Module com.github.stephengold.joltjni
Package com.github.stephengold.joltjni

Class Body

java.lang.Object
com.github.stephengold.joltjni.JoltPhysicsObject
com.github.stephengold.joltjni.NonCopyable
com.github.stephengold.joltjni.Body
All Implemented Interfaces:
ConstBody, ConstJoltPhysicsObject, AutoCloseable, Comparable<JoltPhysicsObject>
public class Body extends NonCopyable implements ConstBody
An object with mass, position, and shape that can be added to a PhysicsSystem. Bodies may be dynamic, kinematic, or static.

  • Constructor Details

    • Body

      public Body(JoltPhysicsObject container, long bodyVa)
      Instantiate with the specified container and native object.

      For use in custom contact listeners.

      Parameters:
      container - the containing PhysicsSystem or BodyManager
      bodyVa - the virtual address of the native object to assign (not zero)

    • Body

      public Body(long bodyVa)
      Instantiate a body with the specified native object assigned but not owned.

      For use in custom contact listeners.

      Parameters:
      bodyVa - the virtual address of the native object to assign (not zero)

  • Method Details

    • addAngularImpulse

      public void addAngularImpulse(Vec3Arg impulse)
      Apply the specified angular impulse to the body.
      Parameters:
      impulse - the impulse vector (Newton meter seconds in system coordinates, not null, unaffected)

    • addForce

      public void addForce(Vec3Arg force)
      Apply the specified force to the body's center of mass.
      Parameters:
      force - the force vector (Newtons in system coordinates, not null, unaffected)

    • addForce

      public void addForce(Vec3Arg force, RVec3Arg location)
      Apply the specified force at the specified location.
      Parameters:
      force - the force vector (not null, unaffected)
      location - where to apply the force (Newtons in system coordinates not null, unaffected)

    • addImpulse

      public void addImpulse(float jx, float jy, float jz)
      Apply the specified impulse to the body's center of mass.
      Parameters:
      jx - the X component of the impulse (kilogram.meters per second in system coordinates)
      jy - the Y component of the impulse (kilogram.meters per second in system coordinates)
      jz - the Z component of the impulse (kilogram.meters per second in system coordinates)

    • addImpulse

      public void addImpulse(Vec3Arg impulse)
      Apply the specified impulse to the body's center of mass.
      Parameters:
      impulse - the impulse vector (kilogram.meters per second in system coordinates, not null, unaffected)

    • addImpulse

      public void addImpulse(Vec3Arg impulse, RVec3Arg location)
      Apply the specified impulse at the specified location.
      Parameters:
      impulse - the impulse vector (kilogram.meters per second in system coordinates, not null, unaffected)
      location - where to apply the impulse (not null, unaffected)

    • addTorque

      public void addTorque(Vec3Arg torque)
      Apply the specified torque to the body.
      Parameters:
      torque - the torque vector (Newton meters in system coordinates, not null, unaffected)

    • applyBuoyancyImpulse

      public boolean applyBuoyancyImpulse(RVec3Arg surfacePosition, Vec3Arg surfaceNormal, float buoyancy, float linearDrag, float angularDrag, Vec3Arg fluidVelocity, Vec3Arg gravity, float deltaTime)
      Apply an impulse that simulates buoyancy and drag.
      Parameters:
      surfacePosition - the location of the fluid's surface (in system coordinates, not null, unaffected)
      surfaceNormal - the upward normal direction of the fluid's surface (in system coordinates, not null, unaffected)
      buoyancy - the mass of the displaced fluid divided by the body's mass (1→neutral buoyancy)
      linearDrag - the drag factor for linear motion
      angularDrag - the drag factor for angular motion
      fluidVelocity - the velocity of the fluid (meters per second in system coordinates, not null, unaffected)
      gravity - the gravity vector (in system coordinates, not null, unaffected)
      deltaTime - the duration of the simulation step (in seconds)
      Returns:
      true if an impulse was applied, false if not in the fluid

    • moveKinematic

      public void moveKinematic(RVec3Arg location, QuatArg orientation, float deltaTime)
      Reposition the body, assuming it's kinematic.
      Parameters:
      location - the desired location (in system coordinates, not null, unaffected)
      orientation - the desired orientation (relative to the system axes, not null, unaffected)
      deltaTime - time until the desired position is reached (in seconds, >0)

    • resetSleepTimer

      public void resetSleepTimer()
      Reset the body's sleep timer. This does not activate the body, but allows resetting the system that detects sleeping bodies.

