RigidBody Class Reference

Represents a rigid body in the physics simulation. More...

#include <bodies.h>

Inheritance diagram for RigidBody:

Collaboration diagram for RigidBody:

Public Member Functions
void	constructor (vec3 velocity, vec3 angularVelocity, vec3 gravity, float mass, float friction, vec3 centerOfMass)
	Constructor for the rigid body class.
void	get_collisions_shapes (Node ****shapes, u8 **length)
	Retrieves the collision shapes and their lengths.
void	update_global_position (vec3 pos, vec3 rot, vec3 scale)
	Updates the global position of a rigid body.
void	apply_torque (vec3 torque)
	Applies a torque to the rigid body.
void	update (vec3 pos, vec3 rot, vec3 scale, float delta)
	Updates the position, rotation, and scale of a rigid body.
void	load (FILE *file, Camera **c, Script *scripts, Node *editor)
	Loads data from a file and initializes the given parameters.
void	save (FILE *file)
	Saves the current state of the RigidBody to a file.
void	apply_impulse (vec3 impulse, vec3 torque, vec3 correction)
	Applies an impulse to a rigid body.
float	get_velocity_norm ()
	Get the velocity norm of a node.
void	get_velocity (vec3 velocity)
	Get the velocity of a node.
void	get_mass (float *mass)
	Get the mass of a node.
void	get_center_of_mass (vec3 com)
	Get the center of mass of a node.
Public Member Functions inherited from Body
void	is_body (bool *body)
	Checks if the given pointer represents a body.
void	apply_impulse ()
	Applies an impulse to the physics body.
void	add_shape (Node *child)
	Adds a child shape to the specified node.
void	add_shape_and_realloc (Node *child)
	Adds a child shape to the specified node and reallocates memory if necessary.
void	remove_shape (Node *child)
	Removes a child shape from the specified node.
void	remove_shape_and_realloc (Node *child)
	Removes a child shape from the specified node and reallocates memory if necessary.
void	remove_shape_and_free (Node *child)
	Removes a child shape from the specified node and frees the memory allocated for the child shape.
void	remove_shape_and_free_and_realloc (Node *child)
	Removes a child shape from the specified node, frees the memory allocated for the child shape, and reallocates memory if necessary.
void	get_collision_normal (float *normal)
	Calculates the collision normal vector.
Public Member Functions inherited from PhysicalNode
void	free ()
	Frees the resources allocated for the PhysicalNode instance.
Public Member Functions inherited from Node
void	constructor ()
	Constructor for the Node class.
void	initialize_node ()
	Initializes a node.
void	get_glow_shader (Shader *shader)
	Retrieves the glow shader.
void	get_settings_data (void ***ptr, int *length)
	Retrieves settings data.
void	load ()
	Loads the necessary resources or data for the node.
void	save (FILE *file)
	Saves the current state to the specified file.
void	prepare_render (mat4 modelMatrix, Shader activeShader)
	Renders a node using the specified model matrix and shader.
void	render ()
	Renders the node.
void	update_global_position (vec3 pos, vec3 rot, vec3 scale)
	Updates the global position of a node.
void	update (vec3 pos, vec3 rot, vec3 scale)
	Updates the position, rotation, and scale of a node.
void	on_resize ()
	Handles the resize event for the node.
void	free ()
	Frees the resources allocated by the object.
void	is_cshape (bool *cshape)
	Checks if the current shape is a custom shape.
void	is_body (bool *body)
	Sets the body status of the node.
void	is_area (bool *area)
	Checks if the current node is within a specified area.
void	is_render_target (bool *render_target)
	Sets the render target status.
void	is_gui_element (bool *result)
	Determines if the current node is a GUI element.
void	add_child (Node *child)
	Adds a child node to a parent node.
void	add_child_and_realloc (Node *child)
	Adds a child node to a parent node and reallocates memory if necessary.
void	remove_child (Node *child)
	Removes a child node from a parent node.
void	remove_child_and_realloc (Node *child)
	Removes a child node from a parent node and reallocates memory if necessary.
void	remove_child_and_free (Node *child)
	Removes a child node from a parent node and frees the memory of the child node.
void	remove_child_and_free_and_realloc (Node *child)
	Removes a child node from a parent node, frees the memory of the child node, and reallocates memory if necessary.
int	index_of_child (Node *child)
	Retrieves the index of a child node in a parent node's children array.
void	print (int level)
	Prints the details of a node at a specified level of indentation.
void	emit_ready (...)
	Emits the 'ready' signal for the node.
void	emit_update (...)
	Emits an update event for the node.
void	emit_signal (...)
	Emits a signal if the node has a script and the script has a signal handler.

Public Attributes
struct Node **	collisionsShapes
vec3	velocity
vec3	gravity
vec3	angularVelocity
vec3	angularAcceleration
vec3	centerOfMass
float	mass
float	friction
u8	length
Public Attributes inherited from Node
void *	object
struct Node **	children
struct Node *	parent
u16	length
u8	type
u8	flags
vec3	pos
vec3	rot
vec3	scale
vec3	globalPos
vec3	globalRot
vec3	globalScale
Behavior *	behavior
BehaviorAttribute *	attribute
u8	attributes_count
Shader	shader

Additional Inherited Members
Static Public Attributes inherited from Node
static Shader	glowShader = 0
	A static Shader variable used for glow effect.

