eve::physics::Body3D类 参考

3D rigid body (Box3D) in meter-space coordinates (+Y up by convention). Owned by a World3D; create primitive or convex-hull shapes with the new*Shape APIs. 更多...

#include <Body3D.h>

Public 成员函数
	Body3D (World3D *world, b3BodyId bodyId, int id, PhysicsBodyHandle runtimeHandle)
	Internal: wraps a Box3D body (use World3D::newBody).
	~Body3D ()
	Body 3 d.
	Body3D (const Body3D &)=delete
Body3D &	operator= (const Body3D &)=delete
int	getId () const
	Stable id used by collision events.
void	setPosition (float x, float y, float z)
	Position in meters.
float	getX () const
	Returns the x.
float	getY () const
	Returns the y.
float	getZ () const
	Returns the z.
void	setRotation (float qx, float qy, float qz, float qw)
	Orientation as quaternion (x, y, z, w).
float	getRotX () const
	Returns the rot x.
float	getRotY () const
	Returns the rot y.
float	getRotZ () const
	Returns the rot z.
float	getRotW () const
	Returns the rot w.
void	setLinearVelocity (float vx, float vy, float vz)
	Linear velocity in m/s.
float	getLinearVelocityX () const
	Returns the linear velocity x.
float	getLinearVelocityY () const
	Returns the linear velocity y.
float	getLinearVelocityZ () const
	Returns the linear velocity z.
float	getMass () const
	Body mass in kg.
void	setAngularVelocity (float wx, float wy, float wz)
	Angular velocity in rad/s.
float	getAngularVelocityX () const
	Returns the angular velocity x.
float	getAngularVelocityY () const
	Returns the angular velocity y.
float	getAngularVelocityZ () const
	Returns the angular velocity z.
std::vector< float >	localToWorldPoint (float x, float y, float z) const
	Converts a body-local point to world coordinates; returns {x,y,z}.
eve::Result< PhysicsVector3D >	localToWorldPointOwned (float x, float y, float z) const
	Converts a local point to an allocation-free owning value with structured stale/input failure.
std::vector< float >	worldToLocalPoint (float x, float y, float z) const
	Converts a world point to body-local coordinates; returns {x,y,z}.
eve::Result< PhysicsVector3D >	worldToLocalPointOwned (float x, float y, float z) const
	Converts a world point to an allocation-free owning value with structured stale/input failure.
std::vector< float >	localToWorldVector (float x, float y, float z) const
	Rotates a body-local direction/vector into world space; returns {x,y,z}.
eve::Result< PhysicsVector3D >	localToWorldVectorOwned (float x, float y, float z) const
	Rotates a local vector into an allocation-free owning world vector.
std::vector< float >	worldToLocalVector (float x, float y, float z) const
	Rotates a world direction/vector into body-local space; returns {x,y,z}.
std::vector< float >	getLocalPointVelocity (float x, float y, float z) const
	World-space velocity at a point expressed in body-local coordinates.
eve::Result< PhysicsVector3D >	getLocalPointVelocityOwned (float x, float y, float z) const
	Returns allocation-free world velocity at a body-local point.
std::vector< float >	getWorldPointVelocity (float x, float y, float z) const
	World-space velocity at the supplied world point.
void	applyForce (float fx, float fy, float fz)
	Force applied at the center of mass.
void	applyForceAt (float fx, float fy, float fz, float x, float y, float z)
	Force applied at a world position.
void	applyTorque (float tx, float ty, float tz)
	Torque applied in world space.
void	applyLinearImpulse (float ix, float iy, float iz)
	Instantaneous linear impulse.
void	applyLinearImpulseAt (float ix, float iy, float iz, float x, float y, float z)
	Instantaneous linear impulse applied at a world position.
void	applyAngularImpulse (float ix, float iy, float iz)
	Instantaneous angular impulse.
void	applyLocalForce (float fx, float fy, float fz, float x, float y, float z)
	Body-local force applied at a body-local point.
void	applyLocalForceToCenter (float fx, float fy, float fz)
	Body-local force applied at the center of mass.
void	applyLocalTorque (float tx, float ty, float tz)
	Body-local torque.
void	applyLocalLinearImpulse (float ix, float iy, float iz, float x, float y, float z)
	Body-local linear impulse applied at a body-local point.
void	applyLocalLinearImpulseToCenter (float ix, float iy, float iz)
	Body-local linear impulse applied at the center of mass.
void	applyLocalAngularImpulse (float ix, float iy, float iz)
	Body-local angular impulse.
void	setTargetTransform (float x, float y, float z, float qx, float qy, float qz, float qw, float timeStep)
	Drives a kinematic body to a target pose over a positive time step. The target quaternion is normalized internally.
void	setLinearDamping (float damping)
	Linear damping coefficient, finite and non-negative.
float	getLinearDamping () const
	Current linear damping coefficient.
void	setAngularDamping (float damping)
