PhysicsRigidBody (Libbulletjme API)

java.lang.Object
- com.jme3.bullet.NativePhysicsObject
- - com.jme3.bullet.collision.PhysicsCollisionObject
  - - com.jme3.bullet.objects.PhysicsBody
    - - com.jme3.bullet.objects.PhysicsRigidBody

All Implemented Interfaces:

java.lang.Comparable<NativePhysicsObject>

Direct Known Subclasses:

PhysicsVehicle
```
public class PhysicsRigidBody
extends PhysicsBody
```
A collision object to simulate a rigid body, based on Bullet's btRigidBody.

Field Summary

Fields
Modifier and Type	Field and Description
`static java.util.logging.Logger`	`logger2` message logger for this class
`protected float`	`mass` JVM copy of the mass (>0) of a dynamic body, or 0 for a static body

Fields inherited from class com.jme3.bullet.objects.PhysicsBody
massForStatic

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
COLLISION_GROUP_01, COLLISION_GROUP_02, COLLISION_GROUP_03, COLLISION_GROUP_04, COLLISION_GROUP_05, COLLISION_GROUP_06, COLLISION_GROUP_07, COLLISION_GROUP_08, COLLISION_GROUP_09, COLLISION_GROUP_10, COLLISION_GROUP_11, COLLISION_GROUP_12, COLLISION_GROUP_13, COLLISION_GROUP_14, COLLISION_GROUP_15, COLLISION_GROUP_16, COLLISION_GROUP_NONE, logger

