object

Documentation

Index

• Constants
• type Body
  • func NewBody(igraphic graphic.IGraphic) *Body
  • func (b *Body) AllowSleep() bool
  • func (b *Body) AngularDamping() float32
  • func (b *Body) AngularFactor() math32.Vector3
  • func (b *Body) AngularVelocity() math32.Vector3
  • func (b *Body) ApplyDamping(dt float32)
  • func (b *Body) ApplyForce(force, relativePoint *math32.Vector3)
  • func (b *Body) ApplyForceField(force *math32.Vector3)
  • func (b *Body) ApplyImpulse(impulse, relativePoint *math32.Vector3)
  • func (b *Body) ApplyLocalForce(localForce, localPoint *math32.Vector3)
  • func (b *Body) ApplyLocalImpulse(localImpulse, localPoint *math32.Vector3)
  • func (b *Body) ApplyVelocityDeltas(linearD, angularD *math32.Vector3)
  • func (b *Body) BodyType() BodyType
  • func (b *Body) BoundingBox() math32.Box3
  • func (b *Body) ClearForces()
  • func (b *Body) CollidableWith(other *Body) bool
  • func (b *Body) CollisionResponse() bool
  • func (b *Body) Force() math32.Vector3
  • func (b *Body) GetVelocityAtWorldPoint(worldPoint *math32.Vector3) *math32.Vector3
  • func (b *Body) Index() int
  • func (b *Body) Integrate(dt float32, quatNormalize, quatNormalizeFast bool)
  • func (b *Body) InvMassEff() float32
  • func (b *Body) InvRotInertiaWorldEff() *math32.Matrix3
  • func (b *Body) LinearDamping() float32
  • func (b *Body) LinearFactor() math32.Vector3
  • func (b *Body) Name() string
  • func (b *Body) PointToLocal(worldPoint *math32.Vector3) math32.Vector3
  • func (b *Body) PointToWorld(localPoint *math32.Vector3) math32.Vector3
  • func (b *Body) Position() math32.Vector3
  • func (b *Body) Quaternion() *math32.Quaternion
  • func (b *Body) SetAllowSleep(state bool)
  • func (b *Body) SetAngularDamping(d float32)
  • func (b *Body) SetAngularFactor(factor *math32.Vector3)
  • func (b *Body) SetAngularVelocity(vel *math32.Vector3)
  • func (b *Body) SetBodyType(bodyType BodyType)
  • func (b *Body) SetFixedRotation(state bool)
  • func (b *Body) SetIndex(i int)
  • func (b *Body) SetLinearDamping(d float32)
  • func (b *Body) SetLinearFactor(factor *math32.Vector3)
  • func (b *Body) SetMass(mass float32)
  • func (b *Body) SetName(name string)
  • func (b *Body) SetShape(shape shape.IShape)
  • func (b *Body) SetVelocity(vel *math32.Vector3)
  • func (b *Body) SetWakeUpAfterNarrowphase(state bool)
  • func (b *Body) Shape() shape.IShape
  • func (b *Body) Sleep()
  • func (b *Body) SleepSpeedLimit() float32
  • func (b *Body) SleepState() BodySleepState
  • func (b *Body) SleepTick(time float32)
  • func (b *Body) Sleeping() bool
  • func (b *Body) Torque() math32.Vector3
  • func (b *Body) UpdateEffectiveMassProperties()
  • func (b *Body) UpdateInertiaWorld(force bool)
  • func (b *Body) UpdateMassProperties()
  • func (b *Body) VectorToLocal(worldVector *math32.Vector3) math32.Vector3
  • func (b *Body) VectorToWorld(localVector *math32.Vector3) math32.Vector3
  • func (b *Body) Velocity() math32.Vector3
  • func (b *Body) WakeUp()
  • func (b *Body) WakeUpAfterNarrowphase() bool
• type BodySleepState
• type BodyType
• type HullType

Constants

const (
	// A static body does not move during simulation and behaves as if it has infinite mass.
	// Static bodies can be moved manually by setting the position of the body.
	// The velocity of a static body is always zero.
	// Static bodies do not collide with other static or kinematic bodies.
	Static = BodyType(iota)

	// A kinematic body moves under simulation according to its velocity.
	// They do not respond to forces.
	// They can be moved manually, but normally a kinematic body is moved by setting its velocity.
	// A kinematic body behaves as if it has infinite mass.
	// Kinematic bodies do not collide with other static or kinematic bodies.
	Kinematic

