Physics Interface Reference

Wrapper over a physics simulation of an entity. More...

Inheritance diagram for Physics:

Public Member Functions
proto external void	Destroy ()
	Destroys the physics body.
proto external void	SetInteractionLayer (int mask)
	Sets interaction layer mask of the physics body.
proto external void	GetWorldTransform (out vector mat[4])
	Returns world space transformation of the physics body (including scale).
proto external void	GetDirectWorldTransform (out vector mat[4])
	Returns internal world space transformation of the physics body (excluding scale).
proto external void	SetGeomInteractionLayer (int index, int mask)
	Sets interaction layer mask of the geometry element.
proto external int	GetInteractionLayer ()
	Returns interaction layer mask of the physics body.
proto external bool	HasInteractionEnabled (int mask)
	Returns true if the physics body has enabled interaction with other body's layer mask.
proto external int	GetGeomInteractionLayer (int index)
	Returns interaction layer mask of the geometry element.
proto external void	EnableCCD (float maxMotion, float sphereCastRadius)
	Changes state of the continuous collision detection (CCD).
proto external void	ChangeSimulationState (SimulationState simState)
	Changes simulation state of the physics body.
proto external SimulationState	GetSimulationState ()
	Returns simulation state of the physics body.
proto external vector	GetCenterOfMass ()
	Returns center of mass offset of the physics body.
proto external void	SetActive (ActiveState act)
	Changes activation state of the physics body.
proto external bool	IsActive ()
	Returns whether the physics body is being simulated (awake).
proto external bool	IsDynamic ()
	Returns whether the physics body is dynamic (a rigid body).
proto external bool	IsKinematic ()
	Returns whether the physics body is kinematic (animated)
proto external bool	EnableGravity (bool enable)
	Enables gravity on the physics body.
proto external void	SetDamping (float linearDamping, float angularDamping)
	Changes damping parameters of the physics body.
proto external float	GetMass ()
	Returns mass of the physics body.
proto external void	SetMass (float mass)
	Changes mass of the physics body.
proto external void	SetInertiaTensorV (vector v)
	Changes inertia tensor of the physics body.
proto external vector	GetAngularVelocity ()
	Returns angular velocity of the physics body.
proto external vector	GetVelocityAt (vector pos)
	Returns linear velocity of the physics body at a position (world space coordinates).
proto external void	SetSleepingTreshold (float linearTreshold, float angularTreshold)
	Changes thresholds used to determine whether the physics body can stop simulation.
proto external void	SetLinearFactor (vector linearFactor)
	Sets scale factor for all impulses/velocities/forces. Default is <1,1,1>. Zero any axis if you want to do 2D physics.
proto external vector	GetVelocity ()
	Returns linear velocity of the physics body.
proto external void	SetVelocity (vector velocity)
	Sets linear velocity of the physics body.
proto external void	SetAngularVelocity (vector velocity)
	Sets angular velocity of the physics body.
proto external void	SetTargetMatrix (vector matrix[4], float timeslice)
	Sets target transformation.
proto external void	ApplyImpulse (vector impulse)
	Applies impulse on the physics body.
proto external void	ApplyImpulseAt (vector pos, vector impulse)
	Applies impulse on the physics body at a position (world space coordinates).
proto external void	ApplyForce (vector force)
	Applies constant force on the physics body (at origin).
proto external void	ApplyForceAt (vector pos, vector force)
	Applies constant force on the physics body at a position (world space coordinates).
proto external void	ApplyTorque (vector torque)
	Applies constant torque on the physics body.
proto external void	ClearForces ()
	Clear forces and torques on the physics body.
proto external vector	GetTotalForce ()
	Returns total force currently applied to the physics body.
proto external vector	GetTotalTorque ()
	Returns total torque currently applied to the physics body.
proto external void	SetResponseIndex (int responseIndex)
	Changes index to response matrix, see "project settings/physics/interactions/response matrix".
proto external int	GetResponseIndex ()
	Returns actual index to response matrix.
proto external int	AddGeom (string name, PhysicsGeom geom, vector frame[4], string material, int interactionLayer)
	Adds new geometry and returns an index of the geometry or -1 when an error occurred.
proto external int	GetGeom (string name)
	Finds a geometry by its name and returns its index or -1 if the geometry wasn't found.
proto external int	GetNumGeoms ()
	Returns number of geometries of the entity.
proto external bool	UpdateGeometries (int interactionLayerAnd=0xffffffff, int interactionLayerOr=0)
	Returns world space transformation of a geometry element.
proto external void	GetGeomWorldTransform (int index, out vector mat[4])
	Returns world space transformation of a geometry element.
proto external void	GetGeomTransform (int index, out vector mat[4])
	Returns entity space transformation of a geometry element.
proto external void	GetGeomDirectTransform (int index, out vector mat[4])
	Returns internal physics space transformation of a geometry element.
proto external vector	GetGeomWorldPosition (int index)
	Returns world space position of a geometry element.
proto external vector	GetGeomPosition (int index)
	Returns entity space position of a geometry element.
proto external vector	GetGeomDirectPosition (int index)
	Returns internal physics space position of a geometry element.
proto external void	GetGeomWorldBounds (int index, out vector min, out vector max)
	Returns world bounds of a geometry element.
proto external void	GetGeomDirectBounds (int index, out vector min, out vector max)
	Returns internal physics bounds of a geometry element (at scale 1)
proto external void	GetGeomSurfaces (int index, notnull out array< SurfaceProperties > surfaces)
	Returns all surface properties of a geometry element.
Public Member Functions inherited from pointer
proto string	ToString ()

