PhysicsRigidBody (jMonkeyEngine3)

java.lang.Object
- com.jme3.bullet.collision.PhysicsCollisionObject
- - com.jme3.bullet.objects.PhysicsRigidBody

All Implemented Interfaces:

Savable

Direct Known Subclasses:

PhysicsVehicle, RigidBodyControl
```
public class PhysicsRigidBody
extends PhysicsCollisionObject
```
PhysicsRigidBody - Basic physics object

Field Summary

Fields
Modifier and Type	Field and Description
`protected com.bulletphysics.dynamics.RigidBodyConstructionInfo`	`constructionInfo`
`protected java.util.ArrayList<PhysicsJoint>`	`joints`
`protected boolean`	`kinematic`
`protected javax.vecmath.Vector3f`	`localInertia`
`protected float`	`mass`
`protected RigidBodyMotionState`	`motionState`
`protected com.bulletphysics.dynamics.RigidBody`	`rBody`
`protected javax.vecmath.Matrix3f`	`tempMatrix`
`protected com.bulletphysics.linearmath.Transform`	`tempTrans`
`protected javax.vecmath.Vector3f`	`tempVec`
`protected javax.vecmath.Vector3f`	`tempVec2`

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
COLLISION_GROUP_01, COLLISION_GROUP_02, COLLISION_GROUP_03, COLLISION_GROUP_04, COLLISION_GROUP_05, COLLISION_GROUP_06, COLLISION_GROUP_07, COLLISION_GROUP_08, COLLISION_GROUP_09, COLLISION_GROUP_10, COLLISION_GROUP_11, COLLISION_GROUP_12, COLLISION_GROUP_13, COLLISION_GROUP_14, COLLISION_GROUP_15, COLLISION_GROUP_16, COLLISION_GROUP_NONE, collisionGroup, collisionGroupsMask, collisionShape

