Inheritance diagram for FBody:

Public Member Functions
Body	getBox2dBody ()

int	getGroupIndex ()

void	addToWorld (FWorld world)

void	setState (FBody b)

void	setStateFromWorld ()

void	recreateInWorld ()

void	removeFromWorld ()

void	setGroupIndex (int index)

void	setFilterBits (int mask)

void	setCategoryBits (int mask)

int	getCategoryBits ()

int	getFilterBits ()

void	setParent (FBody b)

FBody	getParent ()

void	setGrabbable (boolean value)

void	setForce (float fx, float fy)

float	getForceX ()

float	getForceY ()

void	addTorque (float torque)

void	addForce (float fx, float fy)

void	addImpulse (float fx, float fy)

void	addForce (float fx, float fy, float px, float py)

void	addImpulse (float fx, float fy, float px, float py)

void	resetForces ()

float	getVelocityX ()

float	getVelocityY ()

void	setVelocity (float vx, float vy)

void	adjustVelocity (float dvx, float dvy)

float	getX ()

float	getY ()

void	setPosition (float x, float y)

void	adjustPosition (float dx, float dy)

float	getRotation ()

float	getHapticStiffness ()

float	getHapticDamping ()

void	setRotation (float w)

void	adjustRotation (float dw)

boolean	isResting ()

boolean	isSleeping ()

void	wakeUp ()

float	getAngularVelocity ()

void	setAngularVelocity (float w)

void	adjustAngularVelocity (float dw)

void	setAngularDamping (float damping)

void	setDamping (float damping)

void	setName (String name)

String	getName ()

void	setDensity (float density)

float	getDensity ()

void	setSensor (boolean value)

boolean	isSensor ()

void	setHaptic (boolean value)

void	setHaptic (boolean value, float stiffness, float damping)

boolean	isHaptic ()

void	setHapticStiffness (float stiffness)

void	setHapticDamping (float damping)

void	setStaticBody (boolean value)

void	setStatic (boolean value)

float	getMass ()

boolean	isStatic ()

void	setBullet (boolean value)

void	setRestitution (float restitution)

void	setFriction (float friction)

void	setRotatable (boolean rotatable)

void	setAllowSleeping (boolean allowSleep)

ArrayList	getTouching ()

ArrayList	getContacts ()

ArrayList	getJoints ()

boolean	isConnected (FBody other)

boolean	isTouchingBody (FBody b)

Public Member Functions inherited from FDrawable
void	draw (PGraphics graphics)

void	draw (PApplet applet)

void	drawDebug (PGraphics graphics)

void	drawDebug (PApplet applet)

void	attachImage (PImage img)

void	dettachImage ()

float	getImageAlpha ()

void	setImageAlpha (float alpha)

void	setDrawable (boolean drawable)

boolean	isDrawable ()

int	getFillColor ()

void	setFillColor (int col)

void	setNoFill ()

void	setFill (float g)

void	setFill (float g, float a)

void	setFill (float r, float g, float b)

void	setFill (float r, float g, float b, float a)

void	setStrokeColor (int col)

void	setNoStroke ()

void	setStroke (float g)

void	setStroke (float g, float a)

void	setStroke (float r, float g, float b)

void	setStroke (float r, float g, float b, float a)

void	setStrokeWeight (float weight)

Protected Member Functions
void	processBody (Body bd, ShapeDef sd)

ShapeDef	getShapeDef ()

ShapeDef	getTransformedShapeDef ()

ShapeDef	getProcessedShapeDef ()

ArrayList	getShapeDefs ()

ArrayList	getBodies ()

ShapeDef	processShapeDef (ShapeDef sd)

void	preDraw (PGraphics applet)

void	postDraw (PGraphics applet)

void	preDrawDebug (PGraphics applet)

void	postDrawDebug (PGraphics applet)

AABB	getAABB ()

AABB	getBB ()

void	applyMatrix (PGraphics applet)

void	setPosition (Vec2 position)

void	updateMass ()

Vec2	getLocalWorldPoint (Vec2 p)

Protected Member Functions inherited from FDrawable
void	updateStyle (FDrawable other)

void	appletStroke (PGraphics applet, int argb)

void	appletFill (PGraphics applet, int argb)

void	appletFillStroke (PGraphics applet)

void	drawImage (PGraphics applet)