Static Public Member Functions
static proto Physics	CreateStatic (notnull IEntity ent, int layerMask=0xffffffff)
	Creates a static physics body from geometry embedded in attached VObject.
static proto Physics	CreateStaticEx (notnull IEntity ent, PhysicsGeomDef geoms[])
	Creates a static physics body from custom made geometries.
static proto Physics	CreateDynamic (notnull IEntity ent, float mass, int layerMask=0xffffffff)
	Creates a dynamic physics body from geometry embedded in attached VObject.
static proto Physics	CreateDynamicEx (notnull IEntity ent, vector centerOfMass, float mass, PhysicsGeomDef geoms[])
	Creates a dynamic physics body from custom made geometries.
static proto Physics	CreateGhostEx (notnull IEntity ent, PhysicsGeomDef geoms[])
	Creates a ghost physics body from custom made geometries.

Static Public Attributes
static const float	KMH2MS = 1 / 3.6
static const float	MS2KMH = 3.6
static const float	STANDARD_GRAVITY = 9.81
static const vector	VGravity = "0 -9.81 0"

Detailed Description

Wrapper over a physics simulation of an entity.

The entity is capable of the physics simulation only when such object exists (see IEntity.GetPhysics). Two main types of physics bodies are static and dynamic. Static bodies are represented by a collision object and dynamic bodies by a rigid body. This means certain methods make sense only when dealing with a dynamic physics body, e.g., Physics.GetVelocity, Physics.ApplyImpulse.

Physics bodies rely on physics geometries to support collisions or casting. In general a physics body can be made out of multiply physics geometries. Certain methods allow to work with a specific physics geometry (via geometry index).

Member Function Documentation

AddGeom()

proto external int Physics.AddGeom	(	string	name,
		PhysicsGeom	geom,
		vector	frame[4],
		string	material,
		int	interactionLayer )

Adds new geometry and returns an index of the geometry or -1 when an error occurred.

PhysicsGeom geom = PhysicsGeom.CreateBox(Vector(1, 1, 1));
vector frame[4];
Math3D.MatrixIdentity4(frame);
frame[3] = vector.Up;
string material = "{D745FD8FC67DB26A}Common/Materials/Game/stone.gamemat";
GetPhysics().AddGeom("Box", geom, frame, material, 0xffffffff);

Parameters

name	Name of the element
geom	Physics geometry shape
frame	Local transformation
material	Material resource name
interactionLayer	Bit mask of layers geometry belongs to

ApplyForce()

proto external void Physics.ApplyForce

(

vector

force

)

Applies constant force on the physics body (at origin).

ApplyForceAt()

proto external void Physics.ApplyForceAt	(	vector	pos,
		vector	force )

Applies constant force on the physics body at a position (world space coordinates).

ApplyImpulse()

proto external void Physics.ApplyImpulse

(

vector

impulse

)

Applies impulse on the physics body.

ApplyImpulseAt()

proto external void Physics.ApplyImpulseAt	(	vector	pos,
		vector	impulse )

Applies impulse on the physics body at a position (world space coordinates).

ApplyTorque()

proto external void Physics.ApplyTorque

(

vector

torque

)

Applies constant torque on the physics body.

ChangeSimulationState()

proto external void Physics.ChangeSimulationState

(

SimulationState

simState

)

Changes simulation state of the physics body.

ClearForces()

proto external void Physics.ClearForces

(

)

Clear forces and torques on the physics body.

CreateDynamic()

static proto Physics Physics.CreateDynamic ( notnull IEntity ent, float mass, int layerMask = 0xffffffff )

static

Creates a dynamic physics body from geometry embedded in attached VObject.

If there is not any, false is returned.

Parameters

ent	Entity that will be associated with the physics body
mass	Body mass
layerMask	Bit mask of layers that is ANDed with layers in object geometry. Use 0xffffffff if you want to keep it unmodified

CreateDynamicEx()

static proto Physics Physics.CreateDynamicEx ( notnull IEntity ent, vector centerOfMass, float mass, PhysicsGeomDef geoms[] )

static

Creates a dynamic physics body from custom made geometries.