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`PhysicsRigidBody()`
	`PhysicsRigidBody(CollisionShape shape)` Creates a new PhysicsRigidBody with the supplied collision shape
	`PhysicsRigidBody(CollisionShape shape, float mass)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`activate()` reactivates this PhysicsRigidBody when it has been deactivated because it was not moving
`void`	`addJoint(PhysicsJoint joint)` do not use manually, joints are added automatically
`void`	`applyCentralForce(Vector3f force)` Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space. To apply an impulse, use applyImpulse.
`void`	`applyForce(Vector3f force, Vector3f location)` Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space. To apply an impulse, use applyImpulse, use applyContinuousForce to apply continuous force.
`void`	`applyImpulse(Vector3f impulse, Vector3f rel_pos)` Apply an impulse to the PhysicsRigidBody in the next physics update.
`void`	`applyTorque(Vector3f torque)` Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space. To apply an impulse, use applyImpulse.
`void`	`applyTorqueImpulse(Vector3f vec)` Apply a torque impulse to the PhysicsRigidBody in the next physics update.
`void`	`clearForces()` Clear all forces from the PhysicsRigidBody
`void`	`destroy()` destroys this PhysicsRigidBody and removes it from memory
`float`	`getAngularDamping()`
`float`	`getAngularFactor()`
`float`	`getAngularSleepingThreshold()`
`Vector3f`	`getAngularVelocity()` Get the current angular velocity of this PhysicsRigidBody
`void`	`getAngularVelocity(Vector3f vec)` Get the current angular velocity of this PhysicsRigidBody
`float`	`getCcdMotionThreshold()`
`float`	`getCcdSquareMotionThreshold()`
`float`	`getCcdSweptSphereRadius()`
`float`	`getFriction()`
`Vector3f`	`getGravity()`
`Vector3f`	`getGravity(Vector3f gravity)`
`Vector3f`	`getInterpolatedPhysicsLocation(Vector3f location)` Gets the physics object location
`Matrix3f`	`getInterpolatedPhysicsRotation(Matrix3f rotation)` Gets the physics object rotation
`java.util.List<PhysicsJoint>`	`getJoints()` Returns a list of connected joints.
`float`	`getLinearDamping()`
`float`	`getLinearSleepingThreshold()`
`Vector3f`	`getLinearVelocity()` Get the current linear velocity of this PhysicsRigidBody
`void`	`getLinearVelocity(Vector3f vec)` Get the current linear velocity of this PhysicsRigidBody
`float`	`getMass()`
`RigidBodyMotionState`	`getMotionState()`
`com.bulletphysics.dynamics.RigidBody`	`getObjectId()` used internally
`Vector3f`	`getPhysicsLocation()` Gets the physics object location, instantiates a new Vector3f object
`Vector3f`	`getPhysicsLocation(Vector3f location)` Gets the physics object location, no object instantiation
`Quaternion`	`getPhysicsRotation()` Gets the physics object rotation as a quaternion, converts the bullet Matrix3f value, instantiates new object
`Quaternion`	`getPhysicsRotation(Quaternion rotation)` Gets the physics object rotation as a quaternion, converts the bullet Matrix3f value
`Matrix3f`	`getPhysicsRotationMatrix()` Gets the physics object rotation
`Matrix3f`	`getPhysicsRotationMatrix(Matrix3f rotation)` Gets the physics object rotation as a matrix, no conversions and no object instantiation
`float`	`getRestitution()`
`boolean`	`isActive()`
`boolean`	`isContactResponse()` Test whether this body responds to contacts.
`boolean`	`isKinematic()`
`protected void`	`postRebuild()`
`protected void`	`preRebuild()`
`void`	`read(JmeImporter e)` De-serialize this body, for example when loading from a J3O file.
`protected void`	`rebuildRigidBody()` Builds/rebuilds the phyiscs body when parameters have changed
`void`	`removeJoint(PhysicsJoint joint)`
`void`	`setAngularDamping(float angularDamping)`
`void`	`setAngularFactor(float factor)`
`void`	`setAngularSleepingThreshold(float angularSleepingThreshold)`
`void`	`setAngularVelocity(Vector3f vec)` Sets the angular velocity of this PhysicsRigidBody
`void`	`setCcdMotionThreshold(float threshold)` Sets the amount of motion that has to happen in one physics tick to trigger the continuous motion detection This avoids the problem of fast objects moving through other objects, set to zero to disable (default)
`void`	`setCcdSweptSphereRadius(float radius)`
`void`	`setCollisionShape(CollisionShape collisionShape)` Sets a CollisionShape to this physics object, note that the object should not be in the physics space when adding a new collision shape as it is rebuilt on the physics side.
`void`	`setContactResponse(boolean responsive)` Enable/disable this body's contact response.
`void`	`setDamping(float linearDamping, float angularDamping)`
`void`	`setFriction(float friction)` Sets the friction of this physics object
`void`	`setGravity(Vector3f gravity)` Set the local gravity of this PhysicsRigidBody Set this after adding the node to the PhysicsSpace, the PhysicsSpace assigns its current gravity to the physics node when its added.
`void`	`setKinematic(boolean kinematic)` Sets the node to kinematic mode.
`void`	`setLinearDamping(float linearDamping)`
`void`	`setLinearSleepingThreshold(float linearSleepingThreshold)`
`void`	`setLinearVelocity(Vector3f vec)` Sets the linear velocity of this PhysicsRigidBody
`void`	`setMass(float mass)` Sets the mass of this PhysicsRigidBody, objects with mass=0 are static.
`void`	`setPhysicsLocation(Vector3f location)` Sets the physics object location
`void`	`setPhysicsRotation(Matrix3f rotation)` Sets the physics object rotation
`void`	`setPhysicsRotation(Quaternion rotation)` Sets the physics object rotation
`void`	`setRestitution(float restitution)` The "bouncyness" of the PhysicsRigidBody, best performance if restitution=0
`void`	`setSleepingThresholds(float linear, float angular)` sets the sleeping thresholds, these define when the object gets deactivated to save ressources.
`void`	`write(JmeExporter e)` Serialize this body, for example when saving to a J3O file.