Protected Attributes
float	m_density = 1.0f

float	m_restitution = 0.1f

float	m_friction = 0.1f

boolean	m_bullet = false

boolean	m_sensor = false

boolean	m_static = false

float	m_linearDamping = 0.5f

float	m_gravityScale = 1.0f

float	m_angularDamping = 0.5f

boolean	m_rotatable = true

boolean	m_allowSleep = true

boolean	m_isSleeping = false

int	m_groupIndex = 0

int	m_filterBits = 0xffff

int	m_categoryBits = 0x0001

Vec2	m_linearVelocity = new Vec2(0.0f, 0.0f)

float	m_angularVelocity = 0.0f

Vec2	m_force = new Vec2(0.0f, 0.0f)

float	m_torque = 0.0f

Vec2	m_position = new Vec2(0.0f, 0.0f)

float	m_angle = 0.0f

String	m_name

Body	m_body

FWorld	m_world

FBody	m_parent

boolean	m_grabbable = true

boolean	h_isHaptic = true

float	h_damping = 0.0f

float	h_stiffness =0.0f

Protected Attributes inherited from FDrawable
boolean	m_drawable = true

boolean	m_fill = true

int	m_fillColor = 0xFFFFFFFF

boolean	m_stroke = true

int	m_strokeColor = 0xFF000000

float	m_strokeWeight = 1.0f

PImage	m_image = null

float	m_imageAlpha = 255.0f

PImage	m_mask = null

Detailed Description

Represents a body in the world.

A body is an object which may collide and react to forces in the world. The bodies have many properties such as density, velocity, position, etc... with which we can control their behavior. This class cannot be be instantiated, instead use one of the derived classes.

Member Function Documentation

◆ addForce() [1/2]

void FBody.addForce	(	float	fx,
		float	fy
	)

Aply a force on the center of the body.

See also: addTorque(float); addForce(float,float,float,float)

Parameters

fx	the x coordinate of the force
fy	the y coordinate of the force

◆ addForce() [2/2]

void FBody.addForce	(	float	fx,
		float	fy,
		float	px,
		float	py
	)

Apply a force to a given point of the body. If the force is not applied on the center of the body this force might induce a rotation change. It would be as applying a force on the center of the body and a torque.

See also: addTorque(float); addImpulse(float,float,float,float)

Parameters

fx	the x coordinate of the force
fy	the y coordinate of the force
px	the x position relative to the body's center, where to apply the force
py	the y position relative to the body's center, where to apply the force

◆ addImpulse() [1/2]

void FBody.addImpulse	(	float	fx,
		float	fy
	)

Apply an impulse on the center of the body.

See also: addTorque(float); addForce(float,float,float,float)

Parameters

fx	the x coordinate of the force
fy	the y coordinate of the force

◆ addImpulse() [2/2]

void FBody.addImpulse	(	float	fx,
		float	fy,
		float	px,
		float	py
	)

Apply an impulse to a given point of the body. If the impulse is not applied on the center of the body this force might induce a rotation change. It would be as applying a force on the center of the body and a torque.

See also: addTorque(float); addForce(float,float,float,float)

Parameters

fx	the x coordinate of the force
fy	the y coordinate of the force
px	the x position relative to the body's center, where to apply the force
py	the y position relative to the body's center, where to apply the force

◆ addTorque()

void FBody.addTorque ( float torque )

Add a rotation force (a torque) to the body.

See also: addForce(float,float); addForce(float,float,float,float)

Parameters

torque the value of the torque

◆ adjustAngularVelocity()

void FBody.adjustAngularVelocity ( float dw )

Adjust the rotation velocity of the body.

Parameters

dw	the rotation velocity to be added to the body in radians per second

See also: getAngularVelocity(); setAngularVelocity(float)

◆ adjustPosition()

void FBody.adjustPosition	(	float	dx,
		float	dy
	)

Adjust the position of the body.

Parameters

dx	the horizontal position to be added to the body in simulation world units
dy	the vertical position to be added to the body in simulation world units

◆ adjustRotation()

void FBody.adjustRotation ( float dw )

Adjust the rotation of the body.

Parameters

dw	the rotation to be added to the body in radians

See also: getRotation(); setRotation(float)

◆ adjustVelocity()

void FBody.adjustVelocity	(	float	dvx,
		float	dvy
	)

Adjust the velocity of the body.

Parameters

dvx	the horizontal velocity to be added to the body in simulation world units per second
dvy	the vertical velocity to be added to the body in simulation world units per second

◆ getAngularVelocity()

float FBody.getAngularVelocity ( )

Returns the rotation velocity of the body.

