Description
The jit.phys.body object represents a rigid body and collision shape in a physics simulation. The collision shape is either one of several simple shapes, a compound shape (combination of simple shapes), or defined by a matrix of vertices.
Examples
Discussion
Shapes defined by a mesh of vertices include convexhull , concave , and dynamicmesh . Each of these shapes require a 3 plane, float32, 1D or 2D matrix passed in. If the vertex matrix is 1D it's interpreted as a triangle mesh, if 2D it's interpreted as a tri_grid mesh.
Attributes
anim [symbol]
The name of a jit.anim.node object to receive transform updates from.
collisions [int]
Enables and disables collision reporting out the second (dumpout) outlet.
damping [2 floats]
Set the linear and angular damping applied to a body in the range 0. to 1. (default 0.2 0.2). Damping can be used to simulate air resistance.
enable [int]
Enable this body in the physics simulation (default = 1).
enable_sleep [int]
Enable sleeping on this body, causing deactivation when linear and angular velocity are 0 (default = 0).
filterclass [symbol]
Set the name of this object's collision filter-class (default = default). Other objects must specify the filterclass name in their filters list to enable collisions with this object. Maximum allowed unique names is 10.
filters [10 symbols]
Specify a list of filterclass names to enable collisions with (default = all). Possible values include all , worldbox , and default . Additional values include any user-specified filterclass names (maximum allowed = 10).
force [3 floats]
Apply a force to the rigid body using a 3D worldspace vector (default = 0 0 0). If forces_relative is enabled, the vector is converted to object space.
forces_relative [int]
Forces relative flag will cause all forces to be converted to object space before applying (default = 0).
friction [float]
The friction amount (opposite force) (default = 0.5). Applied when the body is in contact with another body that has friction.
kinematic [int]
Kinematic flag (default = 0). Use this mode to disable dynamics on the body, maintain collisions with other bodies in the world, and animate using position and quat attributes. This allows for a user-animated rigid-body.
local_scaling [int]
Local scaling flag (default = 0). When enabled, the scale attribute will apply a local scaling transform to the collision shape. When disabled, the rigid-body is removed and re-added to the physics world for every scale modification.
mass [float]
Body mass (default = 1.). When set to 0. body dynamics are disabled, however collisions remain active.
name [symbol]
Specifies the name of the instance (default = UID).
position [3 floats]
Body position in worldspace in the form x y z (default = 0. 0. 0.).
quat [4 floats]
Body orientation as a quaternion in the form x y z w (default = 0. 0. 0. 1.).
reduce_hull [int]
Enable automatic vertex reduction when body shape attribute is set to convexhull (default = 1).
resetpos [3 floats]
Body reset position in the form x y z (default = 0. 0. 0.). This is the worldspace position the body will return to upon receiving the reset message.
resetquat [4 floats]
Body reset orientation as a quaternion in the form x y z w (default = 0. 0. 0. 1.). This is the orientation the body will return to upon receiving the reset message.
restitution [float]
Restitution value, or bounciness (default = 0.1). The proportion of kinetic energy preserved on impact with other rigid bodies.
rolling_friction [float]
The rolling friction amount (opposite force for a rolling object) (default = 0.0). Applied when the body is in contact with another body that has friction.
rotate [4 floats]
Body orientation as angle-axis in the form angle(in degrees) x y z (default = 0. 0. 0. 1.).
rotate_order [symbol]
Rotate Order
Possible values:
'auto'
'xyz'
'xzy'
'yxz'
'yzx'
'zxy'
'zyx'
rotatexyz [3 floats]
Body orientation as Euler angles (in degrees) in the form x y z (default = 0. 0. 0.).
scale [3 floats]
The body scaling factor in the form x y z (default = 1. 1. 1.).
send_scale [int]
Send scale flag (default = 1). When enabled, scale values will be sent to bound objects.
shape [symbol]
Collision shape type (default = sphere).
Possible values:
'sphere'
'cube'
'capsule'
'cone'
'cylinder'
'convexhull'
(
Requires a matrix of vertices. A convex hull is generated that encloses the vertices.
