API Docs for: GoblinPhysics
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RigidBody Class

Defined in: src\classes\RigidBody.js:1
Module: Goblin

Represents a rigid body

Constructor

RigidBody

(
  • shape
  • mass
)

Defined in src\classes\RigidBody.js:1

Parameters:

  • shape Object
  • mass Number

Methods

applyForce

(
  • force
)

Defined in src\classes\RigidBody.js:338

Adds a force to the rigid_body which will be used only for the next integration

Parameters:

  • force Vec3

    force to apply to the rigid_body

applyForceAtLocalPoint

(
  • force
  • point
)

Defined in src\classes\RigidBody.js:364

Applies vector force to body at position point in body's frame

Parameters:

  • force Vec3

    Force to apply

  • point Vec3

    local frame coordinates where force originates

applyForceAtWorldPoint

(
  • force
  • point
)

Defined in src\classes\RigidBody.js:348

Applies the vector force at world coordinate point

Parameters:

  • force Vec3

    Force to apply

  • point Vec3

    world coordinates where force originates

applyImpulse

(
  • impulse
)

Defined in src\classes\RigidBody.js:328

Directly adds linear velocity to the body

Parameters:

  • impulse Vec3

    linear velocity to add to the body

findSupportPoint

(
  • direction
  • support_point
)

Defined in src\classes\RigidBody.js:204

Given direction, find the point in this body which is the most extreme in that direction. This support point is calculated in world coordinates and stored in the second parameter support_point

Parameters:

  • direction Vec3

    direction to use in finding the support point

  • support_point Vec3

    vec3 variable which will contain the supporting point after calling this method

integrate

(
  • timestep
)

Defined in src\classes\RigidBody.js:258

Updates the rigid body's position, velocity, and acceleration

Parameters:

  • timestep Number

    time, in seconds, to use in integration

setGravity

(
  • x
  • y
  • z
)

Defined in src\classes\RigidBody.js:310

Sets a custom gravity value for this rigid_body

Parameters:

  • x Number

    gravity to apply on x axis

  • y Number

    gravity to apply on y axis

  • z Number

    gravity to apply on z axis

updateDerived

()

Defined in src\classes\RigidBody.js:386

Sets the rigid body's transformation matrix to the current position and rotation

Properties

aabb

AABB

Defined in src\classes\RigidBody.js:28

axis-aligned bounding box enclosing this body

acceleration

Vec3

Defined in src\classes\RigidBody.js:106

the rigid body's current acceleration

Default: [ 0, 0, 0 ]

accumulated_force

Vec3 private

Defined in src\classes\RigidBody.js:180

All resultant torque accumulated by the rigid body this torque is applied in the next occurring integration

Default: [ 0, 0, 0 ]

accumulated_force

Vec3 private

Defined in src\classes\RigidBody.js:169

all resultant force accumulated by the rigid body this force is applied in the next occurring integration

Default: [ 0, 0, 0 ]

angular_damping

Number

Defined in src\classes\RigidBody.js:151

proportion of angular velocity lost per second ( 0.0 - 1.0 )

angular_velocity

Vec3

Defined in src\classes\RigidBody.js:70

the rigid body's current angular velocity

Default: [ 0, 0, 0 ]

friction

Number

Defined in src\classes\RigidBody.js:124

amount of friction this object has

Default: 0.5

gravity

Vec3 private

Defined in src\classes\RigidBody.js:133

the rigid body's custom gravity

Default: null

id

Number

Defined in src\classes\RigidBody.js:13

goblin ID of the body

intersection_list {Array} array to append intersection to

Vec3

Defined in src\classes\RigidBody.js:226

Checks if a ray segment intersects with the object

linear_damping

Number

Defined in src\classes\RigidBody.js:143

proportion of linear velocity lost per second ( 0.0 - 1.0 )

linear_velocity

Vec3

Defined in src\classes\RigidBody.js:61

the rigid body's current linear velocity

Default: [ 0, 0, 0 ]

mass

Number

Defined in src\classes\RigidBody.js:36

the rigid body's mass

Default: Infinity

position

Vec3

Defined in src\classes\RigidBody.js:45

the rigid body's current position

Default: [ 0, 0, 0 ]

restitution

Number

Defined in src\classes\RigidBody.js:115

amount of restitution this object has

Default: 0.1

shape

Unknown

Defined in src\classes\RigidBody.js:21

shape definition for this rigid body

transform

Mat4

Defined in src\classes\RigidBody.js:79

transformation matrix transforming points from object space to world space

transform_inverse

Mat4

Defined in src\classes\RigidBody.js:88

transformation matrix transforming points from world space to object space

world

Goblin.World

Defined in src\classes\RigidBody.js:159

the world to which the rigid body has been added, this is set when the rigid body is added to a world

Default: null