Fields inherited from class com.jme3.bullet.NativePhysicsObject
loggerN

Constructor Summary

Constructors
Constructor and Description
`PhysicsRigidBody(CollisionShape shape)` Instantiate a responsive, dynamic body with mass=1 and the specified CollisionShape.
`PhysicsRigidBody(CollisionShape shape, float mass)` Instantiate a responsive dynamic or static body with the specified CollisionShape and mass.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`activate()` Reactivate this body if it has been deactivated due to lack of motion.
`void`	`applyCentralForce(Vector3f force)` Apply a central force to the body.
`void`	`applyCentralImpulse(Vector3f impulse)` Apply a central impulse to the body.
`void`	`applyForce(Vector3f force, Vector3f offset)` Apply a force to the body.
`void`	`applyImpulse(Vector3f impulse, Vector3f offset)` Apply an impulse to the body.
`void`	`applyTorque(Vector3f torque)` Apply a torque to the body.
`void`	`applyTorqueImpulse(Vector3f torqueImpulse)` Apply a torque impulse to the body.
`void`	`clearForces()` Clear all forces and torques acting on this body, including gravity.
`float`	`getAngularDamping()` Read this body's angular damping.
`Vector3f`	`getAngularFactor(Vector3f storeResult)` Copy this body's angular factor.
`float`	`getAngularSleepingThreshold()` Read this body's angular-motion sleeping threshold.
`Vector3f`	`getAngularVelocity(Vector3f storeResult)` Copy this body's angular velocity.
`Vec3d`	`getAngularVelocityDp(Vec3d storeResult)` Copy this body's angular velocity.
`Vector3f`	`getAngularVelocityLocal(Vector3f storeResult)` Calculate this body's angular velocity in its local coordinates.
`Vector3f`	`getGravity(Vector3f storeResult)` Copy this body's gravitational acceleration.
`Vec3d`	`getGravityDp(Vec3d storeResult)` Copy this body's gravitational acceleration.
`Vector3f`	`getInverseInertiaLocal(Vector3f storeResult)` Copy the principal (diagonal) elements of the inverse inertia tensor in the body's local coordinates.
`Matrix3f`	`getInverseInertiaWorld(Matrix3f storeResult)` Compute the inverse inertia tensor in physics-space coordinates.
`float`	`getLinearDamping()` Read this body's linear damping.
`Vector3f`	`getLinearFactor(Vector3f storeResult)` Copy this body's linear factors.
`float`	`getLinearSleepingThreshold()` Read this body's linear-motion sleeping threshold.
`Vector3f`	`getLinearVelocity(Vector3f storeResult)` Copy the linear velocity of this body's center of mass.
`Vec3d`	`getLinearVelocityDp(Vec3d storeResult)` Copy the linear velocity of this body's center of mass.
`float`	`getMass()` Read this body's mass.
`RigidBodyMotionState`	`getMotionState()` Access this body's motion state.
`float`	`getSquaredSpeed()` Calculate the squared speed of this body.
`boolean`	`isDynamic()` Test whether this body is in dynamic mode.
`boolean`	`isGravityProtected()` Test whether this body's gravity can be overwritten by PhysicsSpace.
`boolean`	`isKinematic()` Test whether this body is in kinematic mode.
`double`	`kineticEnergy()` Calculate this body's kinetic energy (linear + angular).
`double`	`mechanicalEnergy()` Calculate the mechanical energy of this body (kinetic + potential) assuming a uniform gravitational field.
`protected void`	`postRebuild()` For use by subclasses.
`protected void`	`preRebuild()` For use by subclasses.
`void`	`rebuildRigidBody()` Rebuild this rigid body with a new native object.
`void`	`setAngularDamping(float angularDamping)` Alter this body's angular damping.
`void`	`setAngularFactor(float factor)` Alter this body's angular factor.
`void`	`setAngularFactor(Vector3f factor)` Alter this body's angular factors, used to scale applied torques.
`void`	`setAngularSleepingThreshold(float threshold)` Alter this body's angular-motion sleeping threshold.
`void`	`setAngularVelocity(Vector3f omega)` Alter this body's angular velocity.
`void`	`setAngularVelocityDp(Vec3d omega)` Alter this body's angular velocity.
`void`	`setCollisionShape(CollisionShape collisionShape)` Apply the specified CollisionShape to this body.
`void`	`setContactResponse(boolean newState)` Enable/disable this body's contact response.
`void`	`setDamping(float linearDamping, float angularDamping)` Alter this body's damping.
`void`	`setEnableSleep(boolean setting)` Alter this body's activation state to allow/disallow sleeping.
`void`	`setGravity(Vector3f acceleration)` Alter this body's gravitational acceleration.
`void`	`setGravityDp(Vec3d acceleration)` Alter this body's gravitational acceleration.
`void`	`setInverseInertiaLocal(Vector3f inverseInertia)` Alter the principal (diagonal) components of the local inertia tensor in the body's local coordinates.
`void`	`setKinematic(boolean kinematic)` Put this body into kinematic mode or take it out of kinematic mode.
`void`	`setLinearDamping(float linearDamping)` Alter this body's linear damping.
`void`	`setLinearFactor(Vector3f factor)` Alter this body's linear factors.
`void`	`setLinearSleepingThreshold(float threshold)` Alter this body's linear-motion sleeping threshold.
`void`	`setLinearVelocity(Vector3f velocity)` Alter the linear velocity of this body's center of mass.
`void`	`setLinearVelocityDp(Vec3d velocity)` Alter the linear velocity of this body's center of mass.
`void`	`setMass(float mass)` Alter this body's mass.
`void`	`setPhysicsLocation(Vector3f location)` Directly relocate this body's center of mass.
`void`	`setPhysicsLocationDp(Vec3d location)` Directly relocate this body's center of mass.
`void`	`setPhysicsRotation(Matrix3f orientation)` Directly alter this body's orientation.
`void`	`setPhysicsRotation(Quaternion orientation)` Directly reorient this body.
`void`	`setPhysicsRotationDp(Matrix3d orientation)` Directly reorient this body.
`void`	`setPhysicsRotationDp(Quatd orientation)` Directly reorient this body.
`void`	`setPhysicsScale(Vector3f newScale)` Rescale this body.
`void`	`setPhysicsTransform(Transform transform)` Directly alter this body's transform, including the scale of its shape.
`void`	`setProtectGravity(boolean newState)` Alter whether this body's gravity should be overwritten if the body gets added to a PhysicsSpace or the gravity of the PhysicsSpace changes.
`void`	`setSleepingThresholds(float linear, float angular)` Alter this body's sleeping thresholds.
`Vector3f`	`totalAppliedForce(Vector3f storeResult)` Determine the total force applied to this body (excluding contact forces, damping, and gravity).
`Vector3f`	`totalAppliedTorque(Vector3f storeResult)` Determine the total torque applied to this body (excluding contact forces and damping).

