Gorilla.Physics.Q3.Body

Unit Gorilla.Physics.Q3.Body.pas

Classes

TQ3Body = class ( TObject )

Records

record TQ3BodyDef

Enumerations

enum TQ3BodyType = ( eStaticBody, eDynamicBody, eKinematicBody ) ;
enum TQ3BodyState = ( eAwake, eActive, eAllowSleep, eIsland, eStatic, eDynamic, eKinematic, eLockRotAxisX, eLockRotAxisY, eLockRotAxisZ, eLockMoveAxisX, eLockMoveAxisY, eLockMoveAxisZ ) ;

Constants

Mics. types

type PQ3BodyDef = pointer to TQ3BodyDef;

TQ3BodyType

enum TQ3BodyType = ( eStaticBody, eDynamicBody, eKinematicBody ) ;

Type of body (static, dynamic or kinematic)

Remarks

A body is defined by one of these 3 kinds.

Static bodies will not be move or influenced by mass and impulses. Use this type for defining a plane / floor.

Dynamic bodies will move, handle forces influenced by mass and impulses. Use this type by default for any kind of physics-engine handled instances.

Kinematic bodies will be moved, but will not be influenced by mass and impulses. Use this type as an alternative to dynamic bodies.

TQ3BodyState

enum TQ3BodyState = ( eAwake, eActive, eAllowSleep, eIsland, eStatic, eDynamic, eKinematic, eLockRotAxisX, eLockRotAxisY, eLockRotAxisZ, eLockMoveAxisX, eLockMoveAxisY, eLockMoveAxisZ ) ;

State of body

Remarks

A body can handle multiple states, like information about the body-type, if it's awake or if an axis is locked.

TQ3BodyDef

Fields

public Axis : TPoint3D
public Angle : Single
public Position : TPoint3D
public LinearVelocity : TPoint3D
public AngularVelocity : TPoint3D
public GravityScale : Single
public Layers : Integer
public UserDataType : PTypeInfo
public UserData : Pointer
public LinearDamping : Single
public AngularDamping : Single
public BodyType : TQ3BodyType
public AllowSleep : Boolean
public Awake : Boolean
public Active : Boolean
public LockRotAxisX : Boolean
public LockRotAxisY : Boolean
public LockRotAxisZ : Boolean
public LockMoveAxisX : Boolean
public LockMoveAxisY : Boolean
public LockMoveAxisZ : Boolean
public Slop : Single

Methods

public constructor Create ( ADummy : Integer ) ;
Create a TQ3BodyDef and supply a dummy value due to compiler restrictions for record constructors in elder compiler versions.
Parameters
- ADummy : Integer - Use any value. Only needed for compiler.

TQ3Body

Physics Ridid Body

Remarks

A single body instance can handle multiple colliders (boxes). So you can group similar elements and reduce cpu usage.

Ancestors

Members

Fields

protected FOnUpdate : TQ3OnBodyUpdate
protected FOnWakeup : TNotifyEvent
protected FOnSleep : TNotifyEvent
protected FInvInertiaModel : TQ3Mat3
protected FInvInertiaWorld : TQ3Mat3
protected FMass : Single
protected FInvMass : Single
protected FLinearVelocity : TPoint3D
protected FAngularVelocity : TPoint3D
protected FForce : TPoint3D
protected FTorque : TPoint3D
protected FTx : TQ3Transform
protected FQ : TQ3Quaternion
protected FLocalCenter : TPoint3D
protected FWorldCenter : TPoint3D
protected FSleepTime : Single
protected FGravityScale : Single
protected FLayers : Integer
protected FFlags : TQ3BodyStates
protected FColliders : TQ3Collider
protected FUserDataType : PTypeInfo
protected FUserData : Pointer
protected FScene : TObject
protected FNext : TQ3Body
protected FPrev : TQ3Body
protected FIslandIndex : Integer
protected FLinearDamping : Single
protected FAngularDamping : Single
protected FSlop : Single
protected FContactList : Pointer