    • setAllowSleeping

      public void setAllowSleeping(boolean allow)
      Alter whether the body is allowed to fall asleep.
      Parameters:
      allow - true to allow, false to inhibit

    • setAngularVelocity

      public void setAngularVelocity(float wx, float wy, float wz)
      Directly alter the body's angular velocity.
      Parameters:
      wx - the X component of the desired angular velocity (radians per second in system coordinates, default=0)
      wy - the Y component of the desired angular velocity (radians per second in system coordinates, default=0)
      wz - the Z component of the desired angular velocity (radians per second in system coordinates, default=0)

    • setAngularVelocity

      public void setAngularVelocity(Vec3Arg omega)
      Directly alter the body's angular velocity.
      Parameters:
      omega - the desired angular velocity (radians per second in system coordinates, not null, unaffected, default=(0,0,0))

    • setAngularVelocityClamped

      public void setAngularVelocityClamped(Vec3Arg omega)
      Alter the body's angular velocity within limits.
      Parameters:
      omega - the desired angular velocity (not null, unaffected, default=(0,0,0))

    • setCollisionGroup

      public void setCollisionGroup(ConstCollisionGroup group)
      Assign the body to the specified collision group.
      Parameters:
      group - the group to assign (not null, unaffected)

    • setEnhancedInternalEdgeRemoval

      public void setEnhancedInternalEdgeRemoval(boolean enhance)
      Alter whether extra effort should be made to remove ghost contacts.
      Parameters:
      enhance - true for extra effort, false for ordinary effort (default=false)

    • setFriction

      public void setFriction(float friction)
      Alter the body's friction ratio.
      Parameters:
      friction - the desired ratio (typically ≥0 and ≤1, default=0.2)

    • setIsSensor

      public void setIsSensor(boolean setting)
      Alter whether the body is a sensor.
      Parameters:
      setting - true to make it a sensor, false for a regular body (default=false)

    • setLinearVelocity

      public void setLinearVelocity(float vx, float vy, float vz)
      Directly alter the body's linear velocity.
      Parameters:
      vx - the X component of the desired velocity (meters per second in system coordinates, default=0)
      vy - the Y component of the desired velocity (meters per second in system coordinates, default=0)
      vz - the Z component of the desired velocity (meters per second in system coordinates, default=0)

    • setLinearVelocity

      public void setLinearVelocity(Vec3Arg velocity)
      Directly alter the body's linear velocity.
      Parameters:
      velocity - the desired velocity (meters per second in system coordinates, not null, unaffected, default=(0,0,0))

    • setLinearVelocityClamped

      public void setLinearVelocityClamped(Vec3Arg velocity)
      Alter the body's linear velocity within limits.
      Parameters:
      velocity - the desired linear velocity (in meters per second, not null, unaffected, default=(0,0,0))

    • setMotionType

      public void setMotionType(EMotionType motionType)
      Alter the body's motion type.

      Unless the body has motion properties, the new motion type must be Static. To create static bodies with motion properties, use BodyCreationSettings.setAllowDynamicOrKinematic(true).