	Angular damping coefficient, finite and non-negative.
float	getAngularDamping () const
	Current angular damping coefficient.
void	setGravityScale (float scale)
	Multiplier applied to world gravity; may be negative.
float	getGravityScale () const
	Current world-gravity multiplier.
void	setSleepEnabled (bool enabled)
	Enables or disables automatic sleeping for this body.
bool	isSleepEnabled () const
	Whether automatic sleeping is enabled.
void	setSleepThreshold (float threshold)
	Sleep velocity threshold, finite and non-negative.
float	getSleepThreshold () const
	Current sleep velocity threshold.
void	setMotionLocks (bool linearX, bool linearY, bool linearZ, bool angularX, bool angularY, bool angularZ)
	Atomically locks translation and rotation on individual local solver axes.
bool	isLinearXLocked () const
	Whether translation along X is locked.
bool	isLinearYLocked () const
	Whether translation along Y is locked.
bool	isLinearZLocked () const
	Whether translation along Z is locked.
bool	isAngularXLocked () const
	Whether rotation around X is locked.
bool	isAngularYLocked () const
	Whether rotation around Y is locked.
bool	isAngularZLocked () const
	Whether rotation around Z is locked.
void	setMassProperties (float mass, float centerX, float centerY, float centerZ, float inertiaXX, float inertiaYY, float inertiaZZ, float inertiaXY=0.f, float inertiaXZ=0.f, float inertiaYZ=0.f)
	Overrides mass, local center of mass, and the symmetric local inertia tensor.
void	resetMassProperties ()
	Restores automatic mass, center, and inertia calculation from attached shapes.
float	getInertiaXX () const
	Local inertia tensor XX component about the center of mass.
float	getInertiaYY () const
	Local inertia tensor YY component about the center of mass.
float	getInertiaZZ () const
	Local inertia tensor ZZ component about the center of mass.
float	getInertiaXY () const
	Local symmetric inertia tensor XY component.
float	getInertiaXZ () const
	Local symmetric inertia tensor XZ component.
float	getInertiaYZ () const
	Local symmetric inertia tensor YZ component.
float	getLocalCenterX () const
	Local center of mass X coordinate.
float	getLocalCenterY () const
	Local center of mass Y coordinate.
float	getLocalCenterZ () const
	Local center of mass Z coordinate.
float	getWorldCenterX () const
	World center of mass X coordinate.
float	getWorldCenterY () const
	World center of mass Y coordinate.
float	getWorldCenterZ () const
	World center of mass Z coordinate.
void	setType (const std::string &bodyType)
	"static" | "kinematic" | "dynamic".
std::string	getType () const
	Returns the type.
void	setFixedRotation (bool fixed)
	Lock all angular axes (Box3D motion locks).
bool	isFixedRotation () const
	True when fixed rotation.
void	setActive (bool active)
	Disables/enables the body and its shapes.
bool	isActive () const
	True when active.
void	setBullet (bool bullet)
	CCD bullet mode.
bool	isBullet () const
	True when bullet.
void	setAwake (bool awake)
	Wakes / sleeps the body manually.
bool	isAwake () const
	True when awake.
Shape3D *	newBoxShape (float width, float height, float depth, float density=1.f, float friction=0.2f, float restitution=0.f)
	Creates a box shape in meter-space units.
Shape3D *	newSphereShape (float radius, float density=1.f, float friction=0.2f, float restitution=0.f)
	Creates a sphere shape in meter-space units.
Shape3D *	newCapsuleShape (float height, float radius, float density=1.f, float friction=0.2f, float restitution=0.f)
	Creates a capsule along local Y.
Shape3D *	newConvexHullShape (const std::vector< float > &vertices, int maxVertices=64, float density=1.f, float friction=0.2f, float restitution=0.f)
	Creates a convex hull from packed local XYZ vertices.
Shape3D *	newTriangleMeshShape (const std::vector< float > &vertices, const std::vector< int32_t > &indices, bool weldVertices=true, float weldTolerance=0.001f, bool identifyEdges=true, bool useMedianSplit=false)
	Creates a static concave triangle-mesh collider from packed arrays.
Shape3D *	newHeightFieldShape (int countX, int countZ, float cellSizeX, float cellSizeZ, const std::vector< float > &heights, float globalMin, float globalMax, bool clockwiseWinding=false)
	Creates a compressed static height-field collider extending along +X/+Z.
void	destroy ()
	Destroys the body inside its world.
World3D *	getWorld ()
	Returns the owning world, or null after invalidation.
const World3D *	getWorld () const
	Returns the owning world as a read-only borrowed pointer.
b3BodyId	raw () const
	Raw.
bool	isValid () const
	True while the underlying Box3D body is still alive.
PhysicsBodyHandle	runtimeHandle () const noexcept
	Returns the process-local solver handle used by PhysicsLink.
void	invalidate ()
	Internal: marks the wrapper invalid after world destruction.