	// A dynamic body is fully simulated.
	// Can be moved manually by the user, but normally they move according to forces.
	// A dynamic body can collide with all body types.
	// A dynamic body always has finite, non-zero mass.
	Dynamic
)

const (
	Awake = BodySleepState(iota)
	Sleepy
	Sleeping
)

const (
	SleepyEvent  = "physics.SleepyEvent"  // Dispatched after a body has gone in to the sleepy state.
	SleepEvent   = "physics.SleepEvent"   // Dispatched after a body has fallen asleep.
	WakeUpEvent  = "physics.WakeUpEvent"  // Dispatched after a sleeping body has woken up.
	CollideEvent = "physics.CollideEvent" // Dispatched after two bodies collide. This event is dispatched on each of the two bodies involved in the collision.
)

Events

const (
	Sphere = HullType(iota)
	Capsule
	Mesh // use mesh itself
)

Types

type Body

type Body struct {
	*graphic.Graphic // TODO future - embed core.Node instead and calculate properties recursively
	// contains filtered or unexported fields
}

Body represents a physics-driven body.

func NewBody

func NewBody(igraphic graphic.IGraphic) *Body

NewBody creates and returns a pointer to a new RigidBody. The igraphic's geometry *must* be convex.

func (*Body) AllowSleep

func (b *Body) AllowSleep() bool

func (*Body) AngularDamping

func (b *Body) AngularDamping() float32

func (*Body) AngularFactor

func (b *Body) AngularFactor() math32.Vector3

func (*Body) AngularVelocity

func (b *Body) AngularVelocity() math32.Vector3

func (*Body) ApplyDamping

func (b *Body) ApplyDamping(dt float32)

func (*Body) ApplyForce

func (b *Body) ApplyForce(force, relativePoint *math32.Vector3)

Apply force to a world point. This could for example be a point on the Body surface. Applying force this way will add to Body.force and Body.torque. relativePoint: A point relative to the center of mass to apply the force on.

func (*Body) ApplyForceField

func (b *Body) ApplyForceField(force *math32.Vector3)

Forces from a force field need to be multiplied by mass.

func (*Body) ApplyImpulse

func (b *Body) ApplyImpulse(impulse, relativePoint *math32.Vector3)

Apply impulse to a world point. This could for example be a point on the Body surface. An impulse is a force added to a body during a short period of time (impulse = force * time). Impulses will be added to Body.velocity and Body.angularVelocity. impulse: The amount of impulse to add. relativePoint: A point relative to the center of mass to apply the force on.

func (*Body) ApplyLocalForce

func (b *Body) ApplyLocalForce(localForce, localPoint *math32.Vector3)

Apply force to a local point in the body. force: The force vector to apply, defined locally in the body frame. localPoint: A local point in the body to apply the force on.

func (*Body) ApplyLocalImpulse

func (b *Body) ApplyLocalImpulse(localImpulse, localPoint *math32.Vector3)

Apply locally-defined impulse to a local point in the body. force: The force vector to apply, defined locally in the body frame. localPoint: A local point in the body to apply the force on.

func (*Body) ApplyVelocityDeltas

func (b *Body) ApplyVelocityDeltas(linearD, angularD *math32.Vector3)

ApplyVelocityDeltas adds the specified deltas to the body's linear and angular velocities.

func (*Body) BodyType

func (b *Body) BodyType() BodyType

func (*Body) BoundingBox

func (b *Body) BoundingBox() math32.Box3

func (*Body) ClearForces

func (b *Body) ClearForces()

ClearForces clears all forces on the body.

func (*Body) CollidableWith

func (b *Body) CollidableWith(other *Body) bool

CollidableWith returns whether the body can collide with the specified body.

func (*Body) CollisionResponse

func (b *Body) CollisionResponse() bool

func (*Body) Force

func (b *Body) Force() math32.Vector3

func (*Body) GetVelocityAtWorldPoint

func (b *Body) GetVelocityAtWorldPoint(worldPoint *math32.Vector3) *math32.Vector3

Get world velocity of a point in the body.

func (*Body) Index

func (b *Body) Index() int

func (*Body) Integrate

func (b *Body) Integrate(dt float32, quatNormalize, quatNormalizeFast bool)