Methods inherited from class com.jme3.bullet.objects.PhysicsBody
addJoint, countJoints, getDeactivationDeadline, isDeactivationEnabled, listJoints, removeJoint, setDeactivationDeadline, setDeactivationEnabled

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
activate, addCollideWithGroup, addToIgnoreList, attachCollisionShape, boundingBox, clearIgnoreList, collisionFlags, copyPcoProperties, countIgnored, finalizeNative, findInstance, getActivationState, getAnisotropicFriction, getCcdMotionThreshold, getCcdSquareMotionThreshold, getCcdSweptSphereRadius, getCollideWithGroups, getCollisionGroup, getCollisionShape, getCollisionSpace, getContactDamping, getContactProcessingThreshold, getContactStiffness, getDeactivationTime, getFriction, getInternalType, getPhysicsLocation, getPhysicsLocationDp, getPhysicsRotation, getPhysicsRotationDp, getPhysicsRotationMatrix, getPhysicsRotationMatrixDp, getRestitution, getRollingFriction, getScale, getSpinningFriction, getTransform, getTransformDp, getUserObject, hasAnisotropicFriction, ignores, initUserPointer, isActive, isContactResponse, isInWorld, isStatic, listIgnoredPcos, proxyGroup, proxyMask, removeCollideWithGroup, removeFromIgnoreList, setActivationState, setAnisotropicFriction, setCcdMotionThreshold, setCcdSweptSphereRadius, setCollideWithGroups, setCollisionFlags, setCollisionGroup, setContactDamping, setContactProcessingThreshold, setContactStiffness, setDeactivationTime, setFriction, setIgnoreList, setLocationAndBasis, setRestitution, setRollingFriction, setSpinningFriction, setUserIndex, setUserIndex2, setUserIndex3, setUserObject, spaceId, toString, userIndex, userIndex2, userIndex3

Methods inherited from class com.jme3.bullet.NativePhysicsObject
compareTo, countTrackers, dumpTrackers, equals, freeUnusedObjects, hasAssignedNativeObject, hashCode, nativeId, reassignNativeId, setNativeId, setNativeIdNotTracked, unassignNativeObject

Methods inherited from class java.lang.Object
clone, finalize, getClass, notify, notifyAll, wait, wait, wait

- Field Detail
  - logger2
```
public static final java.util.logging.Logger logger2
```
    message logger for this class
  - mass
```
protected float mass
```
    JVM copy of the mass (>0) of a dynamic body, or 0 for a static body
- Constructor Detail
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape)
```
    Instantiate a responsive, dynamic body with mass=1 and the specified CollisionShape. The new body is not added to any PhysicsSpace.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape,
                        float mass)
```
    Instantiate a responsive dynamic or static body with the specified CollisionShape and mass. The new body is not added to any PhysicsSpace.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
    
    mass - if 0, a static body is created; otherwise a dynamic body is created (≥0, default=1)
- Method Detail
  - activate
```
public void activate()
```
    Reactivate this body if it has been deactivated due to lack of motion.
  - applyCentralForce
```
public void applyCentralForce(Vector3f force)
```
    Apply a central force to the body. Effective on the next simulation step, then cleared.
    To apply an impulse, use applyCentralImpulse(com.jme3.math.Vector3f).
    
    Parameters:
    
    force - the force vector (mass times physics-space units per second squared in physics-space coordinates, not null, unaffected)
  - applyCentralImpulse
```
public void applyCentralImpulse(Vector3f impulse)
```
    Apply a central impulse to the body.
    
    Parameters:
    
    impulse - the impulse vector (mass times physics-space units per second in physics-space coordinates, not null, unaffected)
  - applyForce
```
public void applyForce(Vector3f force,
                       Vector3f offset)
```
    Apply a force to the body. Effective on the next simulation step, then cleared.
    To apply an impulse, use applyImpulse(com.jme3.math.Vector3f, com.jme3.math.Vector3f).
    
    Parameters:
    
    force - the force vector (mass times physics-space units per second squared in physics-space coordinates, not null, unaffected)
    
    offset - the location to apply the force (relative to the body's center in physics-space coordinates, not null, unaffected)
  - applyImpulse
```
public void applyImpulse(Vector3f impulse,
                         Vector3f offset)
```
    Apply an impulse to the body.
    
