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Structures related to dynamics: bodies, impulse_joints, etc.
Structs§
- Axes
Mask - Flags affecting the behavior of the constraints solver for a given contact manifold.
- Body
Pair - A pair of rigid body handles.
- CCDSolver
- Solver responsible for performing motion-clamping on fast-moving bodies.
- Fixed
Joint - A fixed joint, locks all relative motion between two bodies.
- Fixed
Joint Builder - Create fixed joints using the builder pattern.
- Generic
Joint - A generic joint.
- Generic
Joint Builder - Create generic joints using the builder pattern.
- Impulse
Joint - An impulse-based joint attached to two bodies.
- Impulse
Joint Handle - The unique identifier of a joint added to the joint set. The unique identifier of a collider added to a collider set.
- Impulse
Joint Set - A set of impulse_joints that can be handled by a physics
World. - Integration
Parameters - Parameters for a time-step of the physics engine.
- Inverse
Kinematics Option - Options for the jacobian-based Inverse Kinematics solver for multibodies.
- Island
Manager - Structure responsible for maintaining the set of active rigid-bodies, and putting non-moving rigid-bodies to sleep to save computation times.
- Joint
Axes Mask - A bit mask identifying multiple degrees of freedom of a joint.
- Joint
Limits - The limits of a joint along one of its degrees of freedom.
- Joint
Motor - A joint’s motor along one of its degrees of freedom.
- Locked
Axes - Flags affecting the behavior of the constraints solver for a given contact manifold.
- Mass
Properties - The local mass properties of a rigid-body.
- Multibody
- An articulated body simulated using the reduced-coordinates approach.
- Multibody
Index - The temporary index of a multibody added to a
MultibodyJointSet. - Multibody
Joint - An joint attached to two bodies based on the reduced coordinates formalism.
- Multibody
Joint Handle - The unique handle of an multibody_joint added to a
MultibodyJointSet. - Multibody
Joint Set - A set of rigid bodies that can be handled by a physics pipeline.
- Multibody
Link - One link of a multibody.
- Multibody
Link Id - Indexes usable to get a multibody link from a
MultibodyJointSet. - Prismatic
Joint - A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
- Prismatic
Joint Builder - Create prismatic joints using the builder pattern.
- Revolute
Joint - A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
- Revolute
Joint Builder - Create revolute joints using the builder pattern.
- Rigid
Body - A rigid body.
- Rigid
Body Activation - The rb_activation status of a body.
- Rigid
Body Builder - A builder for rigid-bodies.
- Rigid
Body Ccd - Information used for Continuous-Collision-Detection.
- Rigid
Body Changes - Flags describing how the rigid-body has been modified by the user.
- Rigid
Body Colliders - The set of colliders attached to this rigid-bodies.
- Rigid
Body Damping - Damping factors to progressively slow down a rigid-body.
- Rigid
Body Dominance - The dominance groups of a rigid-body.
- Rigid
Body Forces - The user-defined external forces applied to this rigid-body.
- Rigid
Body Handle - The unique handle of a rigid body added to a
RigidBodySet. - Rigid
Body Ids - Internal identifiers used by the physics engine.
- Rigid
Body Mass Props - The mass properties of a rigid-body.
- Rigid
Body Position - The position of this rigid-body.
- Rigid
Body Set - A set of rigid bodies that can be handled by a physics pipeline.
- Rigid
Body Velocity - The velocities of this rigid-body.
- Rope
Joint - A rope joint, limits the maximum distance between two bodies
- Rope
Joint Builder - Create rope joints using the builder pattern.
- Spherical
Joint - A spherical joint, locks all relative translations between two bodies.
- Spherical
Joint Builder - Create spherical joints using the builder pattern.
- Spring
Joint - A spring-damper joint, applies a force proportional to the distance between two objects.
- Spring
Joint Builder - A SpringJoint joint using the builder pattern.
Enums§
- Coefficient
Combine Rule - Rules used to combine two coefficients.
- Joint
Axis - Identifiers of degrees of freedoms of a joint.
- Joint
Enabled - Enum indicating whether or not a joint is enabled.
- Motor
Model - The spring-like model used for constraints resolution.
- Rigid
Body Additional Mass Props - Mass and angular inertia added to a rigid-body on top of its attached colliders’ contributions.
- Rigid
Body Type - The status of a body, governing the way it is affected by external forces.
Functions§
- unit_
joint_ limit_ constraint - Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
- unit_
joint_ motor_ constraint - Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
Type Aliases§
- Body
Status Deprecated - The type of a body, governing the way it is affected by external forces.