      Parameters:
      motionType - the desired value (not null)

    • setPositionAndRotationInternal

      public void setPositionAndRotationInternal(RVec3Arg location, QuatArg orientation)
      Reposition the body and reset its sleep timer.
      Parameters:
      location - the desired location (in system coordinates, not null, unaffected)
      orientation - the desired orientation (relative to the system axes, not null, unaffected)

    • setPositionAndRotationInternal

      public void setPositionAndRotationInternal(RVec3Arg location, QuatArg orientation, boolean resetSleepTimer)
      Reposition the body.
      Parameters:
      location - the desired location (in system coordinates, not null, unaffected)
      orientation - the desired orientation (relative to the system axes, not null, unaffected)
      resetSleepTimer - true to reset the body's sleep timer, false to leave the timer unchanged

    • setRestitution

      public void setRestitution(float restitution)
      Alter the body's restitution ratio.
      Parameters:
      restitution - the desired ratio (typically ≥0 and ≤1, default=0)

    • setUserData

      public void setUserData(long value)
      Alter the body's user data.
      Parameters:
      value - the desired value (default=0)

    • sFixedToWorld

      public static Body sFixedToWorld()
      Create a dummy body that can be used to attach a constraint to the world.
      Returns:
      a new JVM object with the pre-existing native object assigned

    • canBeKinematicOrDynamic

      public boolean canBeKinematicOrDynamic()
      Test whether the body could be made kinematic or dynamic. The body is unaffected.
      Specified by:
      canBeKinematicOrDynamic in interface ConstBody
      Returns:
      true if possible, otherwise false

    • getAccumulatedForce

      public Vec3 getAccumulatedForce()
      Copy the net force acting on the body. The body is unaffected.
      Specified by:
      getAccumulatedForce in interface ConstBody
      Returns:
      a new force vector (Newtons in system coordinates)

    • getAccumulatedTorque

      public Vec3 getAccumulatedTorque()
      Copy the net torque acting on the body. The body is unaffected.
      Specified by:
      getAccumulatedTorque in interface ConstBody
      Returns:
      a new torque vector (Newton meters in system coordinates)

    • getAllowSleeping

      public boolean getAllowSleeping()
      Test whether the body is allowed to fall asleep. The body is unaffected.
      Specified by:
      getAllowSleeping in interface ConstBody
      Returns:
      true if allowed, otherwise false

    • getAngularVelocity

      public Vec3 getAngularVelocity()
      Copy the body's angular velocity. The body is unaffected.
      Specified by:
      getAngularVelocity in interface ConstBody
      Returns:
      a new velocity vector (radians per second in system coordinates)

    • getBodyCreationSettings

      public BodyCreationSettings getBodyCreationSettings()
      Generate settings to reconstruct the (rigid) body. The body is unaffected.
      Specified by:
      getBodyCreationSettings in interface ConstBody
      Returns:
      a new object

    • getBodyType

      public EBodyType getBodyType()
      Return the body type (rigid or soft). The body is unaffected.
      Specified by:
      getBodyType in interface ConstBody
      Returns:
      an enum value (not null)

    • getBroadPhaseLayer

      public int getBroadPhaseLayer()
      Return the broadphase layer. The body is unaffected.
      Specified by:
      getBroadPhaseLayer in interface ConstBody
      Returns:
      the layer ID

    • getCenterOfMassPosition

      public RVec3 getCenterOfMassPosition()
      Copy the location of the body's center of mass (which might not coincide with its origin). The body is unaffected.
      Specified by:
      getCenterOfMassPosition in interface ConstBody
      Returns:
      a new location vector (in system coordinates, all components finite)

    • getCenterOfMassPosition

      public void getCenterOfMassPosition(DoubleBuffer storeResult)
      Copy the location of the body's center of mass (which might not coincide with its origin). The body is unaffected.
      Specified by:
      getCenterOfMassPosition in interface ConstBody
      Parameters:
      storeResult - storage for the location in system coordinates (not null, modified)

    • getCenterOfMassPosition

      public void getCenterOfMassPosition(RVec3 storeLocation)
      Copy the location of the body's center of mass (which might not coincide with its origin). The body is unaffected.
      Specified by:
      getCenterOfMassPosition in interface ConstBody
      Parameters:
      storeLocation - storage for the location (in system coordinates, not null, modified)