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
addCollideWithGroup, getCollideWithGroups, getCollisionGroup, getCollisionShape, getUserObject, removeCollideWithGroup, setCollideWithGroups, setCollisionGroup, setUserObject

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - constructionInfo
```
protected com.bulletphysics.dynamics.RigidBodyConstructionInfo constructionInfo
```
  - rBody
```
protected com.bulletphysics.dynamics.RigidBody rBody
```
  - motionState
```
protected RigidBodyMotionState motionState
```
  - mass
```
protected float mass
```
  - kinematic
```
protected boolean kinematic
```
  - tempVec
```
protected javax.vecmath.Vector3f tempVec
```
  - tempVec2
```
protected javax.vecmath.Vector3f tempVec2
```
  - tempTrans
```
protected com.bulletphysics.linearmath.Transform tempTrans
```
  - tempMatrix
```
protected javax.vecmath.Matrix3f tempMatrix
```
  - localInertia
```
protected javax.vecmath.Vector3f localInertia
```
  - joints
```
protected java.util.ArrayList<PhysicsJoint> joints
```
- Constructor Detail
  - PhysicsRigidBody
```
protected PhysicsRigidBody()
```
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape)
```
    Creates a new PhysicsRigidBody with the supplied collision shape
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape,
                        float mass)
```
- Method Detail
  - rebuildRigidBody
```
protected void rebuildRigidBody()
```
    Builds/rebuilds the phyiscs body when parameters have changed
  - preRebuild
```
protected void preRebuild()
```
  - postRebuild
```
protected void postRebuild()
```
  - getMotionState
```
public RigidBodyMotionState getMotionState()
```
    Returns:
    
    the motionState
  - setPhysicsLocation
```
public void setPhysicsLocation(Vector3f location)
```
    Sets the physics object location
    
    Parameters:
    
    location - the location of the actual physics object
  - setPhysicsRotation
```
public void setPhysicsRotation(Matrix3f rotation)
```
    Sets the physics object rotation
    
    Parameters:
    
    rotation - the rotation of the actual physics object
  - setPhysicsRotation
```
public void setPhysicsRotation(Quaternion rotation)
```
    Sets the physics object rotation
    
    Parameters:
    
    rotation - the rotation of the actual physics object
  - getPhysicsLocation
```
public Vector3f getPhysicsLocation()
```
    Gets the physics object location, instantiates a new Vector3f object
    
    Returns:
    
    a new location vector (in physics-space coordinates, not null)
  - getPhysicsRotationMatrix
```
public Matrix3f getPhysicsRotationMatrix()
```
    Gets the physics object rotation
    
    Returns:
    
    a new rotation matrix (in physics-space coordinates, not null)
  - getPhysicsLocation
```
public Vector3f getPhysicsLocation(Vector3f location)
```
    Gets the physics object location, no object instantiation
    
    Parameters:
    
    location - the location of the actual physics object is stored in this Vector3f
    
    Returns:
    
    a location vector (in physics-space coordinates, either location or a new vector)
  - getPhysicsRotationMatrix
```
public Matrix3f getPhysicsRotationMatrix(Matrix3f rotation)
```
    Gets the physics object rotation as a matrix, no conversions and no object instantiation
    
    Parameters:
    
    rotation - the rotation of the actual physics object is stored in this Matrix3f
    
    Returns:
    
    a rotation matrix (in physics-space coordinates, either rotation or a new matrix)
  - getPhysicsRotation
```
public Quaternion getPhysicsRotation()
```
    Gets the physics object rotation as a quaternion, converts the bullet Matrix3f value, instantiates new object
    