    Parameters:
    
    impulse - the impulse vector (mass times physics-space units per second in physics-space coordinates, not null, unaffected)
    
    offset - the location to apply the impulse (relative to the body's center in physics-space coordinates, not null, unaffected)
  - applyTorque
```
public void applyTorque(Vector3f torque)
```
    Apply a torque to the body. Effective on the next simulation step, then cleared.
    To apply a torque impulse, use applyTorqueImpulse(com.jme3.math.Vector3f).
    
    Parameters:
    
    torque - the torque vector (mass times physics-space units squared per second squared in physics-space coordinates, not null, unaffected)
  - applyTorqueImpulse
```
public void applyTorqueImpulse(Vector3f torqueImpulse)
```
    Apply a torque impulse to the body.
    
    Parameters:
    
    torqueImpulse - the torque impulse vector (mass times physics-space units squared per second in physics-space coordinates, not null, unaffected)
  - clearForces
```
public void clearForces()
```
    Clear all forces and torques acting on this body, including gravity.
  - getAngularDamping
```
public float getAngularDamping()
```
    Read this body's angular damping.
    
    Returns:
    
    the damping fraction (≥0, ≤1)
  - getAngularFactor
```
public Vector3f getAngularFactor(Vector3f storeResult)
```
    Copy this body's angular factor.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the angular factor for each axis (either storeResult or a new vector, not null)
  - getAngularSleepingThreshold
```
public float getAngularSleepingThreshold()
```
    Read this body's angular-motion sleeping threshold. Note that "sleeping" is synonym for "deactivation".
    
    Returns:
    
    the angular-motion threshold (in radians per second, ≥0)
  - getAngularVelocity
```
public Vector3f getAngularVelocity(Vector3f storeResult)
```
    Copy this body's angular velocity. The body must be in dynamic mode.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (radians per second in physics-space coordinates, either storeResult or a new vector, not null)
  - getAngularVelocityDp
```
public Vec3d getAngularVelocityDp(Vec3d storeResult)
```
    Copy this body's angular velocity. The body must be in dynamic mode.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (radians per second in physics-space coordinates, either storeResult or a new vector, not null)
  - getAngularVelocityLocal
```
public Vector3f getAngularVelocityLocal(Vector3f storeResult)
```
    Calculate this body's angular velocity in its local coordinates. The body must be in dynamic mode.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (radians per second in local coordinates, either storeResult or a new vector, not null)
  - getGravityDp
```
public Vec3d getGravityDp(Vec3d storeResult)
```
    Copy this body's gravitational acceleration.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an acceleration vector in physics-space coordinates (either storeResult or a new vector, not null)
  - getInverseInertiaLocal
```
public Vector3f getInverseInertiaLocal(Vector3f storeResult)
```
    Copy the principal (diagonal) elements of the inverse inertia tensor in the body's local coordinates.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a vector (either storeResult or a new vector, not null)
  - getInverseInertiaWorld
```
public Matrix3f getInverseInertiaWorld(Matrix3f storeResult)
```
    Compute the inverse inertia tensor in physics-space coordinates.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a matrix (either storeResult or a new matrix, not null)
  - getLinearDamping
```
public float getLinearDamping()
```
    Read this body's linear damping.
    
    Returns:
    
    the damping fraction (≥0, ≤1)
  - getLinearFactor
```
public Vector3f getLinearFactor(Vector3f storeResult)
```
    Copy this body's linear factors.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the linear factor for each axis (either storeResult or a new vector, not null)
  - getLinearSleepingThreshold
```
public float getLinearSleepingThreshold()
```
    Read this body's linear-motion sleeping threshold. Note that "sleeping" is synonym for "deactivation".
    
    Returns:
    
    the linear-motion threshold (in physics-space units per second, ≥0)
  - getLinearVelocity
```
public Vector3f getLinearVelocity(Vector3f storeResult)
```
    Copy the linear velocity of this body's center of mass. The body must be in dynamic mode.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (physics-space units per second in physics-space coordinates, either storeResult or a new vector, not null)
  - getLinearVelocityDp
```
public Vec3d getLinearVelocityDp(Vec3d storeResult)
```
    Copy the linear velocity of this body's center of mass. The body must be in dynamic mode.
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    a velocity vector (physics-space units per second in physics-space coordinates, either storeResult or a new vector, not null)
  - getMotionState
```
public RigidBodyMotionState getMotionState()
```
    Access this body's motion state.
    