Returns: the rotation velocity of the body in radians per second

See also: setAngularVelocity(float); adjustAngularVelocity(float)

◆ getBox2dBody()

Body FBody.getBox2dBody ( )

WARNING: This method is internal only and may change someday. If you are using this method please contact the developer since there should be a better way or we may add something to the library.

Returns: the internal JBox2D body

◆ getContacts()

ArrayList FBody.getContacts ( )

Return a list of contacts currently involving the body.

Returns: list of contacts (ArrayList of FContact) touching the body

◆ getDensity()

float FBody.getDensity ( )

Get the density of the body. The density determines the total mass of the body and thus it's behavior with respect to collisions, bounces, inertia, joints,...

Note that a density of 0.0 corresponds to a mass of 0.0 independently of the area and the body will be considered static.

Returns: density the density of the body

◆ getForceX()

float FBody.getForceX ( )

Get the x coordinate of the force applied to the center of the body.

See also: addForce(float,float); getForceY()

Returns: the x coordinate of the force

◆ getForceY()

float FBody.getForceY ( )

Get the y coordinate of the force applied to the center of the body.

See also: addForce(float,float); getForceX()

Returns: the y coordinate of the force

◆ getGroupIndex()

int FBody.getGroupIndex ( )

Get the group to which this body belongs. Groups allow to select the bodies that may collide together or with others. If the group index is negative then they will not collide with each other but they will collide with all the bodies of the other groups.

Returns: the index of the group

◆ getHapticDamping()

float FBody.getHapticDamping ( )

Returns the haptic damping of the body.

Returns: the haptic damping coefficient of the body in dyne seconds per

See also: setHapticDamping(float); #setHapticDamping(hDamping)

◆ getHapticStiffness()

float FBody.getHapticStiffness ( )

Returns the haptic stiffness of the body.

Returns: the haptic stiffness coefficient of the body in dyne per meter (CGS units)

See also: setHapticStiffness(float); #setHapticStiffness(hStiffness)

◆ getJoints()

ArrayList FBody.getJoints ( )

Returns a list with all the joints with a connection to the body

Returns: an ArrayList (of FJoint) connected to the body

◆ getMass()

float FBody.getMass ( )

Returns the mass of the body. Static bodies or bodies not added to the world return 0.

Returns: the mass of the body or 0 if static

◆ getName()

String FBody.getName ( )

Get the name of the body.

Returns: name the name of the body

◆ getRotation()

float FBody.getRotation ( )

Returns the rotation of the body.

Returns: the rotation of the body in radians

See also: setRotation(float)

◆ getTouching()

ArrayList FBody.getTouching ( )

Return a list of bodies currently touching the body.

Returns: list of bodies (ArrayList of FBody) touching the body

◆ getVelocityX()

float FBody.getVelocityX ( )

Returns the horizontal velocity of the body.

Returns: the horizontal velocity of the body in simulation world units per second

◆ getVelocityY()

float FBody.getVelocityY ( )

Returns the vertical velocity of the body.

Returns: the vertical velocity of the body in simulation world units per second

◆ getX()

float FBody.getX ( )

Returns the horizontal position of the body.

Returns: the horizontal position of the body in simulation world units

See also: getY; setPosition(float,float)

◆ getY()

float FBody.getY ( )

Returns the vertical position of the body.

Returns: the vertical position of the body in simulation world units

See also: getX; setPosition(float,float)

◆ isConnected()

boolean FBody.isConnected ( FBody other )

Returns true if the body is joint to the body passed as argument

Parameters

other the other body

Returns: if
true
the body is connected to other

◆ isHaptic()

boolean FBody.isHaptic ( )

Returns whether the body is a haptic body. Haptic bodies act as normal bodies in the sense that they notify about contacts, however they allow for penalty based force calculation that resut from colliding with other bodies. This can be used for direct contact rendering using penalty forumations.

Returns: if
true
the body is a haptic body. Resultant forces will be calculated between this body and other bodies based on penalty based formulations.

◆ isResting()

boolean FBody.isResting ( )

Deprecated. Please use isSleeping().

Returns: true if the body is resting

◆ isSensor()

boolean FBody.isSensor ( )

Returns whether the body is a sensor. Sensor bodies act as normal bodies in the sense that they notify about contacts, however they do not collide with other bodies (they act like ghost bodies).

Returns: if
true
the body is a sensor. It will not collide when enters contact with other bodies

◆ isSleeping()

boolean FBody.isSleeping ( )

Indicates whether the body is in a sleeping state.