    Returns:
    
    a new rotation Quaternion (in physics-space coordinates)
  - getPhysicsRotation
```
public Quaternion getPhysicsRotation(Quaternion rotation)
```
    Gets the physics object rotation as a quaternion, converts the bullet Matrix3f value
    
    Parameters:
    
    rotation - the rotation of the actual physics object is stored in this Quaternion
    
    Returns:
    
    a rotation Quaternion (in physics-space coordinates, either rotation or a new instance)
  - getInterpolatedPhysicsLocation
```
public Vector3f getInterpolatedPhysicsLocation(Vector3f location)
```
    Gets the physics object location
    
    Parameters:
    
    location - the location of the actual physics object is stored in this Vector3f
    
    Returns:
    
    a location vector (in physics-space coordinates, either location or a new vector)
  - getInterpolatedPhysicsRotation
```
public Matrix3f getInterpolatedPhysicsRotation(Matrix3f rotation)
```
    Gets the physics object rotation
    
    Parameters:
    
    rotation - the rotation of the actual physics object is stored in this Matrix3f
    
    Returns:
    
    a rotation matrix (in physics-space coordinates, either rotation or a new matrix)
  - setKinematic
```
public void setKinematic(boolean kinematic)
```
    Sets the node to kinematic mode. in this mode the node is not affected by physics but affects other physics objects. Its kinetic force is calculated by the amount of movement it is exposed to and its weight.
    
    Parameters:
    
    kinematic - true→set kinematic mode, false→set dynamic (default=false)
  - isKinematic
```
public boolean isKinematic()
```
  - setContactResponse
```
public void setContactResponse(boolean responsive)
```
    Enable/disable this body's contact response.
    
    Parameters:
    
    responsive - true to respond to contacts, false to ignore them (default=true)
  - isContactResponse
```
public boolean isContactResponse()
```
    Test whether this body responds to contacts.
    
    Returns:
    
    true if responsive, otherwise false
  - setCcdSweptSphereRadius
```
public void setCcdSweptSphereRadius(float radius)
```
  - setCcdMotionThreshold
```
public void setCcdMotionThreshold(float threshold)
```
    Sets the amount of motion that has to happen in one physics tick to trigger the continuous motion detection
    This avoids the problem of fast objects moving through other objects, set to zero to disable (default)
    
    Parameters:
    
    threshold - the desired minimum distance per timestep to trigger CCD (in physics-space units, >0) or zero to disable CCD (default=0)
  - getCcdSweptSphereRadius
```
public float getCcdSweptSphereRadius()
```
  - getCcdMotionThreshold
```
public float getCcdMotionThreshold()
```
  - getCcdSquareMotionThreshold
```
public float getCcdSquareMotionThreshold()
```
  - getMass
```
public float getMass()
```
  - setMass
```
public void setMass(float mass)
```
    Sets the mass of this PhysicsRigidBody, objects with mass=0 are static.
    
    Parameters:
    
    mass - the desired mass (>0) or 0 for a static body (default=1)
  - getGravity
```
public Vector3f getGravity()
```
  - getGravity
```
public Vector3f getGravity(Vector3f gravity)
```
  - setGravity
```
public void setGravity(Vector3f gravity)
```
    Set the local gravity of this PhysicsRigidBody
    Set this after adding the node to the PhysicsSpace, the PhysicsSpace assigns its current gravity to the physics node when its added.
    