友元
struct	WorldSnapshotAccess
class	World3D
class	Shape3D

详细描述

3D rigid body (Box3D) in meter-space coordinates (+Y up by convention). Owned by a World3D; create primitive or convex-hull shapes with the new*Shape APIs.

在文件 Body3D.h 第 24 行定义.

构造及析构函数说明

Body3D() [1/2]

eve::physics::Body3D::Body3D	(	World3D *	world,
		b3BodyId	bodyId,
		int	id,
		PhysicsBodyHandle	runtimeHandle
	)

Internal: wraps a Box3D body (use World3D::newBody).

在文件 Body3D.cpp 第 187 行定义.

~Body3D()

eve::physics::Body3D::~Body3D

(

)

Body 3 d.

在文件 Body3D.cpp 第 190 行定义.

引用了 eve::physics::World3D::forgetBody(), eve::physics::World3D::forgetJoint(), eve::physics::World3D::forgetShape(), eve::RuntimeHandle< PhysicsBodyHandleTag >::invalid(), isValid(), eve::physics::World3D::isValid() , 以及 s.

Body3D() [2/2]

eve::physics::Body3D::Body3D ( const Body3D &  )

delete

成员函数说明

applyAngularImpulse()

void eve::physics::Body3D::applyAngularImpulse	(	float	ix,
		float	iy,
		float	iz
	)

Instantaneous angular impulse.

在文件 Body3D.cpp 第 453 行定义.

引用了 isValid().

applyForce()

void eve::physics::Body3D::applyForce	(	float	fx,
		float	fy,
		float	fz
	)

Force applied at the center of mass.

在文件 Body3D.cpp 第 428 行定义.

引用了 isValid().

applyForceAt()

void eve::physics::Body3D::applyForceAt	(	float	fx,
		float	fy,
		float	fz,
		float	x,
		float	y,
		float	z
	)

Force applied at a world position.

在文件 Body3D.cpp 第 433 行定义.

引用了 isValid(), x, y , 以及 z.

applyLinearImpulse()

void eve::physics::Body3D::applyLinearImpulse	(	float	ix,
		float	iy,
		float	iz
	)

Instantaneous linear impulse.

在文件 Body3D.cpp 第 443 行定义.

引用了 isValid().

applyLinearImpulseAt()

void eve::physics::Body3D::applyLinearImpulseAt	(	float	ix,
		float	iy,
		float	iz,
		float	x,
		float	y,
		float	z
	)

Instantaneous linear impulse applied at a world position.

在文件 Body3D.cpp 第 448 行定义.

引用了 isValid(), x, y , 以及 z.

applyLocalAngularImpulse()

void eve::physics::Body3D::applyLocalAngularImpulse	(	float	ix,
		float	iy,
		float	iz
	)

Body-local angular impulse.

在文件 Body3D.cpp 第 497 行定义.

引用了 isValid().

applyLocalForce()

void eve::physics::Body3D::applyLocalForce	(	float	fx,
		float	fy,
		float	fz,
		float	x,
		float	y,
		float	z
	)

Body-local force applied at a body-local point.

在文件 Body3D.cpp 第 458 行定义.

引用了 isValid(), point, x, y , 以及 z.

applyLocalForceToCenter()

void eve::physics::Body3D::applyLocalForceToCenter	(	float	fx,
		float	fy,
		float	fz
	)

Body-local force applied at the center of mass.

在文件 Body3D.cpp 第 467 行定义.

引用了 isValid().

applyLocalLinearImpulse()

void eve::physics::Body3D::applyLocalLinearImpulse	(	float	ix,
		float	iy,
		float	iz,
		float	x,
		float	y,
		float	z
	)

Body-local linear impulse applied at a body-local point.

在文件 Body3D.cpp 第 480 行定义.

引用了 isValid(), point, x, y , 以及 z.

applyLocalLinearImpulseToCenter()

void eve::physics::Body3D::applyLocalLinearImpulseToCenter	(	float	ix,
		float	iy,
		float	iz
	)

Body-local linear impulse applied at the center of mass.

在文件 Body3D.cpp 第 490 行定义.

引用了 isValid().

applyLocalTorque()

void eve::physics::Body3D::applyLocalTorque	(	float	tx,
		float	ty,
		float	tz
	)

Body-local torque.

在文件 Body3D.cpp 第 474 行定义.

引用了 isValid().

applyTorque()

void eve::physics::Body3D::applyTorque	(	float	tx,
		float	ty,
		float	tz
	)

Torque applied in world space.

在文件 Body3D.cpp 第 438 行定义.

引用了 isValid().

destroy()

void eve::physics::Body3D::destroy

(

)

Destroys the body inside its world.

在文件 Body3D.cpp 第 225 行定义.

引用了 eve::physics::World3D::forgetBody(), eve::physics::World3D::forgetJoint(), eve::physics::World3D::forgetShape(), eve::RuntimeHandle< PhysicsBodyHandleTag >::invalid(), invalidate(), isValid(), eve::physics::World3D::isValid() , 以及 s.

getAngularDamping()

float eve::physics::Body3D::getAngularDamping

(

)

const

Current angular damping coefficient.

在文件 Body3D.cpp 第 535 行定义.

引用了 isValid().

getAngularVelocityX()

float eve::physics::Body3D::getAngularVelocityX

(

)

const

Returns the angular velocity x.

在文件 Body3D.cpp 第 341 行定义.

引用了 isValid().

getAngularVelocityY()

float eve::physics::Body3D::getAngularVelocityY

(

)

const

Returns the angular velocity y.

在文件 Body3D.cpp 第 346 行定义.

引用了 isValid().

getAngularVelocityZ()

float eve::physics::Body3D::getAngularVelocityZ

(

)

const

Returns the angular velocity z.

在文件 Body3D.cpp 第 351 行定义.

引用了 isValid().

getGravityScale()

float eve::physics::Body3D::getGravityScale

(

)

const

Current world-gravity multiplier.

在文件 Body3D.cpp 第 545 行定义.

引用了 isValid().

getId()

int eve::physics::Body3D::getId ( ) const

inline

Stable id used by collision events.