    • getCenterOfMassTransform

      public RMat44 getCenterOfMassTransform()
      Copy the coordinate transform of the body's center of mass. The body is unaffected.
      Specified by:
      getCenterOfMassTransform in interface ConstBody
      Returns:
      a new transform matrix (relative to system coordinates)

    • getCollisionGroup

      public CollisionGroup getCollisionGroup()
      Access the body's collision group.
      Specified by:
      getCollisionGroup in interface ConstBody
      Returns:
      a new JVM object with the pre-existing native object assigned

    • getEnhancedInternalEdgeRemoval

      public boolean getEnhancedInternalEdgeRemoval()
      Test whether extra effort should be made to remove ghost contacts. The body is unaffected.
      Specified by:
      getEnhancedInternalEdgeRemoval in interface ConstBody
      Returns:
      true for extra effort, otherwise false

    • getFriction

      public float getFriction()
      Return the body's friction ratio. The body is unaffected.
      Specified by:
      getFriction in interface ConstBody
      Returns:
      the ratio

    • getId

      public int getId()
      Return the body's ID for use with BodyInterface. The body is unaffected. (native function: GetID)
      Specified by:
      getId in interface ConstBody
      Returns:
      the BodyID value

    • getInverseCenterOfMassTransform

      public RMat44 getInverseCenterOfMassTransform()
      Copy the inverse coordinate transform of the body's center of mass. The body is unaffected.
      Specified by:
      getInverseCenterOfMassTransform in interface ConstBody
      Returns:
      a new transform matrix (relative to local coordinates)

    • getLinearVelocity

      public Vec3 getLinearVelocity()
      Copy the body's linear velocity. The body is unaffected.
      Specified by:
      getLinearVelocity in interface ConstBody
      Returns:
      a new velocity vector (meters per second in system coordinates)

    • getMotionProperties

      public MotionProperties getMotionProperties()
      Access the body's motion properties if it is dynamic or kinematic.
      Specified by:
      getMotionProperties in interface ConstBody
      Returns:
      a new JVM object with the pre-existing native object assigned, or null if the body is static

    • getMotionPropertiesUnchecked

      public MotionProperties getMotionPropertiesUnchecked()
      Access the body's motion properties without checking whether the body is static. (native member: mMotionProperties)
      Specified by:
      getMotionPropertiesUnchecked in interface ConstBody
      Returns:
      a new JVM object with the pre-existing native object assigned, or null if none

    • getMotionType

      public EMotionType getMotionType()
      Return the body's motion type. The body is unaffected.
      Specified by:
      getMotionType in interface ConstBody
      Returns:
      an enum value (not null)

    • getObjectLayer

      public int getObjectLayer()
      Return the body's object layer. The body is unaffected.
      Specified by:
      getObjectLayer in interface ConstBody
      Returns:
      a layer index (≥0)

    • getPosition

      public RVec3 getPosition()
      Copy the location of the body's origin (which might not coincide with its center of mass). The body is unaffected.
      Specified by:
      getPosition in interface ConstBody
      Returns:
      a new location vector (in system coordinates, all components finite)

    • getPositionAndRotation

      public void getPositionAndRotation(RVec3 storeLocation, Quat storeOrientation)
      Copy the position of the body. The body is unaffected.
      Specified by:
      getPositionAndRotation in interface ConstBody
      Parameters:
      storeLocation - storage for the location (in system coordinates, not null, modified)
      storeOrientation - storage for the orientation (in system coordinates, not null, modified)

    • getRestitution

      public float getRestitution()
      Return the body's restitution ratio. The body is unaffected.
      Specified by:
      getRestitution in interface ConstBody
      Returns:
      the value (typically ≥0 and ≤1)

    • getRotation

      public Quat getRotation()
      Copy the body's orientation. The body is unaffected.
      Specified by:
      getRotation in interface ConstBody
      Returns:
      a new rotation quaternion (relative to the system axes)