    Parameters:
    
    gravity - the gravity vector to set
  - getFriction
```
public float getFriction()
```
  - setFriction
```
public void setFriction(float friction)
```
    Sets the friction of this physics object
    
    Parameters:
    
    friction - the friction of this physics object
  - setDamping
```
public void setDamping(float linearDamping,
                       float angularDamping)
```
  - setLinearDamping
```
public void setLinearDamping(float linearDamping)
```
  - setAngularDamping
```
public void setAngularDamping(float angularDamping)
```
  - getLinearDamping
```
public float getLinearDamping()
```
  - getAngularDamping
```
public float getAngularDamping()
```
  - getRestitution
```
public float getRestitution()
```
  - setRestitution
```
public void setRestitution(float restitution)
```
    The "bouncyness" of the PhysicsRigidBody, best performance if restitution=0
    
    Parameters:
    
    restitution - the desired value (default=0)
  - getAngularVelocity
```
public Vector3f getAngularVelocity()
```
    Get the current angular velocity of this PhysicsRigidBody
    
    Returns:
    
    the current linear velocity
  - getAngularVelocity
```
public void getAngularVelocity(Vector3f vec)
```
    Get the current angular velocity of this PhysicsRigidBody
    
    Parameters:
    
    vec - the vector to store the velocity in
  - setAngularVelocity
```
public void setAngularVelocity(Vector3f vec)
```
    Sets the angular velocity of this PhysicsRigidBody
    
    Parameters:
    
    vec - the angular velocity of this PhysicsRigidBody
  - getLinearVelocity
```
public Vector3f getLinearVelocity()
```
    Get the current linear velocity of this PhysicsRigidBody
    
    Returns:
    
    the current linear velocity
  - getLinearVelocity
```
public void getLinearVelocity(Vector3f vec)
```
    Get the current linear velocity of this PhysicsRigidBody
    
    Parameters:
    
    vec - the vector to store the velocity in
  - setLinearVelocity
```
public void setLinearVelocity(Vector3f vec)
```
    Sets the linear velocity of this PhysicsRigidBody
    
    Parameters:
    
    vec - the linear velocity of this PhysicsRigidBody
  - applyForce
```
public void applyForce(Vector3f force,
                       Vector3f location)
```
    Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space.
    To apply an impulse, use applyImpulse, use applyContinuousForce to apply continuous force.
    
    Parameters:
    
    force - the force
    
    location - the location of the force
  - applyCentralForce
```
public void applyCentralForce(Vector3f force)
```
    Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space.
    To apply an impulse, use applyImpulse.
    
    Parameters:
    
    force - the force
  - applyTorque
```
public void applyTorque(Vector3f torque)
```
    Apply a force to the PhysicsRigidBody, only applies force if the next physics update call updates the physics space.
    To apply an impulse, use applyImpulse.
    
    Parameters:
    
    torque - the torque
  - applyImpulse
```
public void applyImpulse(Vector3f impulse,
                         Vector3f rel_pos)
```
    Apply an impulse to the PhysicsRigidBody in the next physics update.
    
    Parameters:
    
    impulse - applied impulse
    
    rel_pos - location relative to object
  - applyTorqueImpulse
```
public void applyTorqueImpulse(Vector3f vec)
```
    Apply a torque impulse to the PhysicsRigidBody in the next physics update.
    
    Parameters:
    
    vec - the torque impulse vector (in physics-space coordinates, not null, unaffected)
  - clearForces
```
public void clearForces()
```
    Clear all forces from the PhysicsRigidBody
  - setCollisionShape
```
public void setCollisionShape(CollisionShape collisionShape)
```
    Description copied from class: PhysicsCollisionObject
    
    Sets a CollisionShape to this physics object, note that the object should not be in the physics space when adding a new collision shape as it is rebuilt on the physics side.
    