The geometries are deleted when rigid body is destroyed.

PhysicsGeom geom = PhysicsGeom.CreateBox(Vector(1, 1, 1));
string material = "{D745FD8FC67DB26A}Common/Materials/Game/stone.gamemat";
PhysicsGeomDef geoms[] = { PhysicsGeomDef("", geom, material, 0xffffffff) };
vector center = 2 * vector.Up;
Physics.CreateDynamicEx(this, center, 1.0, geoms);

Parameters

ent	Entity that will be associated with the physics body
centerOfMass	Offset from object-pivot to center of mass
mass	Body mass
geoms	Array of custom made geometries

CreateGhostEx()

static proto Physics Physics.CreateGhostEx ( notnull IEntity ent, PhysicsGeomDef geoms[] )

static

Creates a ghost physics body from custom made geometries.

The geometries are deleted when rigid body is destroyed.

Parameters

ent	Entity that will be associated with the physics body
geoms	Array of custom made geometries

CreateStatic()

static proto Physics Physics.CreateStatic ( notnull IEntity ent, int layerMask = 0xffffffff )

static

Creates a static physics body from geometry embedded in attached VObject.

If there is not any, false is returned.

Parameters

ent	Entity that will be associated with the physics body
layerMask	Bit mask of layers that is ANDed with layers in object geometry. Use 0xffffffff if you want to keep it unmodified

CreateStaticEx()

static proto Physics Physics.CreateStaticEx ( notnull IEntity ent, PhysicsGeomDef geoms[] )

static

Creates a static physics body from custom made geometries.

The geometries are deleted when rigid body is destroyed.

PhysicsGeom geom = PhysicsGeom.CreateBox(Vector(1, 1, 1));
string material = "{D745FD8FC67DB26A}Common/Materials/Game/stone.gamemat";
PhysicsGeomDef geoms[] = { PhysisGeomDef("Box", geom, material, 0xffffffff) };
Physics.CreateStaticEx(this, geoms);

Parameters

ent	Entity that will be associated with the physics body
geoms	Array of custom made geometries

Destroy()

proto external void Physics.Destroy

(

)

Destroys the physics body.

EnableCCD()

proto external void Physics.EnableCCD	(	float	maxMotion,
		float	sphereCastRadius )

Changes state of the continuous collision detection (CCD).

If both maxMotion and shapeCastRadius is >=0 then the CCD is enabled. If you want to disable it, use -1.

Parameters

maxMotion	Max motion threshold when sphere-cast is performed, to find time of impact. It should be little bit less than size of the geometry to catch the situation when tunneling can happen.
sphereCastRadius	The radius of the largest possible sphere, that is completely inside the body geometry.

EnableGravity()

proto external bool Physics.EnableGravity

(

bool

enable

)

Enables gravity on the physics body.

GetAngularVelocity()

proto external vector Physics.GetAngularVelocity

(

)

Returns angular velocity of the physics body.

GetCenterOfMass()

proto external vector Physics.GetCenterOfMass

(

)

Returns center of mass offset of the physics body.

GetDirectWorldTransform()

proto external void Physics.GetDirectWorldTransform

(

out vector

mat[4]

)

Returns internal world space transformation of the physics body (excluding scale).

GetGeom()

proto external int Physics.GetGeom

(

string

name

)

Finds a geometry by its name and returns its index or -1 if the geometry wasn't found.

GetGeomDirectBounds()

proto external void Physics.GetGeomDirectBounds	(	int	index,
		out vector	min,
		out vector	max )

Returns internal physics bounds of a geometry element (at scale 1)

GetGeomDirectPosition()

proto external vector Physics.GetGeomDirectPosition

(

int

index

)

Returns internal physics space position of a geometry element.

GetGeomDirectTransform()

proto external void Physics.GetGeomDirectTransform	(	int	index,
		out vector	mat[4] )

Returns internal physics space transformation of a geometry element.

GetGeomInteractionLayer()

proto external int Physics.GetGeomInteractionLayer

(

int

index

)

Returns interaction layer mask of the geometry element.

GetGeomPosition()

proto external vector Physics.GetGeomPosition

(

int

index

)

Returns entity space position of a geometry element.

GetGeomSurfaces()

proto external void Physics.GetGeomSurfaces	(	int	index,
		notnull out array< SurfaceProperties >	surfaces )

Returns all surface properties of a geometry element.

GetGeomTransform()

proto external void Physics.GetGeomTransform	(	int	index,
		out vector	mat[4] )

Returns entity space transformation of a geometry element.

GetGeomWorldBounds()

proto external void Physics.GetGeomWorldBounds	(	int	index,
		out vector	min,
		out vector	max )

Returns world bounds of a geometry element.