The sleeping state of a body is reached when it has not moved or has not received any forces nor collisions for some time.

Returns: true if the body is sleeping

See also: wakeUp(); setAllowSleeping(boolean)

◆ isStatic()

boolean FBody.isStatic ( )

Returns whether the body is static. Static bodies do not move or rotate, unless done manually using setPosition or setRotation.

Returns: if
true
the body is static

◆ isTouchingBody()

boolean FBody.isTouchingBody ( FBody b )

Return whether the body is currently touching the body passed as argument.

Parameters

b	the body for which we want to know if there is contact

Returns: if
true
the body is touching b

◆ resetForces()

void FBody.resetForces ( )

Remove all the forces that are applied to the body.

◆ setAllowSleeping()

void FBody.setAllowSleeping ( boolean allowSleep )

Set whether the body can sleep.

Parameters

allowSleep

if

true

the body will be able to sleep

◆ setAngularDamping()

void FBody.setAngularDamping ( float damping )

Set the damping of the rotation movement of the body. The damping constantly reduces the rotation velocity of the body.

Parameters

damping the damping of the rotation movement of the body

See also: setDamping(float)

◆ setAngularVelocity()

void FBody.setAngularVelocity ( float w )

Set the rotation velocity of the body.

Parameters

w	the rotation velocity of the body in radians per second

◆ setBullet()

void FBody.setBullet ( boolean value )

Set whether the body is a bullet. Bullet bodies are computationally more expensive but more accurate in their movement. Use this only with fast objects.

Parameters

value

if

true

the body will be a bullet

◆ setDamping()

void FBody.setDamping ( float damping )

Set the damping of the translation movement of the body. The damping constantly reduces the translation velocity of the body.

Parameters

damping the damping of the translation movement of the body

See also: setAngularDamping(float)

◆ setDensity()

void FBody.setDensity ( float density )

Set the density of the body. The density will determine the total mass of the body and thus it's behavior with respect to collisions, bounces, inertia, joints,... When the density is set, the mass of the body is recalculated automatically given it's area.

Note that a density of 0.0 corresponds to a mass of 0.0 independently of the area and the body will be considered static.

Parameters

density the density of the body

◆ setForce()

void FBody.setForce	(	float	fx,
		float	fy
	)

Set the force applied to the center of the body.

See also: addForce(float,float)

Parameters

fx	the x coordinate of the force
fy	the y coordinate of the force

◆ setFriction()

void FBody.setFriction ( float friction )

Set the friction of the body. The friction determines the ratio of the reaction force tangent to a contact, when the body collides with another body. Basically it can be seen as a coefficient that will control how the body gets slown down when the body slides against another body. The friction of a contact of two bodies in a collision is calculated from the friction values of the 2 bodies involved.

Parameters

friction a positive value. A value of 0 means no friction and thus the body will not be slown down if no other forces are applied

◆ setGrabbable()

void FBody.setGrabbable ( boolean value )

Control if this body can be grabbed by the mouse, when clicked on. This property only has effect if the world is grabbable. If a body is grabbable, then it can be dragged around by the mouse.

See also: FWorld::setGrabbable(boolean)

Parameters

value

if

true

and the world it belongs to is grabbable, then the body is grabbable by the mouse

◆ setGroupIndex()

void FBody.setGroupIndex ( int index )

Control the group to which this body belongs. Groups allow to select the bodies that may collide together or with others. If the group index is negative then they will not collide with each other but they will collide with all the bodies of the other groups.

Parameters

index the index of the group

◆ setHaptic() [1/2]

void FBody.setHaptic ( boolean value )

Set whether the body is a haptic body. Haptic bodies act as normal bodies in the sense that they notify about contacts, however they allow for collision with other bodies using a penalty based method. This allows us to render haptic contacts to a device.

Parameters

value

if

true

the body will be a haptic body. If if

false

the body will not generate a force when colliding with other bodies

◆ setHaptic() [2/2]

void FBody.setHaptic	(	boolean	value,
		float	stiffness,
		float	damping
	)

Set whether the body is a haptic body. Haptic bodies act as normal bodies in the sense that they notify about contacts, however they allow for collision with other bodies using a penalty based method. This allows us to render haptic contacts to a device.

Parameters

value	if true the body will be a haptic body. If if false the body will not generate a force when colliding with other bodies
stiffness	sets the stiffness of the haptic body for direct collision rendering
damping	sets the damping coefficent of the haptic body for direct collision rendering

◆ setHapticDamping()

void FBody.setHapticDamping ( float damping )

Sets the damping of a haptic body for penalty based contact rendering.