在文件 Body3D.h 第 35 行定义.

被这些函数引用 eve::physics::Joint3D::getBodyAId(), eve::physics::Joint3D::getBodyBId(), eve::physics::World3D::isBodyPairCollisionEnabled(), eve::physics::World3D::queryBodyContacts() , 以及 eve::physics::World3D::setBodyPairCollisionEnabled().

getInertiaXX()

float eve::physics::Body3D::getInertiaXX

(

)

const

Local inertia tensor XX component about the center of mass.

getInertiaXY()

float eve::physics::Body3D::getInertiaXY

(

)

const

Local symmetric inertia tensor XY component.

getInertiaXZ()

float eve::physics::Body3D::getInertiaXZ

(

)

const

Local symmetric inertia tensor XZ component.

getInertiaYY()

float eve::physics::Body3D::getInertiaYY

(

)

const

Local inertia tensor YY component about the center of mass.

getInertiaYZ()

float eve::physics::Body3D::getInertiaYZ

(

)

const

Local symmetric inertia tensor YZ component.

getInertiaZZ()

float eve::physics::Body3D::getInertiaZZ

(

)

const

Local inertia tensor ZZ component about the center of mass.

getLinearDamping()

float eve::physics::Body3D::getLinearDamping

(

)

const

Current linear damping coefficient.

在文件 Body3D.cpp 第 525 行定义.

引用了 isValid().

getLinearVelocityX()

float eve::physics::Body3D::getLinearVelocityX

(

)

const

Returns the linear velocity x.

在文件 Body3D.cpp 第 316 行定义.

引用了 isValid().

被这些函数引用 eve::climbing::ClimbingRuntime::advance().

getLinearVelocityY()

float eve::physics::Body3D::getLinearVelocityY

(

)

const

Returns the linear velocity y.

在文件 Body3D.cpp 第 321 行定义.

引用了 isValid().

被这些函数引用 eve::climbing::ClimbingRuntime::advance().

getLinearVelocityZ()

float eve::physics::Body3D::getLinearVelocityZ

(

)

const

Returns the linear velocity z.

在文件 Body3D.cpp 第 326 行定义.

引用了 isValid().

被这些函数引用 eve::climbing::ClimbingRuntime::advance().

getLocalCenterX()

float eve::physics::Body3D::getLocalCenterX

(

)

const

Local center of mass X coordinate.

getLocalCenterY()

float eve::physics::Body3D::getLocalCenterY

(

)

const

Local center of mass Y coordinate.

getLocalCenterZ()

float eve::physics::Body3D::getLocalCenterZ

(

)

const

Local center of mass Z coordinate.

getLocalPointVelocity()

std::vector< float > eve::physics::Body3D::getLocalPointVelocity	(	float	x,
		float	y,
		float	z
	)		const

World-space velocity at a point expressed in body-local coordinates.

在文件 Body3D.cpp 第 407 行定义.

引用了 isValid(), value, x, y , 以及 z.

getLocalPointVelocityOwned()

eve::Result< PhysicsVector3D > eve::physics::Body3D::getLocalPointVelocityOwned	(	float	x,
		float	y,
		float	z
	)		const

Returns allocation-free world velocity at a body-local point.

在文件 Body3D.cpp 第 414 行定义.

引用了 eve::Result< T >::failure(), eve::Result< T >::success(), valid, value, x, y , 以及 z.

getMass()

float eve::physics::Body3D::getMass

(

)

const

Body mass in kg.

在文件 Body3D.cpp 第 331 行定义.

引用了 isValid().

getRotW()

float eve::physics::Body3D::getRotW

(

)

const

Returns the rot w.

在文件 Body3D.cpp 第 306 行定义.

引用了 isValid().

getRotX()

float eve::physics::Body3D::getRotX

(

)

const

Returns the rot x.

在文件 Body3D.cpp 第 291 行定义.

引用了 isValid().

getRotY()

float eve::physics::Body3D::getRotY

(

)

const

Returns the rot y.

在文件 Body3D.cpp 第 296 行定义.

引用了 isValid().

getRotZ()

float eve::physics::Body3D::getRotZ

(

)

const

Returns the rot z.

在文件 Body3D.cpp 第 301 行定义.

引用了 isValid().

getSleepThreshold()

float eve::physics::Body3D::getSleepThreshold

(

)

const

Current sleep velocity threshold.

在文件 Body3D.cpp 第 564 行定义.

引用了 isValid().

getType()

std::string eve::physics::Body3D::getType

(

)

const

Returns the type.

在文件 Body3D.cpp 第 671 行定义.

引用了 isValid().

getWorld() [1/2]

World3D * eve::physics::Body3D::getWorld ( )

inline

Returns the owning world, or null after invalidation.

返回

Borrowed nullable World3D pointer owned by the physics registry. @ownership Body3D does not own the world; callers must not delete it. @lifetime Valid until world destruction; use PhysicsWorldHandle across frames. @thread Call on the owning physics thread. @reentrancy The accessor invokes no callbacks and is invalid across world mutation.

在文件 Body3D.h 第 338 行定义.