    • getShape

      public ConstShape getShape()
      Access the body's shape. The body is unaffected.
      Specified by:
      getShape in interface ConstBody
      Returns:
      a new immutable JVM object with the pre-existing native object assigned, or null if none

    • getShape

      public void getShape(ShapeRefC storeRef)
      Update the specified counted reference to refer to the body's shape. The body is unaffected.
      Specified by:
      getShape in interface ConstBody
      Parameters:
      storeRef - storage for the reference (not null, modified)

    • getSoftBodyCreationSettings

      public SoftBodyCreationSettings getSoftBodyCreationSettings()
      Generate settings to reconstruct the (soft) body. The body is unaffected.
      Specified by:
      getSoftBodyCreationSettings in interface ConstBody
      Returns:
      a new object

    • getTransformedShape

      public TransformedShape getTransformedShape()
      Convert the body to a TransformedShape object. The body is unaffected.
      Specified by:
      getTransformedShape in interface ConstBody
      Returns:
      a new object

    • getUserData

      public long getUserData()
      Return the body's user data: can be used for anything. The body is unaffected.
      Specified by:
      getUserData in interface ConstBody
      Returns:
      the value

    • getWorldSpaceBounds

      public ConstAaBox getWorldSpaceBounds()
      Access the body's bounding box. The body is unaffected.
      Specified by:
      getWorldSpaceBounds in interface ConstBody
      Returns:
      a new immutable JVM object with the pre-existing native object assigned

    • getWorldSpaceSurfaceNormal

      public Vec3 getWorldSpaceSurfaceNormal(int subShapeId, RVec3Arg location)
      Copy the surface normal of a particular subshape at the specified location. The body is unaffected.
      Specified by:
      getWorldSpaceSurfaceNormal in interface ConstBody
      Parameters:
      subShapeId - the ID of the sub-shape to use
      location - the location to use (not null, unaffected)
      Returns:
      a new direction vector

    • getWorldTransform

      public RMat44 getWorldTransform()
      Copy the world transform. The body is unaffected.
      Specified by:
      getWorldTransform in interface ConstBody
      Returns:
      a new matrix relative to system coordinates

    • isActive

      public boolean isActive()
      Test whether the body is deactivated. The body is unaffected.
      Specified by:
      isActive in interface ConstBody
      Returns:
      false if deactivated, otherwise true

    • isDynamic

      public boolean isDynamic()
      Test whether the body is dynamic. The body is unaffected.
      Specified by:
      isDynamic in interface ConstBody
      Returns:
      true if dynamic, otherwise false

    • isInBroadPhase

      public boolean isInBroadPhase()
      Test whether the body has been added to its PhysicsSystem. The body is unaffected.
      Specified by:
      isInBroadPhase in interface ConstBody
      Returns:
      true if added, otherwise false

    • isKinematic

      public boolean isKinematic()
      Test whether the body is kinematic. It is unaffected.
      Specified by:
      isKinematic in interface ConstBody
      Returns:
      true if kinematic, otherwise false

    • isRigidBody

      public boolean isRigidBody()
      Test whether the body is a rigid body. It is unaffected.
      Specified by:
      isRigidBody in interface ConstBody
      Returns:
      true if rigid body, otherwise false

    • isSensor

      public boolean isSensor()
      Test whether the body is a sensor. It is unaffected.
      Specified by:
      isSensor in interface ConstBody
      Returns:
      true if a sensor, otherwise false

    • isSoftBody

      public boolean isSoftBody()
      Test whether the body is soft. It is unaffected.
      Specified by:
      isSoftBody in interface ConstBody
      Returns:
      true if soft, otherwise false

    • isStatic

      public boolean isStatic()
      Test whether the body is static (non-moving). It is unaffected.
      Specified by:
      isStatic in interface ConstBody
      Returns:
      true if static, otherwise false