jsim.PhysicsBody Class Reference

Public Member Functions
int	bodyIndex ()
void	setPosition (Pose3d pose)
void	setPosition (Distance x, Distance y, Distance z)
void	setLinearVelocity (LinearVelocity3d velocityMps)
void	setLinearVelocity (double vxMetersPerSecond, double vyMetersPerSecond, double vzMetersPerSecond)
void	setOrientation (Rotation3d orientation)
void	setGravityEnabled (boolean enabled)
void	setCollisionSphere (double radiusMeters)
void	setCollisionBox (double xMeters, double yMeters, double zMeters)
void	setCollisionFilter (int collisionLayerBits, int collisionMaskBits)
Pose3d	position ()
LinearVelocity3d	linearVelocity ()
Rotation3d	orientation ()

Detailed Description

Handle for a body managed by PhysicsWorld.

Member Function Documentation

bodyIndex()

int jsim.PhysicsBody.bodyIndex ( )

inline

Gets the native body index for this body.

Returns

the native body index

linearVelocity()

LinearVelocity3d jsim.PhysicsBody.linearVelocity ( )

inline

Gets the current world-space linear velocity in meters per second.

Returns

the body linear velocity

orientation()

Rotation3d jsim.PhysicsBody.orientation ( )

inline

Gets the current world-space orientation.

Returns

the body orientation

position()

Pose3d jsim.PhysicsBody.position ( )

inline

Gets the current world-space position in meters.

Returns

the body position

setCollisionBox()

void jsim.PhysicsBody.setCollisionBox ( double xMeters, double yMeters, double zMeters )

inline

Sets an approximate box collision/body shape for this body.

Parameters

xMeters	box x dimension in meters
yMeters	box y dimension in meters
zMeters	box z dimension in meters

setCollisionFilter()

void jsim.PhysicsBody.setCollisionFilter ( int collisionLayerBits, int collisionMaskBits )

inline

Sets broad-phase collision filtering for this body.

Parameters

collisionLayerBits	body layer bitmask
collisionMaskBits	body mask bitmask

setCollisionSphere()

void jsim.PhysicsBody.setCollisionSphere ( double radiusMeters )

inline

Sets an approximate spherical collision/body shape for this body.

Parameters

radiusMeters

sphere radius in meters

setGravityEnabled()

void jsim.PhysicsBody.setGravityEnabled ( boolean enabled )

inline

Enables or disables gravity for this body.

Parameters

enabled

true to enable gravity

setLinearVelocity() [1/2]

void jsim.PhysicsBody.setLinearVelocity ( double vxMetersPerSecond, double vyMetersPerSecond, double vzMetersPerSecond )

inline

Sets the body's linear velocity in meters per second.

Parameters

vxMetersPerSecond	x velocity in meters per second
vyMetersPerSecond	y velocity in meters per second
vzMetersPerSecond	z velocity in meters per second

setLinearVelocity() [2/2]

void jsim.PhysicsBody.setLinearVelocity ( LinearVelocity3d velocityMps )

inline

Sets the body's linear velocity in meters per second.

Parameters

velocityMps

the new linear velocity in meters per second

setOrientation()

void jsim.PhysicsBody.setOrientation ( Rotation3d orientation )

inline

Sets the body's world-space orientation.

Parameters

orientation

the new body orientation

setPosition() [1/2]

void jsim.PhysicsBody.setPosition ( Distance x, Distance y, Distance z )

inline

Sets the body's world-space position.

Parameters

x	x position
y	y position
z	z position

setPosition() [2/2]

void jsim.PhysicsBody.setPosition ( Pose3d pose )

inline

Sets the body's world-space position in meters.

Parameters

pose	the new position (only translation component is used)

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

• src/main/java/jsim/PhysicsBody.java