palBody Class Reference

#include <palBodies.h>

Inheritance diagram for palBody:

List of all members.

Public Member Functions
void	SetPosition (Float x, Float y, Float z)
virtual void	SetPosition (palMatrix4x4 &location)
void	SetPosition (Float x, Float y, Float z, Float roll, Float pitch, Float yaw)
void	SetOrientation (Float roll, Float pitch, Float yaw)
virtual void	ApplyForce (Float fx, Float fy, Float fz)
virtual void	ApplyTorque (Float tx, Float ty, Float tz)
virtual void	ApplyForceAtPosition (Float px, Float py, Float pz, Float fx, Float fy, Float fz)
virtual void	ApplyImpulse (Float ix, Float iy, Float iz)
virtual void	ApplyAngularImpulse (Float ix, Float iy, Float iz)
virtual void	ApplyImpulseAtPosition (Float px, Float py, Float pz, Float ix, Float iy, Float iz)
virtual void	GetLinearVelocity (palVector3 &velocity)=0
virtual void	GetAngularVelocity (palVector3 &velocity_rad)=0
virtual void	SetLinearVelocity (palVector3 velocity)=0
virtual void	SetAngularVelocity (palVector3 velocity_rad)=0
virtual bool	IsActive ()=0
virtual void	SetActive (bool active)=0
Public Attributes
Float	m_fMass
	The total mass of the body.

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Detailed Description

The body class. A body represents a physical object in the physics engine. A body has location, mass (and inertia), and material properties. A body is usually accompianied by a geometry which represents the shape of the body.

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Member Function Documentation

void palBody::ApplyAngularImpulse	(	Float	ix,
		Float	iy,
		Float	iz
	)			[virtual]

Applys an an angular impulse to the body. This will cause a change in the angular momentum, and subsequently a change in the angular velocity.

Parameters:

	ix	The impulse vector (x)
	iy	The impulse vector (y)
	iz	The impulse vector (z)

void palBody::ApplyForce	(	Float	fx,
		Float	fy,
		Float	fz
	)			[virtual]

Applies a force to the body. This applies a force with the direction and strength represented by the input vector. If you have a normalized vector, you will need to multiply it by the magnitude of the force to get the desired result. The force is only valid for a single update.

Parameters:

	fx	The force vector (x)
	fy	The force vector (y)
	fz	The force vector (z)

void palBody::ApplyForceAtPosition	(	Float	px,
		Float	py,
		Float	pz,
		Float	fx,
		Float	fy,
		Float	fz
	)			[virtual]

Applies a force to the body, at a specified, global, position. This applies a force at a given position on the body, with the direction and strength represented by the input vector. This has the result of adding both a force and a torque to the body (ie: results in a spin on the object).

Parameters:

	px	The position (x)
	py	The position (y)
	pz	The position (z)
	fx	The force vector (x)
	fy	The force vector (y)
	fz	The force vector (z)

void palBody::ApplyImpulse	(	Float	ix,
		Float	iy,
		Float	iz
	)			[virtual]

Applys a linear impulse to the body. In classical physics, momentum is related to velocity by where p is the Momentum, m is the Mass, and v is the Velocity. An impulse is simply a change in momentum.

Parameters:

	ix	The impulse vector (x)
	iy	The impulse vector (y)
	iz	The impulse vector (z)

void palBody::ApplyImpulseAtPosition	(	Float	px,
		Float	py,
		Float	pz,
		Float	ix,
		Float	iy,
		Float	iz
	)			[virtual]

Applys an impulse to the body at a specified, global, position.

Parameters:

	px	The position (x)
	py	The position (y)
	pz	The position (z)
	ix	The impulse vector (x)
	iy	The impulse vector (y)
	iz	The impulse vector (z)

void palBody::ApplyTorque	(	Float	tx,
		Float	ty,
		Float	tz
	)			[virtual]

Applies a torque on the body. In classical physics, torque is related to angular acceleration by where T is the Torque, I is the moment of inertia, and is angular acceleration. The torque is only valid for a single update.

virtual void palBody::GetAngularVelocity

(

palVector3 &

velocity_rad

)

[pure virtual]

Gets the angular velocity of the body

virtual void palBody::GetLinearVelocity

(

palVector3 &

velocity

)

[pure virtual]

Gets the linear velocity of the body

virtual bool palBody::IsActive

(

)

[pure virtual]

Returns:

true if this body is active, ie not sleeping or frozen

virtual void palBody::SetActive

(

bool

active

)

[pure virtual]

Sets the body as active or sleeping

virtual void palBody::SetAngularVelocity

(

palVector3

velocity_rad

)

[pure virtual]

Sets the angular velocity of the body

virtual void palBody::SetLinearVelocity

(

palVector3

velocity

)

[pure virtual]

Sets the linear velocity of the body

void palBody::SetOrientation	(	Float	roll,
		Float	pitch,
		Float	yaw
	)

Sets the orientation of the body

Parameters:

	roll	The roll (rotation) about the x-axis of the body (CHECK!)
	pitch	The pitch (rotation) about the y-axis of the body (CHECK!)
	yaw	The yaw (rotation) about the z-axis of the body (CHECK!)

void palBody::SetPosition	(	Float	x,
		Float	y,
		Float	z,
		Float	roll,
		Float	pitch,
		Float	yaw
	)

Sets the position and orientation of the body

Parameters:

	x	The x-coordinate of the body (world)
	y	The y-coordinate of the body (world)
	z	The z-coordinate of the body (world)
	roll	The roll (rotation) about the x-axis of the body (CHECK!)
	pitch	The pitch (rotation) about the y-axis of the body (CHECK!)
	yaw	The yaw (rotation) about the z-axis of the body (CHECK!)

void palBody::SetPosition

(

palMatrix4x4 &

location

)

[virtual]

Sets the orientation of the body via a 4x4 transformation matrix. The location matrix may not include scaleing properties

Parameters:

location

The transformation matrix

Reimplemented from palBodyBase.

void palBody::SetPosition	(	Float	x,
		Float	y,
		Float	z
	)			[virtual]

Sets the position of the body

Parameters:

	x	The x-coordinate of the body (world)
	y	The y-coordinate of the body (world)
	z	The z-coordinate of the body (world)

Reimplemented from palBodyBase.

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

• /var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palBodies.h
• /var/www/hosted/adrianboeing.com/pal/current/pal/pal/pal/palBodies.cpp