)
'concave'
(
Requires a matrix of vertices. A concave shape is generated, allowing for hollows in the mesh shape
)
'compound'
(
Composite of simple shapes
)
'dynamicmesh'
(
Requires a matrix of vertices. Handles dynamically changing mesh shapes and requires a non-moving rigid body.
)
targetname [symbol]
The name of a target object, either an OpenGL object or a jit.anim.node. This object will receive position, quat, and possibly scale values.
torque [3 floats]
Apply a torque (angular force) to the rigid body using a 3D worldspace vector (default = 0 0 0).
total_force [3 floats]
The total force currently applied to the rigid-body.
total_torque [3 floats]
The total torque currently applied to the rigid-body.
velocity [3 floats]
The current rigid-body velocity in units per second (default = 0 0 0).
velocity_ang [3 floats]
The current rigid-body angular velocity in radians per second (default = 0 0 0).
worldname [symbol]
The name of a jit.phys.world context this body is bound to.
Common Box Attributes
annotation [symbol]
Sets the text that will be displayed in the Clue window when the user moves the mouse over the object.
background [int] (default: 0)
Adds or removes the object from the patcher's background layer. background 1 adds the object to the background layer, background 0 removes it. Objects in the background layer are shown behind all objects in the default foreground layer.
color [4 floats]
Sets the color for the object box outline.
fontface [int]
Sets the type style used by the object. The options are:
plain
bold
italic
bold italic
Possible values:
0 = 'regular'
1 = 'bold'
2 = 'italic'
3 = 'bold italic'
fontname [symbol]
Sets the object's font.
fontsize [float]
Sets the object's font size (in points).
Possible values:
'8'
'9'
'10'
'11'
'12'
'13'
'14'
'16'
'18'
'20'
'24'
'30'
'36'
'48'
'64'
'72'
hidden [int] (default: 0)
Toggles whether an object is hidden when the patcher is locked.
hint [symbol]
Sets the text that will be displayed in as a pop-up hint when the user moves the mouse over the object in a locked patcher.
ignoreclick [int] (default: 0)
Toggles whether an object ignores mouse clicks in a locked patcher.
patching_rect [4 floats] (default: 0. 0. 100. 0.)
Sets the position and size of the object in the patcher window.
position [2 floats]
Sets the object's x and y position in both patching and presentation modes (if the object belongs to its patcher's presentation), leaving its size unchanged.
presentation [int] (default: 0)
Sets whether an object belongs to the patcher's presentation.
presentation_rect [4 floats] (default: 0. 0. 0. 0.)
Sets the x and y position and width and height of the object in the patcher's presentation, leaving its patching position unchanged.
rect [4 floats]
Sets the x and y position and width and height of the object in both patching and presentation modes (if the object belongs to its patcher's presentation).
size [2 floats]
Sets the object's width and height in both patching and presentation modes (if the object belongs to its patcher's presentation), leaving its position unchanged.
textcolor [float]
Sets the color for the object's text in RGBA format.
textjustification [int]
Text Justification
Possible values:
0 = 'left'
1 = 'center'
2 = 'right'
varname [symbol]
Sets the patcher's scripting name, which can be used to address the object by name in pattr, scripting messages to thispatcher, and the js object.
Messages
bang
addchild
Arguments
x [float]
y [float]
z [float]
quat-x [float]
quat-y [float]
quat-z [float]
quat-w [float]
scale-x [float]
scale-y [float]
scale-z [float]
getchild_dict
impulse
Arguments
y [float]
z [float]
relative-x [float]
relative-y [float]
relative-z [float]
removechild
Arguments
removechildren
reset
setchild_position
Arguments
x [float]
y [float]
z [float]
setchild_quat
Arguments
x [float]
y [float]
z [float]
w [float]
setchild_scale
Arguments
x [float]
y [float]
z [float]
setchild_shape
Arguments
shape [symbol]
setresetstate
torque_impulse
Arguments
y [float]
z [float]
See Also
| Name | Description |
|---|---|
| Working with OpenGL | Working with OpenGL |
| jit.phys.world | Collision detection and rigid body dynamics |
| jit.phys.multiple | Uses matrices to simulate multiple rigid bodies |
| jit.phys.picker | Constraint picking in a physics world |
| jit.gl.physdraw | A physics opengl debug drawer |
| jit.gl.gridshape | Generate simple geometric shapes as a grid |