GetGeomWorldPosition()

proto external vector Physics.GetGeomWorldPosition

(

int

index

)

Returns world space position of a geometry element.

GetGeomWorldTransform()

proto external void Physics.GetGeomWorldTransform	(	int	index,
		out vector	mat[4] )

Returns world space transformation of a geometry element.

GetInteractionLayer()

proto external int Physics.GetInteractionLayer

(

)

Returns interaction layer mask of the physics body.

GetMass()

proto external float Physics.GetMass

(

)

Returns mass of the physics body.

GetNumGeoms()

proto external int Physics.GetNumGeoms

(

)

Returns number of geometries of the entity.

GetResponseIndex()

proto external int Physics.GetResponseIndex

(

)

Returns actual index to response matrix.

GetSimulationState()

proto external SimulationState Physics.GetSimulationState

(

)

Returns simulation state of the physics body.

GetTotalForce()

proto external vector Physics.GetTotalForce

(

)

Returns total force currently applied to the physics body.

GetTotalTorque()

proto external vector Physics.GetTotalTorque

(

)

Returns total torque currently applied to the physics body.

GetVelocity()

proto external vector Physics.GetVelocity

(

)

Returns linear velocity of the physics body.

GetVelocityAt()

proto external vector Physics.GetVelocityAt

(

vector

pos

)

Returns linear velocity of the physics body at a position (world space coordinates).

GetWorldTransform()

proto external void Physics.GetWorldTransform

(

out vector

mat[4]

)

Returns world space transformation of the physics body (including scale).

HasInteractionEnabled()

proto external bool Physics.HasInteractionEnabled

(

int

mask

)

Returns true if the physics body has enabled interaction with other body's layer mask.

IsActive()

proto external bool Physics.IsActive

(

)

Returns whether the physics body is being simulated (awake).

IsDynamic()

proto external bool Physics.IsDynamic

(

)

Returns whether the physics body is dynamic (a rigid body).

IsKinematic()

proto external bool Physics.IsKinematic

(

)

Returns whether the physics body is kinematic (animated)

SetActive()

proto external void Physics.SetActive

(

ActiveState

act

)

Changes activation state of the physics body.

SetAngularVelocity()

proto external void Physics.SetAngularVelocity

(

vector

velocity

)

Sets angular velocity of the physics body.

SetDamping()

proto external void Physics.SetDamping	(	float	linearDamping,
		float	angularDamping )

Changes damping parameters of the physics body.

SetGeomInteractionLayer()

proto external void Physics.SetGeomInteractionLayer	(	int	index,
		int	mask )

Sets interaction layer mask of the geometry element.

SetInertiaTensorV()

proto external void Physics.SetInertiaTensorV

(

vector

v

)

Changes inertia tensor of the physics body.

Parameters

v	Diagonal elements of the inertia tensor (a rigid body is aligned with the principle axes of inertia)

SetInteractionLayer()

proto external void Physics.SetInteractionLayer

(

int

mask

)

Sets interaction layer mask of the physics body.

Parameters

mask	Bit mask of layers

SetLinearFactor()

proto external void Physics.SetLinearFactor

(

vector

linearFactor

)

Sets scale factor for all impulses/velocities/forces. Default is <1,1,1>. Zero any axis if you want to do 2D physics.

SetMass()

proto external void Physics.SetMass

(

float

mass

)

Changes mass of the physics body.

SetResponseIndex()

proto external void Physics.SetResponseIndex

(

int

responseIndex

)

Changes index to response matrix, see "project settings/physics/interactions/response matrix".

Usually this index is set by physics component property, but can be overriden at runtime.

SetSleepingTreshold()

proto external void Physics.SetSleepingTreshold	(	float	linearTreshold,
		float	angularTreshold )

Changes thresholds used to determine whether the physics body can stop simulation.

SetTargetMatrix()

proto external void Physics.SetTargetMatrix	(	vector	matrix[4],
		float	timeslice )

Sets target transformation.

If timeslice == dt (simulation step delta time), it will happen in next step, otherwise in time = timeslice.

SetVelocity()

proto external void Physics.SetVelocity

(

vector

velocity

)

Sets linear velocity of the physics body.

UpdateGeometries()

proto external bool Physics.UpdateGeometries	(	int	interactionLayerAnd = 0xffffffff,
		int	interactionLayerOr = 0 )

Returns world space transformation of a geometry element.

Member Data Documentation

KMH2MS

const float Physics.KMH2MS = 1 / 3.6

static

MS2KMH

const float Physics.MS2KMH = 3.6

static

STANDARD_GRAVITY

const float Physics.STANDARD_GRAVITY = 9.81

static

VGravity

const vector Physics.VGravity = "0 -9.81 0"

static

---

The documentation for this interface was generated from the following file:

• Core/generated/Physics/Physics.c