Move the body forward in time. dt: Time step quatNormalize: Set to true to normalize the body quaternion quatNormalizeFast: If the quaternion should be normalized using "fast" quaternion normalization

func (*Body) InvMassEff

func (b *Body) InvMassEff() float32

func (*Body) InvRotInertiaWorldEff

func (b *Body) InvRotInertiaWorldEff() *math32.Matrix3

func (*Body) LinearDamping

func (b *Body) LinearDamping() float32

func (*Body) LinearFactor

func (b *Body) LinearFactor() math32.Vector3

func (*Body) Name

func (b *Body) Name() string

func (*Body) PointToLocal

func (b *Body) PointToLocal(worldPoint *math32.Vector3) math32.Vector3

PointToLocal converts a world point to local body frame. TODO maybe move to Node

func (*Body) PointToWorld

func (b *Body) PointToWorld(localPoint *math32.Vector3) math32.Vector3

PointToWorld converts a local point to world frame. TODO maybe move to Node

func (*Body) Position

func (b *Body) Position() math32.Vector3

func (*Body) Quaternion

func (b *Body) Quaternion() *math32.Quaternion

func (*Body) SetAllowSleep

func (b *Body) SetAllowSleep(state bool)

func (*Body) SetAngularDamping

func (b *Body) SetAngularDamping(d float32)

func (*Body) SetAngularFactor

func (b *Body) SetAngularFactor(factor *math32.Vector3)

func (*Body) SetAngularVelocity

func (b *Body) SetAngularVelocity(vel *math32.Vector3)

func (*Body) SetBodyType

func (b *Body) SetBodyType(bodyType BodyType)

SetBodyType sets the body type.

func (*Body) SetFixedRotation

func (b *Body) SetFixedRotation(state bool)

SetFixedRotation specifies whether the body should rotate.

func (*Body) SetIndex

func (b *Body) SetIndex(i int)

func (*Body) SetLinearDamping

func (b *Body) SetLinearDamping(d float32)

func (*Body) SetLinearFactor

func (b *Body) SetLinearFactor(factor *math32.Vector3)

func (*Body) SetMass

func (b *Body) SetMass(mass float32)

func (*Body) SetName

func (b *Body) SetName(name string)

func (*Body) SetShape

func (b *Body) SetShape(shape shape.IShape)

TODO future: modify this to be "AddShape" and keep track of list of shapes, their positions and orientations For now each body can only be a single shape or a single geometry

func (*Body) SetVelocity

func (b *Body) SetVelocity(vel *math32.Vector3)

func (*Body) SetWakeUpAfterNarrowphase

func (b *Body) SetWakeUpAfterNarrowphase(state bool)

func (*Body) Shape

func (b *Body) Shape() shape.IShape

func (*Body) Sleep

func (b *Body) Sleep()

Sleep forces the body to sleep.

func (*Body) SleepSpeedLimit

func (b *Body) SleepSpeedLimit() float32

func (*Body) SleepState

func (b *Body) SleepState() BodySleepState

func (*Body) SleepTick

func (b *Body) SleepTick(time float32)

Called every timestep to update internal sleep timer and change sleep state if needed. time: The world time in seconds

func (*Body) Sleeping

func (b *Body) Sleeping() bool

If checkSleeping is true then returns false if both bodies are currently sleeping.

func (*Body) Torque

func (b *Body) Torque() math32.Vector3

func (*Body) UpdateEffectiveMassProperties

func (b *Body) UpdateEffectiveMassProperties()

UpdateEffectiveMassProperties If the body is sleeping, it should be immovable and thus have infinite mass during solve. This is solved by having a separate "effective mass" and other "effective" properties

func (*Body) UpdateInertiaWorld

func (b *Body) UpdateInertiaWorld(force bool)

Update .inertiaWorld and .invRotInertiaWorld

func (*Body) UpdateMassProperties

func (b *Body) UpdateMassProperties()

UpdateMassProperties Should be called whenever you change the body shape or mass.

func (*Body) VectorToLocal

func (b *Body) VectorToLocal(worldVector *math32.Vector3) math32.Vector3

VectorToLocal converts a world vector to local body frame. TODO maybe move to Node

func (*Body) VectorToWorld

func (b *Body) VectorToWorld(localVector *math32.Vector3) math32.Vector3

VectorToWorld converts a local vector to world frame. TODO maybe move to Node

func (*Body) Velocity

func (b *Body) Velocity() math32.Vector3

func (*Body) WakeUp

func (b *Body) WakeUp()

WakeUp wakes the body up.

func (*Body) WakeUpAfterNarrowphase

func (b *Body) WakeUpAfterNarrowphase() bool

type BodySleepState

type BodySleepState int

BodyStatus specifies

type BodyType

type BodyType int

BodyType specifies how the body is affected during the simulation.

type HullType

type HullType int

TODO