Detailed Description

Represents a rigid body in the physics simulation.

A rigid body can move and is affected by forces and collisions.

Member Function Documentation

constructor()

void RigidBody::constructor ( vec3  velocity, vec3  angularVelocity, vec3  gravity, float  mass, float  friction, vec3  centerOfMass  )

inline

Constructor for the rigid body class.

This function initializes a rigid body with the given parameters.

Parameters

velocity	Vec3 representing the initial velocity of the rigid body.
angularVelocity	Vec3 representing the initial angular velocity of the rigid body.
gravity	Vec3 representing the gravity affecting the rigid body.
mass	Float representing the mass of the rigid body.
friction	Float representing the friction coefficient of the rigid body.
centerOfMass	Vec3 representing the center of mass of the rigid body.

get_collisions_shapes()

void RigidBody::get_collisions_shapes ( Node ****  shapes, u8 **  length  )

inline

Retrieves the collision shapes and their lengths.

This function populates the provided pointers with the collision shapes and their respective lengths.

Parameters

[out]	shapes	A pointer to a 4-dimensional array of Node pointers that will be populated with the collision shapes.
[out]	length	A pointer to an array of unsigned 8-bit integers that will be populated with the lengths of the collision shapes.

update_global_position()

void RigidBody::update_global_position ( vec3  pos, vec3  rot, vec3  scale  )

inline

Updates the global position of a rigid body.

This function updates the global position of a rigid body based on the provided position, rotation, and scale vectors.

Parameters

pos	Vec3 structure representing the position of the rigid body.
rot	Vec3 structure representing the rotation of the rigid body.
scale	Vec3 structure representing the scale of the rigid body.

apply_torque()

void RigidBody::apply_torque ( vec3  torque )

inline

Applies a torque to the rigid body.

This function takes a pointer to a torque vector and applies it to the rigid body. The torque vector should be in the form of a float array representing the torque components.

Parameters

torque

Vec3 representing the torque to be applied.

update()

void RigidBody::update ( vec3  pos, vec3  rot, vec3  scale, float  delta  )

inline

Updates the position, rotation, and scale of a rigid body.

This function updates the position, rotation, and scale of a rigid body based on the given delta time.

Parameters

pos	Vec3 structure representing the position of the rigid body.
rot	Vec3 structure representing the rotation of the rigid body.
scale	Vec3 structure representing the scale of the rigid body.
delta	The time delta used to update the rigid body's properties.

load()

void RigidBody::load ( FILE *  file, Camera **  c, Script *  scripts, Node *  editor  )

inline

Loads data from a file and initializes the given parameters.

This function reads data from the specified file and uses it to initialize the provided Camera, Script, and Node objects.

Parameters

file	A pointer to the file to read data from.
c	A double pointer to a Camera object that will be initialized.
scripts	A pointer to a Script object that will be initialized.
editor	A pointer to a Node object that will be initialized.

save()

void RigidBody::save ( FILE *  file )

inline

Saves the current state of the RigidBody to a file.

This function writes the current state of the RigidBody instance to the specified file. The file should be opened in a mode that allows writing binary data.

Parameters

file	A pointer to a FILE object that identifies the file to which the data will be written.

apply_impulse()

void RigidBody::apply_impulse ( vec3  impulse, vec3  torque, vec3  correction  )

inline

Applies an impulse to a rigid body.

This function applies an impulse to a rigid body, affecting its linear and angular velocity. The impulse is applied at the center of mass of the rigid body, and the torque is applied to affect the angular velocity.

Parameters

impulse	Vec3 representing the impulse to be applied.
torque	Vec3 representing the torque to be applied.
correction	Vec3 representing the correction to be applied.

get_velocity_norm()

float RigidBody::get_velocity_norm ( )

inline

Get the velocity norm of a node.

Returns

The velocity norm of the node.

get_velocity()

void RigidBody::get_velocity ( vec3  velocity )

inline

Get the velocity of a node.

Parameters

velocity

Output vector to store the velocity.

get_mass()

void RigidBody::get_mass ( float *  mass )

inline

Get the mass of a node.

Parameters

mass	Output pointer to store the mass.

get_center_of_mass()

void RigidBody::get_center_of_mass ( vec3  com )

inline

Get the center of mass of a node.

Parameters

com	Output vector to store the center of mass.

Member Data Documentation

collisionsShapes

struct Node** RigidBody::collisionsShapes

Array of collision shapes associated with the rigid body.

velocity

vec3 RigidBody::velocity

Current velocity of the rigid body.

gravity

vec3 RigidBody::gravity

Gravity affecting the rigid body.

angularVelocity

vec3 RigidBody::angularVelocity

Angular velocity of the rigid body.

angularAcceleration

vec3 RigidBody::angularAcceleration

Angular acceleration of the rigid body.

centerOfMass

vec3 RigidBody::centerOfMass

Center of mass of the rigid body.

mass

float RigidBody::mass

Mass of the rigid body.

friction

float RigidBody::friction

Friction coefficient of the rigid body.

length

u8 RigidBody::length

Number of collision shapes.

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

• src/classes/nodes/physics/bodies/rigid_body.class.c
• src/physics/bodies.h