    Overrides:
    
    setCollisionShape in class PhysicsCollisionObject
    
    Parameters:
    
    collisionShape - the CollisionShape to set
  - activate
```
public void activate()
```
    reactivates this PhysicsRigidBody when it has been deactivated because it was not moving
  - isActive
```
public boolean isActive()
```
  - setSleepingThresholds
```
public void setSleepingThresholds(float linear,
                                  float angular)
```
    sets the sleeping thresholds, these define when the object gets deactivated to save ressources. Low values keep the object active when it barely moves
    
    Parameters:
    
    linear - the linear sleeping threshold
    
    angular - the angular sleeping threshold
  - setLinearSleepingThreshold
```
public void setLinearSleepingThreshold(float linearSleepingThreshold)
```
  - setAngularSleepingThreshold
```
public void setAngularSleepingThreshold(float angularSleepingThreshold)
```
  - getLinearSleepingThreshold
```
public float getLinearSleepingThreshold()
```
  - getAngularSleepingThreshold
```
public float getAngularSleepingThreshold()
```
  - getAngularFactor
```
public float getAngularFactor()
```
  - setAngularFactor
```
public void setAngularFactor(float factor)
```
  - addJoint
```
public void addJoint(PhysicsJoint joint)
```
    do not use manually, joints are added automatically
    
    Parameters:
    
    joint - the joint to add (not null, alias created)
  - removeJoint
```
public void removeJoint(PhysicsJoint joint)
```
    Parameters:
    
    joint - the joint to remove (not null, unaffected)
  - getJoints
```
public java.util.List<PhysicsJoint> getJoints()
```
    Returns a list of connected joints. This list is only filled when the PhysicsRigidBody is actually added to the physics space or loaded from disk.
    
    Returns:
    
    list of active joints connected to this PhysicsRigidBody
  - getObjectId
```
public com.bulletphysics.dynamics.RigidBody getObjectId()
```
    used internally
    
    Returns:
    
    the pre-existing object
  - destroy
```
public void destroy()
```
    destroys this PhysicsRigidBody and removes it from memory
  - write
```
public void write(JmeExporter e)
           throws java.io.IOException
```
    Serialize this body, for example when saving to a J3O file.
    
    Specified by:
    
    write in interface Savable
    
    Overrides:
    
    write in class PhysicsCollisionObject
    
    Parameters:
    
    e - exporter (not null)
    
    Throws:
    
    java.io.IOException - from exporter
  - read
```
public void read(JmeImporter e)
          throws java.io.IOException
```
    De-serialize this body, for example when loading from a J3O file.
    
    Specified by:
    
    read in interface Savable
    
    Overrides:
    
    read in class PhysicsCollisionObject
    
    Parameters:
    
    e - importer (not null)
    
    Throws:
    
    java.io.IOException - from importer

Class PhysicsRigidBody

Field Summary

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Constructor Summary

Method Summary

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Methods inherited from class java.lang.Object

Field Detail

constructionInfo

rBody

motionState

mass

kinematic

tempVec

tempVec2

tempTrans

tempMatrix

localInertia

joints

Constructor Detail

PhysicsRigidBody

PhysicsRigidBody

PhysicsRigidBody

Method Detail

rebuildRigidBody

preRebuild

postRebuild

getMotionState

setPhysicsLocation

setPhysicsRotation

setPhysicsRotation

getPhysicsLocation

getPhysicsRotationMatrix

getPhysicsLocation

getPhysicsRotationMatrix

getPhysicsRotation

getPhysicsRotation

getInterpolatedPhysicsLocation

getInterpolatedPhysicsRotation

setKinematic

isKinematic

setContactResponse

isContactResponse

setCcdSweptSphereRadius

setCcdMotionThreshold

getCcdSweptSphereRadius

getCcdMotionThreshold

getCcdSquareMotionThreshold

getMass

setMass

getGravity

getGravity

setGravity

getFriction

setFriction

setDamping

setLinearDamping

setAngularDamping

getLinearDamping

getAngularDamping

getRestitution

setRestitution

getAngularVelocity

getAngularVelocity

setAngularVelocity

getLinearVelocity

getLinearVelocity

setLinearVelocity

applyForce

applyCentralForce

applyTorque

applyImpulse

applyTorqueImpulse

clearForces

setCollisionShape

activate

isActive

setSleepingThresholds

setLinearSleepingThreshold

setAngularSleepingThreshold