bt.RigidBody¶

class bt.RigidBody¶

Represents:

c++ class

Wraps:

btRigidBody

Bases:

bt.CollisionObject

Constructors:

bt.RigidBody(bt.Scalar mass, bt.MotionState motionState, bt.CollisionShape collisionShape, bt.Vector3 localInteria)¶

Parameters:

• mass (bt.Scalar) –

• motionState (bt.MotionState) –

• collisionShape (bt.CollisionShape) –

• localInteria (bt.Vector3) –

bt.RigidBody(bt.Scalar mass, bt.MotionState motionState, bt.CollisionShape collisionShape)

Parameters:

• mass (bt.Scalar) –

• motionState (bt.MotionState) –

• collisionShape (bt.CollisionShape) –

Methods:

:proceedToTransform(bt.Transform newTrans)¶

Parameters:

newTrans (bt.Transform) –

:predictIntegratedTransform(bt.Scalar step, bt.Transform predictedTransform)¶

Parameters:

• step (bt.Scalar) –

• predictedTransform (bt.Transform) –

:saveKinematicState(bt.Scalar step)¶

Parameters:

step (bt.Scalar) –

:applyGravity()¶

:clearGravity()¶

:setGravity(bt.Vector3 acceleration)¶

Parameters:

acceleration (bt.Vector3) –

:getGravity()¶

Return type:

bt.Vector3

:setDamping(bt.Scalar lin_damping, bt.Scalar ang_damping)¶

Parameters:

• lin_damping (bt.Scalar) –

• ang_damping (bt.Scalar) –

:getLinearDamping()¶

Return type:

bt.Scalar

:getAngularDamping()¶

Return type:

bt.Scalar

:getLinearSleepingThreshold()¶

Return type:

bt.Scalar

:getAngularSleepingThreshold()¶

Return type:

bt.Scalar

:applyDamping(bt.Scalar timeStep)¶

Parameters:

timeStep (bt.Scalar) –

:setMassProps(bt.Scalar mass, bt.Vector3 inertia)¶

Parameters:

• mass (bt.Scalar) –

• inertia (bt.Vector3) –

:getLinearFactor()¶

Return type:

bt.Vector3

:setLinearFactor(bt.Vector3 linearFactor)¶

Parameters:

linearFactor (bt.Vector3) –

:getInvMass()¶

Return type:

bt.Scalar

:getMass()¶

Return type:

bt.Scalar

:getInvInertiaTensorWorld()¶

Return type:

bt.Matrix3x3

:integrateVelocities(bt.Scalar step)¶

Parameters:

step (bt.Scalar) –

:setCenterOfMassTransform(bt.Transform xform)¶

Parameters:

xform (bt.Transform) –

:applyCentralForce(bt.Vector3 force)¶

Parameters:

force (bt.Vector3) –

:getTotalForce()¶

Return type:

bt.Vector3

:getTotalTorque()¶

Return type:

bt.Vector3

:getInvInertiaDiagLocal()¶

Return type:

bt.Vector3

:setInvInertiaDiagLocal(bt.Vector3 diagInvInertia)¶

Parameters:

diagInvInertia (bt.Vector3) –

:setSleepingThresholds(bt.Scalar linear, bt.Scalar angular)¶

Parameters:

• linear (bt.Scalar) –

• angular (bt.Scalar) –

:applyTorque(bt.Vector3 torque)¶

Parameters:

torque (bt.Vector3) –

:applyForce(bt.Vector3 force, bt.Vector3 rel_pos)¶

Parameters:

• force (bt.Vector3) –

• rel_pos (bt.Vector3) –

:applyCentralImpulse(bt.Vector3 impulse)¶

Parameters:

impulse (bt.Vector3) –

:applyTorqueImpulse(bt.Vector3 torque)¶

Parameters:

torque (bt.Vector3) –

:applyImpulse(bt.Vector3 impulse, bt.Vector3 rel_pos)¶

Parameters:

• impulse (bt.Vector3) –

• rel_pos (bt.Vector3) –

:applyPushImpulse(bt.Vector3 impulse, bt.Vector3 rel_pos)¶

Parameters:

