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Structures related to dynamics: bodies, impulse_joints, etc.
Structs
A pair of rigid body handles.
Solver responsible for performing motion-clamping on fast-moving bodies.
A fixed joint, locks all relative motion between two bodies.
Create fixed joints using the builder pattern.
A generic joint.
Create generic joints using the builder pattern.
An impulse-based joint attached to two bodies.
The unique identifier of a joint added to the joint set. The unique identifier of a collider added to a collider set.
A set of impulse_joints that can be handled by a physics World.
Parameters for a time-step of the physics engine.
Structure responsible for maintaining the set of active rigid-bodies, and putting non-moving rigid-bodies to sleep to save computation times.
A bit mask identifying multiple degrees of freedom of a joint.
The limits of a joint along one of its degrees of freedom.
A joint’s motor along one of its degrees of freedom.
Flags affecting the behavior of the constraints solver for a given contact manifold.
The local mass properties of a rigid-body.
An articulated body simulated using the reduced-coordinates approach.
The temporary index of a multibody added to a MultibodyJointSet.
An joint attached to two bodies based on the reduced coordinates formalism.
The unique handle of an multibody_joint added to a MultibodyJointSet.
A set of rigid bodies that can be handled by a physics pipeline.
One link of a multibody.
A prismatic joint, locks all relative motion between two bodies except for translation along the joint’s principal axis.
Create prismatic joints using the builder pattern.
A revolute joint, locks all relative motion except for rotation along the joint’s principal axis.
Create revolute joints using the builder pattern.
A rigid body.
The rb_activation status of a body.
A builder for rigid-bodies.
Information used for Continuous-Collision-Detection.
Flags describing how the rigid-body has been modified by the user.
The set of colliders attached to this rigid-bodies.
Damping factors to progressively slow down a rigid-body.
The dominance groups of a rigid-body.
The user-defined external forces applied to this rigid-body.
The unique handle of a rigid body added to a RigidBodySet.
Internal identifiers used by the physics engine.
The mass properties of this rigid-bodies.
The position of this rigid-body.
A set of rigid bodies that can be handled by a physics pipeline.
The velocities of this rigid-body.
A spherical joint, locks all relative translations between two bodies.
Create spherical joints using the builder pattern.
Enums
Rules used to combine two coefficients.
Identifiers of degrees of freedoms of a joint.
The spring-like model used for constraints resolution.
The status of a body, governing the way it is affected by external forces.
Functions
Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
Initializes and generate the velocity constraints applicable to the multibody links attached to this multibody_joint.
Type Definitions
The type of a body, governing the way it is affected by external forces.