被这些函数引用 eve::physics::World3D::isBodyPairCollisionEnabled(), eve::physics::World3D::isShapePairCollisionEnabled(), eve::physics::World3D::newDistanceJoint(), eve::physics::World3D::newPrismaticJoint(), eve::physics::World3D::newRevoluteJoint(), eve::physics::World3D::newSphericalJoint(), eve::physics::World3D::newWheelJoint(), eve::physics::World3D::setBodyPairCollisionEnabled() , 以及 eve::physics::World3D::setShapePairCollisionEnabled().

getWorld() [2/2]

const World3D * eve::physics::Body3D::getWorld ( ) const

inline

Returns the owning world as a read-only borrowed pointer.

返回

Borrowed nullable World3D pointer. @ownership Body3D does not own the world; callers must not delete it. @lifetime Valid until world destruction; use PhysicsWorldHandle across frames. @thread Call on the owning physics thread. @reentrancy The accessor invokes no callbacks and is invalid across world mutation.

在文件 Body3D.h 第 347 行定义.

getWorldCenterX()

float eve::physics::Body3D::getWorldCenterX

(

)

const

World center of mass X coordinate.

getWorldCenterY()

float eve::physics::Body3D::getWorldCenterY

(

)

const

World center of mass Y coordinate.

getWorldCenterZ()

float eve::physics::Body3D::getWorldCenterZ

(

)

const

World center of mass Z coordinate.

getWorldPointVelocity()

std::vector< float > eve::physics::Body3D::getWorldPointVelocity	(	float	x,
		float	y,
		float	z
	)		const

World-space velocity at the supplied world point.

在文件 Body3D.cpp 第 421 行定义.

引用了 isValid(), value, x, y , 以及 z.

getX()

float eve::physics::Body3D::getX

(

)

const

Returns the x.

在文件 Body3D.cpp 第 259 行定义.

引用了 isValid().

getY()

float eve::physics::Body3D::getY

(

)

const

Returns the y.

在文件 Body3D.cpp 第 264 行定义.

引用了 isValid().

getZ()

float eve::physics::Body3D::getZ

(

)

const

Returns the z.

在文件 Body3D.cpp 第 269 行定义.

引用了 isValid().

invalidate()

void eve::physics::Body3D::invalidate

(

)

Internal: marks the wrapper invalid after world destruction.

在文件 Body3D.cpp 第 218 行定义.

引用了 eve::RuntimeHandle< PhysicsBodyHandleTag >::invalid() , 以及 isValid().

被这些函数引用 destroy().

isActive()

bool eve::physics::Body3D::isActive

(

)

const

True when active.

在文件 Body3D.cpp 第 699 行定义.

引用了 isValid().

isAngularXLocked()

bool eve::physics::Body3D::isAngularXLocked

(

)

const

Whether rotation around X is locked.

isAngularYLocked()

bool eve::physics::Body3D::isAngularYLocked

(

)

const

Whether rotation around Y is locked.

isAngularZLocked()

bool eve::physics::Body3D::isAngularZLocked

(

)

const

Whether rotation around Z is locked.

isAwake()

bool eve::physics::Body3D::isAwake

(

)

const

True when awake.

在文件 Body3D.cpp 第 713 行定义.

引用了 isValid().

isBullet()

bool eve::physics::Body3D::isBullet

(

)

const

True when bullet.

在文件 Body3D.cpp 第 706 行定义.

引用了 isValid().

isFixedRotation()

bool eve::physics::Body3D::isFixedRotation

(

)

const

True when fixed rotation.

在文件 Body3D.cpp 第 685 行定义.

引用了 isValid().

isLinearXLocked()

bool eve::physics::Body3D::isLinearXLocked

(

)

const

Whether translation along X is locked.

isLinearYLocked()

bool eve::physics::Body3D::isLinearYLocked

(

)

const

Whether translation along Y is locked.

isLinearZLocked()

bool eve::physics::Body3D::isLinearZLocked

(

)

const

Whether translation along Z is locked.

isSleepEnabled()

bool eve::physics::Body3D::isSleepEnabled

(

)

const

Whether automatic sleeping is enabled.

在文件 Body3D.cpp 第 554 行定义.

引用了 isValid().

isValid()

bool eve::physics::Body3D::isValid

(

)

const

True while the underlying Box3D body is still alive.

在文件 Body3D.cpp 第 216 行定义.

