physics::Body< d > Class Template Reference

#include <body.h>

List of all members.

Public Member Functions
	~Body ()
MOI	getMOI () const
	Return the Moment of Inertia.
bool	isAwake () const
	Queries whether a body is sleeping or not.
void	setAwake (const bool awake)
	Allows a body to be slept and woken.
void	setCanSleep (const bool sleepable)
	Sets whether a body is allowed to sleep or not.
bool	contains (const Vector &p) const
	Checks if a position is contained within the space the body occupies.
bool	intersects (const AARect &rect) const
	Checks if the body intersects a given Bounding Box.
void	add (Shape *area)
	Add a shape to the body.
void	remove (Shape *area)
	Remove a shape from the body.
const shape_container &	getShapes () const
	Gets all the shapes contained within this body.
void	applyImpulse (const Vector &impulse, const Vector &point, bool wakeUp=true)
void	applyImpulse (const Vector &impulse, bool wakeUp=true)
void	applyBiasImpulse (const Vector &impulse, const Vector &point)
void	applyForces (float timestep, const Vector &acceleration, float frameRWABias)
void	move (float timestep)
void	moveBias (float timestep)
Vector	worldToLocal (const Vector &p) const
Vector	localToWorld (const Vector &p) const
Vector	worldToLocalDir (const Vector &v) const
Vector	localToWorldDir (const Vector &v) const
Vector	getVelocityAtPoint (const Vector &position) const
Vector	getBiasVelocityAtPoint (const Vector &p) const
void	setDensity (float density, bool updateMass=true)
void	setRestitution (float f)
void	setFriction (float f)
Static Public Member Functions
static Body *	create ()
	Creates a new body and returns a pointer to it.
static Body *	create (Shape *shape)
	Creates a body with a given shape and returns a pointer to it.
static Body *	createStatic (Shape *shape)
	Creates a body with a given shape, sets it to static, and returns a pointer to it.
Public Attributes
void *	data

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Detailed Description

template<typename d>
class physics::Body< d >

Class that specifies the representation of bodies ( a entity comprised of one or more shapes) within the simulation. Provides functions for creating, adding to, querying and deleting bodies.

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Constructor & Destructor Documentation

template<typename d>

physics::Body< d >::~Body

(

)

[inline]

This will delete all shapes owned by this body. If you want to keep references to a shape, you should remove it from the body before the destructor is called.

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Member Function Documentation

template<typename d>

static Body* physics::Body< d >::create

(

Shape *

shape

)

[inline, static]

Creates a body with a given shape and returns a pointer to it.

Parameters:

shape

A pointer to a shape to be included in the body

Returns:

body A pointer to the new body created

template<typename d>

void physics::Body< d >::setAwake

(

const bool

awake

)

[inline]

Allows a body to be slept and woken.

Parameters:

awake

Boolean value. True sets body to be awake, false puts its to sleep

template<typename d>

bool physics::Body< d >::contains

(

const Vector &

p

)

const [inline]

Checks if a position is contained within the space the body occupies.

Parameters:

Position

Vector in world co-ordinates

template<typename d>

bool physics::Body< d >::intersects

(

const AARect &

rect

)

const [inline]

Checks if the body intersects a given Bounding Box.

Parameters:

AARect

Bounding box

template<typename d>

const shape_container& physics::Body< d >::getShapes

(

)

const [inline]

Gets all the shapes contained within this body.

Returns:

m_shapes List of all shapes within the body

template<typename d>

void physics::Body< d >::applyImpulse	(	const Vector &	impulse,
		const Vector &	point,
		bool	wakeUp = true
	)			[inline]

Applies an impulse to the body.

Parameters:

	impulse	The impulse to apply.
	point	Position in world coordinates to apply impulse at.
	wakeUp	If true (the default), will wake the body up if it is asleep.

template<typename d>

void physics::Body< d >::applyImpulse	(	const Vector &	impulse,
		bool	wakeUp = true
	)			[inline]

Applies an impulse to the body at the centre of mass. This will not cause any change in rotation.

Parameters:

	impulse	The impulse to apply.
	wakeUp	If true (the default), will wake the body up if it is asleep.

template<typename d>

void physics::Body< d >::applyBiasImpulse	(	const Vector &	impulse,
		const Vector &	point
	)			[inline]

Only CattoContactResolver should use this method.

template<typename d>

void physics::Body< d >::applyForces	(	float	timestep,
		const Vector &	acceleration,
		float	frameRWABias
	)			[inline]

Only World should use this method.

template<typename d>

void physics::Body< d >::move

(

float

timestep

)

[inline]

Only World should use this method.

template<typename d>

void physics::Body< d >::moveBias

(

float

timestep

)

[inline]

Only World should use this method.

template<typename d>

d::Vector physics::Body< d >::worldToLocal

(

const Vector &

p

)

const [inline]

Transform a position from world coordinates to local coordinates.

template<typename d>

d::Vector physics::Body< d >::localToWorld

(

const Vector &

p

)

const [inline]

Transform a position from local coordinates to world coordinates.

template<typename d>

d::Vector physics::Body< d >::worldToLocalDir

(

const Vector &

v

)

const [inline]

Transform a direction from world coordinates to local coordinates.

template<typename d>

d::Vector physics::Body< d >::localToWorldDir

(

const Vector &

v

)

const [inline]

Transform a direction from local coordinates to world coordinates.

template<typename d>

d::Vector Body::getVelocityAtPoint

(

const Vector &

position

)

const [inline]

Find the combined linear and angular velocity of a point on the body

Parameters:

position

Point on the body in world coordinates

template<typename d>

d::Vector Body::getBiasVelocityAtPoint

(

const Vector &

p

)

const [inline]

Only CattoContactResolver should use this method.

template<typename d>

void physics::Body< d >::setDensity	(	float	density,
		bool	updateMass = true
	)			[inline]

This is a convenience method to set the density of every shape currently attached. It will not affect shapes that are added later.

Parameters:

	density	New density for all attached shapes.
	updateMass	If true, recalculate this body's mass and moment of inertia.

template<typename d>

void physics::Body< d >::setRestitution

(

float

f

)

[inline]

This is a convenience method to set the coefficient of restitution of every shape currently attached. It will not affect shapes that are added later.

template<typename d>

void physics::Body< d >::setFriction

(

float

f

)

[inline]

This is a convenience method to set the coefficient of friction of every shape currently attached. It will not affect shapes that are added later.

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Member Data Documentation

template<typename d>

void* physics::Body< d >::data

Used for any data the application using the library wants to attach.

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

• torquetome/trunk/physics/src/lib/body.h
• torquetome/trunk/physics/src/lib/body.cpp