Methods

public constructor Create ( const Def : PQ3BodyDef; Scene : TObject ) ;
protected function GetGravityScale ( ) : Single ;
protected procedure SetGravityScale ( const AValue : Single ) ;
protected function GetForce ( ) : TPoint3D ;
protected procedure SetForce ( const AValue : TPoint3D ) ;
protected function GetTorque ( ) : TPoint3D ;
protected procedure SetTorque ( const AValue : TPoint3D ) ;
protected function GetIslandIndex ( ) : Integer ;
protected procedure SetIslandIndex ( const AValue : Integer ) ;
protected function GetInvInertiaModel ( ) : TQ3Mat3 ;
protected procedure SetInvInertiaModel ( const AValue : TQ3Mat3 ) ;
protected function GetInvInertiaWorld ( ) : TQ3Mat3 ;
protected procedure SetInvInertiaWorld ( const AValue : TQ3Mat3 ) ;
protected function GetWorldCenter ( ) : TPoint3D ;
protected procedure SetWorldCenter ( const AValue : TPoint3D ) ;
protected function GetLinearVelocity ( ) : TPoint3D ;
protected procedure SetLinearVelocity ( const V : TPoint3D ) ;
protected function GetAngularVelocity ( ) : TPoint3D ;
protected procedure SetAngularVelocity ( const V : TPoint3D ) ;
protected procedure SetLinearDamping ( const AValue : Single ) ;
protected function GetLinearDamping ( ) : Single ;
protected procedure SetAngularDamping ( const AValue : Single ) ;
protected function GetAngularDamping ( ) : Single ;
protected procedure SetSlop ( const AValue : Single ) ;
protected function GetSlop ( ) : Single ;
protected function GetFlags ( ) : TQ3BodyStates ;
protected procedure SetFlags ( const AValue : TQ3BodyStates ) ;
protected function GetSleepTime ( ) : Single ;
protected procedure SetSleepTime ( const AValue : Single ) ;
protected function GetQuaternion ( ) : TQ3Quaternion ; inline;
protected function GetUserData ( ) : Pointer ; inline;
protected function GetUserDataType ( ) : PTypeInfo ; inline;
protected function GetScene ( ) : TObject ; inline;
protected function GetMass ( ) : Single ;
protected function GetInvMass ( ) : Single ;
protected procedure CalculateMassData ( ) ;
public function AddCollider ( const AClass : TQ3ColliderClass; const ADef : TQ3ColliderDef ) : TQ3Collider ;
Add a collider to this body.
public procedure RemoveCollider ( const ACollider : TQ3Collider ) ;
Remove a collider from this body.
public procedure RemoveAllColliders ( ) ;
Remove all boxes from this body and the broadphase.
public procedure SynchronizeProxies ( ) ;
public procedure ApplyLinearForce ( const AForce : TPoint3D ) ;
Adds a force multiplied with the mass to an existing force.
public procedure SetLinearForce ( const AForce : TPoint3D ) ;
Sets the force multiplied with the mass.
public procedure ApplyForceAtWorldPoint ( const AForce : TPoint3D; const APoint : TPoint3D ) ;
public procedure SetForceAtWorldPoint ( const AForce : TPoint3D; const APoint : TPoint3D ) ;
public procedure ApplyLinearImpulse ( const AImpulse : TPoint3D ) ;
Adds a linear impulse multiplied with the mass to an existing impulse.
public procedure ApplyLinearImpulseAtWorldPoint ( const AImpulse : TPoint3D; const APoint : TPoint3D ) ;
public procedure SetLinearImpulseAtWorldPoint ( const AImpulse : TPoint3D; const APoint : TPoint3D ) ;
public procedure ApplyTorque ( const ATorque : TPoint3D ) ;
public procedure SetToAwake ( ) ;
public procedure SetToSleep ( ) ;
public function IsAwake ( ) : Boolean ;
public function GetFirstCollider ( ) : TQ3Collider ;
public function GetFirstColliderPtr ( ) : PQ3Collider ;
public function GetFirstContactEdge ( ) : Pointer ;
public function GetFirstContactEdgePtr ( ) : PPointer ;
public function GetLocalPoint ( const P : TPoint3D ) : TPoint3D ;
public function GetLocalVector ( const V : TPoint3D ) : TPoint3D ;
public function GetWorldPoint ( const P : TPoint3D ) : TPoint3D ;
public function GetWorldVector ( const V : TPoint3D ) : TPoint3D ;
public procedure AddWorldCenter ( const V : TPoint3D ) ; inline;
public function GetVelocityAtWorldPoint ( const P : TPoint3D ) : TPoint3D ;
public procedure AddLinearVelocity ( const V : TPoint3D ) ; inline;
public procedure ScaleLinearVelocity ( const V : Single ) ; inline;
public procedure SetRawLinearVelocity ( const V : TPoint3D ) ; inline;
public procedure AddAngularVelocity ( const V : TPoint3D ) ; inline;
public procedure ScaleAngularVelocity ( const V : Single ) ; inline;
public procedure SetRawAngularVelocity ( const V : TPoint3D ) ; inline;
public function GetTransform ( ) : TQ3Transform ;
public function GetTransformRef ( ) : PQ3Transform ;
public procedure SetTransform ( const APosition : TPoint3D ) ; overload;
Set transformation (position)
public procedure SetTransform ( const APosition : TPoint3D; const AAxis : TPoint3D; AAngle : Single ) ; overload;
Set transformation (position and rotation)
public procedure SetTransform ( const APosition : TPoint3D; const AMatrix : TQ3Mat3 ) ; overload;
Set transformation (position and rotation)
public procedure SetTransform ( const AMatrix : TQ3Mat3 ) ; overload;
Set transformation (rotation)
public procedure AddFlag ( const AValue : TQ3BodyStates ) ;
public procedure RemoveFlag ( const AValue : TQ3BodyStates ) ;
public function HasFlag ( const AValue : TQ3BodyState ) : Boolean ;
public procedure AddSleepTime ( const AValue : Single ) ;
public procedure SetLayers ( const ALayers : Integer ) ;
public function GetLayers ( ) : Integer ;
public function GetQuaternionRef ( ) : PQ3Quaternion ; inline;
public function CanCollide ( const AOther : TQ3Body ) : Boolean ;
public procedure Update ( ) ; virtual;
public function GetNextBody ( ) : TQ3Body ;
public procedure SetNextBody ( const AValue : TQ3Body ) ;
public function GetPrevBody ( ) : TQ3Body ;
public procedure SetPrevBody ( const AValue : TQ3Body ) ;
public procedure Render ( ARender : PQ3Render ) ;
Render box wireframes for debugging physics engine.