被这些函数引用 applyAngularImpulse(), applyForce(), applyForceAt(), applyLinearImpulse(), applyLinearImpulseAt(), applyLocalAngularImpulse(), applyLocalForce(), applyLocalForceToCenter(), applyLocalLinearImpulse(), applyLocalLinearImpulseToCenter(), applyLocalTorque(), applyTorque(), destroy(), eve::physics::Shape3D::destroy(), getAngularDamping(), getAngularVelocityX(), getAngularVelocityY(), getAngularVelocityZ(), getGravityScale(), getLinearDamping(), getLinearVelocityX(), getLinearVelocityY(), getLinearVelocityZ(), getLocalPointVelocity(), getMass(), getRotW(), getRotX(), getRotY(), getRotZ(), getSleepThreshold(), getType(), getWorldPointVelocity(), getX(), getY(), getZ(), invalidate(), isActive(), isAwake(), eve::physics::World3D::isBodyPairCollisionEnabled(), isBullet(), isFixedRotation(), isSleepEnabled(), localToWorldPoint(), localToWorldVector(), newBoxShape(), newCapsuleShape(), newConvexHullShape(), eve::physics::World3D::newDistanceJoint(), newHeightFieldShape(), eve::physics::World3D::newPrismaticJoint(), eve::physics::World3D::newRevoluteJoint(), newSphereShape(), eve::physics::World3D::newSphericalJoint(), newTriangleMeshShape(), eve::physics::World3D::newWheelJoint(), resetMassProperties(), setActive(), setAngularDamping(), setAngularVelocity(), setAwake(), eve::physics::World3D::setBodyPairCollisionEnabled(), eve::physics::Shape3D::setBoxSize(), setBullet(), eve::physics::Shape3D::setCapsuleSize(), eve::physics::Shape3D::setConvexHullVertices(), eve::physics::Shape3D::setExplosionScale(), setFixedRotation(), setGravityScale(), eve::physics::Shape3D::setHeightFieldHeights(), setLinearDamping(), setLinearVelocity(), eve::physics::Shape3D::setLocalTransform(), setMassProperties(), setMotionLocks(), setPosition(), setRotation(), eve::physics::Shape3D::setSensor(), setSleepEnabled(), setSleepThreshold(), eve::physics::Shape3D::setSphereRadius(), setTargetTransform(), eve::physics::Shape3D::setTriangleMeshData(), setType(), eve::physics::Shape3D::testPoint(), worldToLocalPoint(), worldToLocalVector(), ~Body3D() , 以及 eve::physics::Shape3D::~Shape3D().

localToWorldPoint()

std::vector< float > eve::physics::Body3D::localToWorldPoint	(	float	x,
		float	y,
		float	z
	)		const

Converts a body-local point to world coordinates; returns {x,y,z}.

在文件 Body3D.cpp 第 356 行定义.

引用了 isValid(), value, x, y , 以及 z.

localToWorldPointOwned()

eve::Result< PhysicsVector3D > eve::physics::Body3D::localToWorldPointOwned	(	float	x,
		float	y,
		float	z
	)		const

Converts a local point to an allocation-free owning value with structured stale/input failure.

在文件 Body3D.cpp 第 364 行定义.

引用了 eve::Result< T >::failure(), eve::Result< T >::success(), valid, value, x, y , 以及 z.

被这些函数引用 eve::climbing::ClimbingRuntime::advance().

localToWorldVector()

std::vector< float > eve::physics::Body3D::localToWorldVector	(	float	x,
		float	y,
		float	z
	)		const

Rotates a body-local direction/vector into world space; returns {x,y,z}.

在文件 Body3D.cpp 第 386 行定义.

引用了 isValid(), value, x, y , 以及 z.

localToWorldVectorOwned()

eve::Result< PhysicsVector3D > eve::physics::Body3D::localToWorldVectorOwned	(	float	x,
		float	y,
		float	z
	)		const

Rotates a local vector into an allocation-free owning world vector.

在文件 Body3D.cpp 第 393 行定义.

引用了 eve::Result< T >::failure(), eve::Result< T >::success(), valid, value, x, y , 以及 z.

newBoxShape()

Shape3D * eve::physics::Body3D::newBoxShape	(	float	width,
		float	height,
		float	depth,
		float	density = 1.f,
		float	friction = 0.2f,
		float	restitution = 0.f
	)

Creates a box shape in meter-space units.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 715 行定义.

引用了 eve::physics::Shape3D::Box, depth, height, isValid(), eve::physics::World3D::nextShapeRuntimeHandle(), restitution, shape, Shape3D , 以及 width.

newCapsuleShape()

Shape3D * eve::physics::Body3D::newCapsuleShape	(	float	height,
		float	radius,
		float	density = 1.f,
		float	friction = 0.2f,
		float	restitution = 0.f
	)

Creates a capsule along local Y.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 753 行定义.

引用了 eve::physics::Shape3D::Capsule, height, isValid(), eve::physics::World3D::nextShapeRuntimeHandle(), radius, restitution, shape , 以及 Shape3D.

newConvexHullShape()

Shape3D * eve::physics::Body3D::newConvexHullShape	(	const std::vector< float > &	vertices,
		int	maxVertices = 64,
		float	density = 1.f,
		float	friction = 0.2f,
		float	restitution = 0.f
	)

Creates a convex hull from packed local XYZ vertices.

参数

vertices	At least four finite, non-coplanar points (x0,y0,z0,...).
maxVertices	Hull simplification budget in [4, 254].
density	Density in kg/m^3.
friction	Surface friction.
restitution	Surface restitution.

异常

eve::Exception

for malformed or degenerate input.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 775 行定义.

引用了 eve::physics::Shape3D::ConvexHull, isValid(), eve::physics::World3D::nextShapeRuntimeHandle(), restitution, shape, Shape3D , 以及 vertices.

newHeightFieldShape()

Shape3D * eve::physics::Body3D::newHeightFieldShape	(	int	countX,
		int	countZ,
		float	cellSizeX,
		float	cellSizeZ,
		const std::vector< float > &	heights,
		float	globalMin,
		float	globalMax,
		bool	clockwiseWinding = false
	)

Creates a compressed static height-field collider extending along +X/+Z.

参数

countX	Number of samples along local X, at least two.
countZ	Number of samples along local Z, at least two.
cellSizeX	Positive spacing in meters along X.
cellSizeZ	Positive spacing in meters along Z.
heights	countX*countZ row-major world-meter heights.
globalMin	Shared quantization minimum; heights must lie in range.
globalMax	Shared quantization maximum.
clockwiseWinding	Inverts the collidable side when true.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 816 行定义.

