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Class RigidBody

Class implementing single rigid body, i.e., a rigid object involved in the rigid body physics simulation.

Some sources related to rigid body engine implementation: https://www.toptal.com/game/video-game-physics-part-i-an-introduction-to-rigid-body-dynamics http://www.cs.cmu.edu/~baraff/sigcourse/notesd1.pdf https://blog.winter.dev/2020/designing-a-physics-engine/

Hierarchy

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

  • new RigidBody(pos?: Vector3, rot?: Quaternion, shape?: RbShape, friction?: undefined | number): RigidBody

  • Parameters

    • Default value pos: Vector3 = new Vector3(0, 0, 0)

      initial position of the the rigid body

    • Optional rot: Quaternion

      initial rotation of the rigid body

    • Optional shape: RbShape

      rigid body shape

    • Optional friction: undefined | number

      coefficient of friction of this rigid body

    Returns RigidBody

Properties

Private _angularVelocity

_angularVelocity: Vector3

Private _force

_force: Vector3

Private _friction

_friction: number

Private _impulseForce

_impulseForce: Vector3

Private _impulseTorque

_impulseTorque: Vector3

Private _linearVelocity

_linearVelocity: Vector3

Private _position

_position: Vector3

Private _rotation

_rotation: Quaternion

Private _shape

_shape: RbShape

Private _torque

_torque: Vector3

Protected currPositionStep

currPositionStep: Vector3

Protected currRotationStep

currRotationStep: Quaternion

Accessors

angularVelocity

  • get angularVelocity(): Vector3

Protected force

  • get force(): Vector3
  • set force(value: Vector3): void

  • Sets new force to be applied (overriding accumulated forces). Use this setter only when you know what you are doing. Otherwise, use addForce* functions.

    Returns Vector3

    current force to be applied

  • Sets new force to be applied (overriding accumulated forces). Use this setter only when you know what you are doing. Otherwise, use addForce* functions.

    Parameters

    • value: Vector3

    Returns void

    current force to be applied

friction

  • get friction(): number
  • set friction(value: number): void

Protected impulseForce

  • get impulseForce(): Vector3
  • set impulseForce(value: Vector3): void

  • Sets new impulse-based force to be applied. Use this setter only when you know what you are doing. Otherwise, use addImpulse* functions.

    Returns Vector3

    current impulse-based force to be applied

  • Sets new impulse-based force to be applied. Use this setter only when you know what you are doing. Otherwise, use addImpulse* functions.

    Parameters

    • value: Vector3

    Returns void

    current impulse-based force to be applied

Protected impulseTorque

  • get impulseTorque(): Vector3
  • set impulseTorque(value: Vector3): void

  • Sets new impulse-based torque to be applied. Use this setter only when you know what you are doing. Otherwise, use addImpulse* functions.

    Returns Vector3

    current impulse-based torque to be applied

  • Sets new impulse-based torque to be applied. Use this setter only when you know what you are doing. Otherwise, use addImpulse* functions.

    Parameters

    • value: Vector3

    Returns void

    current impulse-based torque to be applied

linearVelocity

  • get linearVelocity(): Vector3

position

  • get position(): Vector3
  • set position(value: Vector3): void

rotation

  • get rotation(): Quaternion
  • set rotation(value: Quaternion): void

shape

Protected torque

  • get torque(): Vector3
  • set torque(value: Vector3): void

  • Sets new torque to be applied (overriding accumulated torque). Use this setter only when you know what you are doing. Otherwise, use addForce* functions.

    Returns Vector3

    current torque to be applied

  • Sets new torque to be applied (overriding accumulated torque). Use this setter only when you know what you are doing. Otherwise, use addForce* functions.

    Parameters

    • value: Vector3

    Returns void

    current torque to be applied

Methods

addForce

  • addForce(force: Vector3): void

  • Applies a given force to the rigid body. The force is applied once in "force-per-seconds" units. In other words, applying force of X per one second would result in the same amount of force added as single impulse of magnitude X.

    Parameters

    • force: Vector3

      force to add

    Returns void

addForceAtPosition

  • addForceAtPosition(force: Vector3, worldPosition: Vector3): void

  • Applies a given force to the rigid body at the desired point. The force is applied once in "force-per-seconds" units. In other words, applying force of X per one second would result in the same amount of force added as single impulse of magnitude X.

    Parameters

    • force: Vector3

      force to add

    • worldPosition: Vector3

      location where the force should be applied

    Returns void

addImpulse

  • addImpulse(impulse: Vector3): void

  • Applies impulse to the rigid body. Contrary to force, impulse is applied immediately, i.e., it uses sort of "force-per-frame" units.

    Parameters

    • impulse: Vector3

      impulse to apply

    Returns void

addImpulseAtPosition

  • addImpulseAtPosition(impulse: Vector3, worldPosition: Vector3): void

  • Applies a given impulse to the rigid body at the desired point. Contrary to force, impulse is applied immediately, i.e., it uses sort of "force-per-frame" units.

    Parameters

    • impulse: Vector3

      impulse to apply

    • worldPosition: Vector3

      location where the impulse should be applied

    Returns void

clearForceAndTorque

  • clearForceAndTorque(): void

getCurrentForce

  • getCurrentForce(): Vector3

getCurrentTorque

  • getCurrentTorque(): Vector3

localToWorldPos

  • localToWorldPos(pos: Vector3): Vector3

  • Converts position in the local space of this rigid body to world space.

    Parameters

    • pos: Vector3

      local position to convert

    Returns Vector3

    corresponding world space position

updatePosition

  • updatePosition(dt: number): void

  • Updates position and rotation of this rigid body, using the current force & torque (both impulse & non-impulse) values.

    Parameters

    • dt: number

      time step

    Returns void

worldToLocalPos

  • worldToLocalPos(pos: Vector3): Vector3

  • Convers position from world space to the corresponding one in the local space of this rigid body.

    Parameters

    • pos: Vector3

      world space position to convert

    Returns Vector3

    corresponding local space position

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