Properties

public GravityScale : Single
Gravity scale
read GetGravityScale
write SetGravityScale
public Force : TPoint3D
Force
read GetForce
write SetForce
public Torque : TPoint3D
Torque
read GetTorque
write SetTorque
public IslandIndex : Integer
IslandIndex
read GetIslandIndex
write SetIslandIndex
public InvInertiaModel : TQ3Mat3
Inverse Inertia Model Matrix
read GetInvInertiaModel
write SetInvInertiaModel
public InvInertiaWorld : TQ3Mat3
Inverse Intertia World Matrix
read GetInvInertiaWorld
write SetInvInertiaWorld
public WorldCenter : TPoint3D

read GetWorldCenter
write SetWorldCenter
public LinearVelocity : TPoint3D

read GetLinearVelocity
write SetLinearVelocity
public AngularVelocity : TPoint3D

read GetAngularVelocity
write SetAngularVelocity
public LinearDamping : Single

read GetLinearDamping
write SetLinearDamping
public AngularDamping : Single

read GetAngularDamping
write SetAngularDamping
public Slop : Single
Individual body slop which will be added to computed penetration depth.
read GetSlop
write SetSlop
public Flags : TQ3BodyStates

read GetFlags
write SetFlags
public SleepTime : Single

read GetSleepTime
write SetSleepTime
public Quaternion : TQ3Quaternion

read GetQuaternion
public UserDataType : PTypeInfo
Defines the type of data, which is linked with this body.
read GetUserDataType
public UserData : Pointer
Is a linked instance or structure represented by a pointer. Use UserDataType property to define which kind of data is linked.
read GetUserData
public Scene : TObject
Link to scene instance
read GetScene
public Mass : Single
Mass value
read GetMass
public InvMass : Single
Inverse Mass value
read GetInvMass