引用了 eve::physics::Shape3D::HeightField, isValid(), eve::physics::World3D::nextShapeRuntimeHandle(), shape , 以及 Shape3D.

newSphereShape()

Shape3D * eve::physics::Body3D::newSphereShape	(	float	radius,
		float	density = 1.f,
		float	friction = 0.2f,
		float	restitution = 0.f
	)

Creates a sphere shape in meter-space units.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 735 行定义.

引用了 isValid(), eve::physics::World3D::nextShapeRuntimeHandle(), radius, restitution, shape, Shape3D , 以及 eve::physics::Shape3D::Sphere.

newTriangleMeshShape()

Shape3D * eve::physics::Body3D::newTriangleMeshShape	(	const std::vector< float > &	vertices,
		const std::vector< int32_t > &	indices,
		bool	weldVertices = true,
		float	weldTolerance = 0.001f,
		bool	identifyEdges = true,
		bool	useMedianSplit = false
	)

Creates a static concave triangle-mesh collider from packed arrays.

参数

vertices	Finite local XYZ values.
indices	Triangle indices, three per counter-clockwise face.
weldVertices	Whether nearby source vertices are welded.
weldTolerance	Non-negative weld distance in meters.
identifyEdges	Whether shared edges are classified for smooth collision.
useMedianSplit	Faster BVH construction for regular grid-like meshes.

异常

eve::Exception

unless this is a static Body or data is invalid/degenerate.

返回

Borrowed nullable shape owned by this body/world. @ownership The Box3D world owns the shape; callers must destroy it through this API. @lifetime Valid until shape/body/world destruction; use PhysicsShapeHandle across frames. @thread Call on the owning physics thread. @reentrancy Creation does not invoke user callbacks; do not re-enter world mutation while using the result.

在文件 Body3D.cpp 第 791 行定义.

引用了 indices, isValid(), mesh, eve::physics::World3D::nextShapeRuntimeHandle(), shape, Shape3D, eve::physics::Shape3D::TriangleMesh , 以及 vertices.

operator=()

Body3D & eve::physics::Body3D::operator= ( const Body3D &  )

delete

raw()

b3BodyId eve::physics::Body3D::raw ( ) const

inline

Raw.

在文件 Body3D.h 第 349 行定义.

被这些函数引用 eve::physics::World3D::newDistanceJoint(), eve::physics::World3D::newFilterJoint(), eve::physics::World3D::newMotorJoint(), eve::physics::World3D::newParallelJoint(), eve::physics::World3D::newPrismaticJoint(), eve::physics::World3D::newRevoluteJoint(), eve::physics::World3D::newSphericalJoint(), eve::physics::World3D::newWeldJoint(), eve::physics::World3D::newWheelJoint(), eve::physics::Shape3D::setTriangleMeshData() , 以及 eve::physics::Shape3D::testPoint().

resetMassProperties()

void eve::physics::Body3D::resetMassProperties

(

)

Restores automatic mass, center, and inertia calculation from attached shapes.

在文件 Body3D.cpp 第 627 行定义.

引用了 isValid().

runtimeHandle()

PhysicsBodyHandle eve::physics::Body3D::runtimeHandle ( ) const

inlinenoexcept

Returns the process-local solver handle used by PhysicsLink.

返回

Generation-qualified handle; it becomes stale on destruction.

在文件 Body3D.h 第 357 行定义.

setActive()

void eve::physics::Body3D::setActive

(

bool

active

)

Disables/enables the body and its shapes.

在文件 Body3D.cpp 第 691 行定义.

引用了 active , 以及 isValid().

setAngularDamping()

void eve::physics::Body3D::setAngularDamping

(

float

damping

)

Angular damping coefficient, finite and non-negative.

在文件 Body3D.cpp 第 529 行定义.

引用了 isValid().

setAngularVelocity()

void eve::physics::Body3D::setAngularVelocity	(	float	wx,
		float	wy,
		float	wz
	)

Angular velocity in rad/s.

在文件 Body3D.cpp 第 336 行定义.

引用了 isValid(), wx, wy , 以及 wz.

setAwake()

void eve::physics::Body3D::setAwake

(

bool

awake

)

Wakes / sleeps the body manually.

在文件 Body3D.cpp 第 708 行定义.

引用了 awake , 以及 isValid().

setBullet()

void eve::physics::Body3D::setBullet

(

bool

bullet

)

CCD bullet mode.

在文件 Body3D.cpp 第 701 行定义.

引用了 bullet , 以及 isValid().

setFixedRotation()

void eve::physics::Body3D::setFixedRotation

(

bool

fixed

)

Lock all angular axes (Box3D motion locks).

在文件 Body3D.cpp 第 676 行定义.

引用了 isValid().

setGravityScale()

void eve::physics::Body3D::setGravityScale

(

float

scale

)

Multiplier applied to world gravity; may be negative.

在文件 Body3D.cpp 第 539 行定义.

引用了 isValid() , 以及 scale.

setLinearDamping()

void eve::physics::Body3D::setLinearDamping

(

float

damping

)

Linear damping coefficient, finite and non-negative.