• impulse (bt.Vector3) –

• rel_pos (bt.Vector3) –

:getPushVelocity()¶

Return type:

bt.Vector3

:getTurnVelocity()¶

Return type:

bt.Vector3

:setPushVelocity(bt.Vector3 v)¶

Parameters:

v (bt.Vector3) –

:setTurnVelocity(bt.Vector3 v)¶

Parameters:

v (bt.Vector3) –

:applyCentralPushImpulse(bt.Vector3 impulse)¶

Parameters:

impulse (bt.Vector3) –

:applyTorqueTurnImpulse(bt.Vector3 torque)¶

Parameters:

torque (bt.Vector3) –

:clearForces()¶

:updateInertiaTensor()¶

:getCenterOfMassPosition()¶

Return type:

bt.Vector3

:getOrientation()¶

Return type:

bt.Quaternion

:getCenterOfMassTransform()¶

Return type:

bt.Transform

:getLinearVelocity()¶

Return type:

bt.Vector3

:getAngularVelocity()¶

Return type:

bt.Vector3

:setLinearVelocity(bt.Vector3 lin_vel)¶

Parameters:

lin_vel (bt.Vector3) –

:setAngularVelocity(bt.Vector3 ang_vel)¶

Parameters:

ang_vel (bt.Vector3) –

:getVelocityInLocalPoint(bt.Vector3 rel_pos)¶

Parameters:

rel_pos (bt.Vector3) –

Return type:

bt.Vector3

:getPushVelocityInLocalPoint(bt.Vector3 rel_pos)¶

Parameters:

rel_pos (bt.Vector3) –

Return type:

bt.Vector3

:translate(bt.Vector3 v)¶

Parameters:

v (bt.Vector3) –

:getAabb(bt.Vector3 aabbMin, bt.Vector3 aabbMax)¶

Parameters:

• aabbMin (bt.Vector3) –

• aabbMax (bt.Vector3) –

:computeImpulseDenominator(bt.Vector3 pos, bt.Vector3 normal)¶

Parameters:

• pos (bt.Vector3) –

• normal (bt.Vector3) –

Return type:

bt.Scalar

:updateDeactivation(bt.Scalar timeStep)¶

Parameters:

timeStep (bt.Scalar) –

:wantsSleeping()¶

Return type:

bool

:getBroadphaseProxy()¶

Return type:

bt.BroadphaseProxy

:setNewBroadphaseProxy(bt.BroadphaseProxy broadphaseProxy)¶

Parameters:

broadphaseProxy (bt.BroadphaseProxy) –

:getMotionState()¶

Return type:

bt.MotionState

:setMotionState(bt.MotionState motionState)¶

Parameters:

motionState (bt.MotionState) –

:setAngularFactor(bt.Vector3 angFac)¶

Parameters:

angFac (bt.Vector3) –

:setAngularFactor(bt.Scalar angFac)

Parameters:

angFac (bt.Scalar) –

:getAngularFactor()¶

Return type:

bt.Vector3

:isInWorld()¶

Return type:

bool

:addConstraintRef(bt.TypedConstraint c)¶

Parameters:

c (bt.TypedConstraint) –

:removeConstraintRef(bt.TypedConstraint c)¶

Parameters:

c (bt.TypedConstraint) –

:getConstraintRef(int index)¶

Parameters:

index (int) –

Return type:

bt.TypedConstraint

:getNumConstraintRefs()¶

Return type:

int

:setFlags(int flags)¶

Parameters:

flags (int) –

:getFlags()¶

Return type:

int

:computeGyroscopicImpulseImplicit_World(bt.Scalar dt)¶

Parameters:

dt (bt.Scalar) –

Return type:

bt.Vector3

:computeGyroscopicImpulseImplicit_Body(bt.Scalar step)¶

Parameters:

step (bt.Scalar) –

Return type:

bt.Vector3

:computeGyroscopicForceExplicit(bt.Scalar maxGyroscopicForce)¶

Parameters:

maxGyroscopicForce (bt.Scalar) –

Return type:

bt.Vector3

:getLocalInertia()¶

Return type:

bt.Vector3

Static Methods:

.upcast(bt.CollisionObject colObj)¶

Parameters:

colObj (bt.CollisionObject) –

Return type:

bt.RigidBody