shape propertiesstatic BodyRigid ( ) #
Constructor. Creates a rigid body with default properties.static BodyRigid ( Object object ) #
Constructor. Creates a rigid body with default properties for a given object.Arguments
- Object object - Object approximated with the new rigid body.
vec3 getVelocity ( vec3 radius ) #
Returns the total linear velocity of the point determined by a given radius vector, specified in the local coordinates.Arguments
- vec3 radius - Radius vector starting in the body's center of mass.
Return value
Total linear velocity in the given point of the body.vec3 getWorldVelocity ( Vec3 point ) #
Returns the total linear velocity of the point specified in world coordinates.Arguments
- Vec3 point - Point of the body, in world coordinates.
Return value
Total linear velocity in the given point.void addForce ( vec3 force ) #
Applies a force to the center of mass of the body.
Unlike impulses, all forces are accumulated first, then the resulting force is calculated and applied to the body (during the physics simulation stage, when the body update() function is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply forces in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- vec3 force - Force to be applied, in world coordinates.
void addForce ( vec3 radius, vec3 force ) #
Applies a force to a point determined by a given radius vector, specified in the local coordinates. This function calculates the cross product of the radius vector and the force vector. It acts like a lever arm that changes both linear and angular velocities of the body.
Unlike impulses, all forces are accumulated first, then the resulting force is calculated and applied to the body (during the physics simulation stage, when the body update() function is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply forces in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- vec3 radius - Radius vector, traced from the center of mass of the body to the point where the force is applied.
- vec3 force - Force to be applied, in world coordinates.
void addImpulse ( vec3 radius, vec3 impulse ) #
Applies an impulse to a point determined by a given radius vector, specified in the local coordinates.
Unlike forces, impulses immediately affect both linear and angular velocities of the body.
Arguments
- vec3 radius - Radius vector, traced from the center of mass to the point where the impulse is applied.
- vec3 impulse - Impulse to be applied, in world coordinates.
void addLinearImpulse ( vec3 impulse ) #
Applies an impulse similar to the addImpulse() method, but affects only the linear velocity.Arguments
- vec3 impulse - Impulse to be applied, in world coordinates.
void addAngularImpulse ( vec3 impulse ) #
Applies an impulse similar to the addImpulse() method, but affects only the angular velocity.Arguments
- vec3 impulse - Impulse to be applied, in world coordinates.
void addTorque ( vec3 torque ) #
Applies a torque with a pivot point at the center of mass of the body, specified in the local coordinates.
All torque values are accumulated first, then the resulting torque is calculated and applied to the body (during the physics simulation stage, when the body update is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply forces in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- vec3 torque - Torque to be applied, in world coordinates.
void addTorque ( vec3 radius, vec3 torque ) #
Applies a torque with a pivot point, determined by a given radius vector, specified in the local coordinates.
This function calculates the cross product of the radius vector and the force vector.
It acts like a lever arm that changes both angular and linear velocities of the body.
All torque values are accumulated first, then the resulting torque is calculated and applied to the body (during the physics simulation stage, when the body update is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply torques in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- vec3 radius - Radius vector starting at the body's center of mass. Its end is the pivot point for the torque to be applied.
- vec3 torque - Torque to be applied, in world coordinates.
void addWorldForce ( Vec3 point, vec3 force ) #
Applies a force to a given point of the body that is specified in world coordinates. This function calculates the cross product of the radius vector (a vector from the center of mass to the point where force is applied) and the force vector. It acts like a lever arm that changes both linear and angular velocities of the body.
Unlike impulses, all forces are accumulated first, then the resulting force is calculated and applied to the body (during the physics simulation stage, when the body update is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply forces in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- Vec3 point - Point of the body, in world coordinates.
- vec3 force - Force to be applied, in world coordinates.
void addWorldImpulse ( Vec3 point, vec3 impulse ) #
Applies an impulse to a given point of the body, that is specified in world coordinates. Unlike forces, impulses immediately affect both linear and angular velocities of the body.Arguments
- Vec3 point - Point of the body, in world coordinates.
- vec3 impulse - Impulse to be applied, in world coordinates.
void addWorldTorque ( Vec3 point, vec3 torque ) #
Applies a torque with a pivot point at a given point of the body, that is specified in world coordinates. This function calculates the cross product of the radius vector (a vector from the center of mass to the pivot point) and the torque vector. It acts like a lever arm that changes both angular and linear velocities of the body.
All torque values are accumulated first, then the resulting torque is calculated and applied to the body (during the physics simulation stage, when the body update is called).
Notice
You can call this function only from updatePhysics() function in the world script. Do not apply torques in the update() function, because you will get unstable result that varies each rendering frame.
Arguments
- Vec3 point - Point of the body, in world coordinates.
- vec3 torque - Torque to be applied, in world coordinates.
int createShapes ( int depth = 4, float error = 0.01, float threshold = 0.01 ) #
Removes all previously created shapes and creates one or more convex shapes approximating the mesh.Arguments
- int depth - Degree of decomposition of the mesh. If 0 or a negative value is provided, only one shape will be created. If a positive n is provided, the mesh will be decomposed n times. This is an optional parameter.
- float error - Approximation error, which is used to create convex hulls. This is an optional parameter.
- float threshold - Threshold, which is used to decide, whether two adjoining convex shapes can be replaced with one larger shape. A pair of shapes is replaced with a larger shape, if their volumes are roughly the same. This value is clamped in the range [1 E-6; 1]. This is an optional parameter.
Return value
1 if the convex shapes are created successfully; otherwise 0.The information on this page is valid for UNIGINE 2.20 SDK.
Last update:
2025-03-21
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