在文件 Body3D.cpp 第 519 行定义.

引用了 isValid().

setLinearVelocity()

void eve::physics::Body3D::setLinearVelocity	(	float	vx,
		float	vy,
		float	vz
	)

Linear velocity in m/s.

在文件 Body3D.cpp 第 311 行定义.

引用了 isValid(), vx, vy , 以及 vz.

setMassProperties()

void eve::physics::Body3D::setMassProperties	(	float	mass,
		float	centerX,
		float	centerY,
		float	centerZ,
		float	inertiaXX,
		float	inertiaYY,
		float	inertiaZZ,
		float	inertiaXY = 0.f,
		float	inertiaXZ = 0.f,
		float	inertiaYZ = 0.f
	)

Overrides mass, local center of mass, and the symmetric local inertia tensor.

参数

mass	Positive mass in kilograms.
centerX	Local center of mass X coordinate.
centerY	Local center of mass Y coordinate.
centerZ	Local center of mass Z coordinate.
inertiaXX	Inertia tensor XX component about the center of mass.
inertiaYY	Inertia tensor YY component about the center of mass.
inertiaZZ	Inertia tensor ZZ component about the center of mass.
inertiaXY	Symmetric inertia tensor XY component.
inertiaXZ	Symmetric inertia tensor XZ component.
inertiaYZ	Symmetric inertia tensor YZ component.

异常

eve::Exception

unless the body is dynamic and the tensor is positive definite.

在文件 Body3D.cpp 第 588 行定义.

引用了 isValid() , 以及 operation.

setMotionLocks()

void eve::physics::Body3D::setMotionLocks	(	bool	linearX,
		bool	linearY,
		bool	linearZ,
		bool	angularX,
		bool	angularY,
		bool	angularZ
	)

Atomically locks translation and rotation on individual local solver axes.

在文件 Body3D.cpp 第 568 行定义.

引用了 isValid().

setPosition()

void eve::physics::Body3D::setPosition	(	float	x,
		float	y,
		float	z
	)

Position in meters.

在文件 Body3D.cpp 第 254 行定义.

引用了 isValid(), x, y , 以及 z.

setRotation()

void eve::physics::Body3D::setRotation	(	float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Orientation as quaternion (x, y, z, w).

在文件 Body3D.cpp 第 274 行定义.

引用了 isValid(), q, qw, qx, qy , 以及 qz.

setSleepEnabled()

void eve::physics::Body3D::setSleepEnabled

(

bool

enabled

)

Enables or disables automatic sleeping for this body.

在文件 Body3D.cpp 第 549 行定义.

引用了 enabled , 以及 isValid().

setSleepThreshold()

void eve::physics::Body3D::setSleepThreshold

(

float

threshold

)

Sleep velocity threshold, finite and non-negative.

在文件 Body3D.cpp 第 558 行定义.

引用了 isValid().

setTargetTransform()

void eve::physics::Body3D::setTargetTransform	(	float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw,
		float	timeStep
	)

Drives a kinematic body to a target pose over a positive time step. The target quaternion is normalized internally.

在文件 Body3D.cpp 第 504 行定义.

引用了 isValid(), qw, qx, qy, qz, rotation, x, y , 以及 z.

setType()

void eve::physics::Body3D::setType

(

const std::string &

bodyType

)

"static" | "kinematic" | "dynamic".

在文件 Body3D.cpp 第 656 行定义.

引用了 eve::physics::Shape3D::HeightField, isValid(), shape, eve::physics::Shape3D::TriangleMesh , 以及 type.

被这些函数引用 eve::physics::GeometryCollectionInstance::restoreSnapshot().

worldToLocalPoint()

std::vector< float > eve::physics::Body3D::worldToLocalPoint	(	float	x,
		float	y,
		float	z
	)		const

Converts a world point to body-local coordinates; returns {x,y,z}.

在文件 Body3D.cpp 第 372 行定义.

引用了 isValid(), value, x, y , 以及 z.

worldToLocalPointOwned()

eve::Result< PhysicsVector3D > eve::physics::Body3D::worldToLocalPointOwned	(	float	x,
		float	y,
		float	z
	)		const

Converts a world point to an allocation-free owning value with structured stale/input failure.

在文件 Body3D.cpp 第 379 行定义.

引用了 eve::Result< T >::failure(), eve::Result< T >::success(), valid, value, x, y , 以及 z.

worldToLocalVector()

std::vector< float > eve::physics::Body3D::worldToLocalVector	(	float	x,
		float	y,
		float	z
	)		const

Rotates a world direction/vector into body-local space; returns {x,y,z}.

在文件 Body3D.cpp 第 400 行定义.

引用了 isValid(), value, x, y , 以及 z.

友元及相关函数文档

Shape3D

friend class Shape3D

friend

在文件 Body3D.h 第 365 行定义.

被这些函数引用 newBoxShape(), newCapsuleShape(), newConvexHullShape(), newHeightFieldShape(), newSphereShape() , 以及 newTriangleMeshShape().

World3D

friend class World3D

friend

在文件 Body3D.h 第 364 行定义.

WorldSnapshotAccess

friend struct WorldSnapshotAccess

friend

在文件 Body3D.h 第 363 行定义.

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该类的文档由以下文件生成:

• src/modules/physics/Body3D.h
• src/modules/physics/Body3D.cpp