Parameters

damping The damping of the haptic body. Resultant forces are proportional to the amount of penetration between bodies

◆ setHapticStiffness()

void FBody.setHapticStiffness ( float stiffness )

Sets the stiffness of a haptic body for penalty based contact rendering.

Parameters

stiffness The stiffness of the haptic body. Resultant forces are proportional to the amount of penetration between bodies

◆ setName()

void FBody.setName ( String name )

Set the name of the body.

Parameters

name	the name of the body

◆ setPosition()

void FBody.setPosition	(	float	x,
		float	y
	)

Set the position of the body.

Parameters

x	the horizontal position of the body in simulation world units
y	the vertical position of the body in simulation world units

◆ setRestitution()

void FBody.setRestitution ( float restitution )

Set the restitution of the body. The restitution determines the ratio of the reaction force normal to a contact, when the body collides with another body. Basically it can be seen as a coefficient that will control the strength with which the body bounces back from a collision. The resititution of a contact of two bodies in a collision is calculated as the maximum of the restitution values of the 2 bodies involved.

Parameters

restitution a positive value. A value of 0 means no bounce after a collision, and a value of 1 means bounce with it's full speed from a collision

◆ setRotatable()

void FBody.setRotatable ( boolean rotatable )

Set whether the body can rotate.

Parameters

rotatable

if

true

the body will not rotate

◆ setRotation()

void FBody.setRotation ( float w )

Set the rotation of the body.

Parameters

w	the rotation of the body in radians

See also: getRotation()

◆ setSensor()

void FBody.setSensor ( boolean value )

Set whether the body is a sensor. Sensor bodies act as normal bodies in the sense that they notify about contacts, however they do not collide with other bodies (they act like ghost bodies).

Parameters

value

if

true

the body will be a sensor. It will not collide when enters contact with other bodies

◆ setStatic()

void FBody.setStatic ( boolean value )

Set whether the body is static. Static bodies do not move or rotate, unless done manually using setPosition or setRotation.

Parameters

value

if

true

the body will be static

◆ setStaticBody()

void FBody.setStaticBody ( boolean value )

Set whether the body is static. Static bodies do not move or rotate, unless done manually using setPosition or setRotation.

Parameters

value

if

true

the body will be static

◆ setVelocity()

void FBody.setVelocity	(	float	vx,
		float	vy
	)

Set the velocity of the body.

Parameters

vx	the horizontal velocity of the body in simulation world units per second
vy	the vertical velocity of the body in simulation world units per second

◆ wakeUp()

void FBody.wakeUp ( )

Wake up the body from a sleeping state.

See also: isSleeping(); setAllowSleeping(boolean)

The documentation for this class was generated from the following file:

C:/Users/crgallac/Documents/hAPI_Fisica_src/hAPI_Fisica_v0_1/source/hAPI_Fisica_v0_1/FBody.java

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addImpulse() [1/2]

◆ addImpulse() [2/2]

◆ addTorque()

◆ adjustAngularVelocity()

◆ adjustPosition()

◆ adjustRotation()

◆ adjustVelocity()

◆ getAngularVelocity()

◆ getBox2dBody()

◆ getContacts()

◆ getDensity()

◆ getForceX()

◆ getForceY()

◆ getGroupIndex()

◆ getHapticDamping()

◆ getHapticStiffness()

◆ getJoints()

◆ getMass()

◆ getName()

◆ getRotation()

◆ getTouching()

◆ getVelocityX()

◆ getVelocityY()

◆ getX()

◆ getY()

◆ isConnected()

◆ isHaptic()

◆ isResting()

◆ isSensor()

◆ isSleeping()

◆ isStatic()

◆ isTouchingBody()

◆ resetForces()

◆ setAllowSleeping()

◆ setAngularDamping()

◆ setAngularVelocity()

◆ setBullet()

◆ setDamping()

◆ setDensity()

◆ setForce()

◆ setFriction()

◆ setGrabbable()

◆ setGroupIndex()

◆ setHaptic() [1/2]

◆ setHaptic() [2/2]

◆ setHapticDamping()

◆ setHapticStiffness()

◆ setName()

◆ setPosition()

◆ setRestitution()

◆ setRotatable()

◆ setRotation()

◆ setSensor()

◆ setStatic()

◆ setStaticBody()

◆ setVelocity()

◆ wakeUp()