    Returns:
    
    the pre-existing instance (not null)
  - getSquaredSpeed
```
public float getSquaredSpeed()
```
    Calculate the squared speed of this body. The body must be in dynamic mode.
    
    Returns:
    
    the squared speed (in physics-space units squared per second squared, ≥0)
  - isDynamic
```
public boolean isDynamic()
```
    Test whether this body is in dynamic mode.
    
    Returns:
    
    true if in dynamic mode, otherwise false (static/kinematic mode)
  - isGravityProtected
```
public boolean isGravityProtected()
```
    Test whether this body's gravity can be overwritten by PhysicsSpace.
    
    Returns:
    
    false if this body's gravity can be overwritten, otherwise true
  - isKinematic
```
public final boolean isKinematic()
```
    Test whether this body is in kinematic mode.
    In kinematic mode, the body is not influenced by physics but can affect other physics objects. Its kinetic force is calculated based on its movement and weight.
    
    Returns:
    
    true if in kinematic mode, otherwise false (dynamic/static mode)
  - kineticEnergy
```
public double kineticEnergy()
```
    Calculate this body's kinetic energy (linear + angular). The body must be in dynamic mode.
    
    Returns:
    
    the total kinetic energy (≥0)
  - mechanicalEnergy
```
public double mechanicalEnergy()
```
    Calculate the mechanical energy of this body (kinetic + potential) assuming a uniform gravitational field. The body must be in dynamic mode.
    
    Returns:
    
    the total mechanical energy
  - rebuildRigidBody
```
public void rebuildRigidBody()
```
    Rebuild this rigid body with a new native object.
  - setAngularDamping
```
public void setAngularDamping(float angularDamping)
```
    Alter this body's angular damping.
    
    Parameters:
    
    angularDamping - the desired angular damping fraction (≥0, ≤1, default=0)
  - setAngularFactor
```
public void setAngularFactor(float factor)
```
    Alter this body's angular factor.
    
    Parameters:
    
    factor - the desired angular factor for all axes (not null, unaffected, default=1)
  - setAngularFactor
```
public void setAngularFactor(Vector3f factor)
```
    Alter this body's angular factors, used to scale applied torques.
    
    Parameters:
    
    factor - the desired angular factor for each axis (not null, unaffected, default=(1,1,1))
  - setAngularSleepingThreshold
```
public void setAngularSleepingThreshold(float threshold)
```
    Alter this body's angular-motion sleeping threshold. Note that "sleeping" is synonym for "deactivation".
    
    Parameters:
    
    threshold - the desired threshold (in radians per second, ≥0, default=1)
  - setAngularVelocity
```
public void setAngularVelocity(Vector3f omega)
```
    Alter this body's angular velocity.
    
    Parameters:
    
    omega - the desired angular velocity (in physics-space coordinates, not null, unaffected)
  - setAngularVelocityDp
```
public void setAngularVelocityDp(Vec3d omega)
```
    Alter this body's angular velocity.
    
    Parameters:
    
    omega - the desired angular velocity (in physics-space coordinates, not null, unaffected)
  - setCollisionShape
```
public void setCollisionShape(CollisionShape collisionShape)
```
    Apply the specified CollisionShape to this body. The body gets rebuilt on the native side.
    
    Overrides:
    
    setCollisionShape in class PhysicsCollisionObject
    
    Parameters:
    
    collisionShape - the shape to apply (not null, alias created)
  - setContactResponse
```
public void setContactResponse(boolean newState)
```
    Enable/disable this body's contact response.
    
    Parameters:
    
    newState - true to respond to contacts, false to ignore them (default=true)
  - setDamping
```
public void setDamping(float linearDamping,
                       float angularDamping)
```
    Alter this body's damping.
    
    Parameters:
    
    linearDamping - the desired linear damping fraction (≥0, ≤1, default=0)
    
    angularDamping - the desired angular damping fraction (≥0, ≤1, default=0)
  - setEnableSleep
```
public void setEnableSleep(boolean setting)
```
    Alter this body's activation state to allow/disallow sleeping. Note that "sleeping" is synonym for "deactivation".
    
    Parameters:
    
    setting - true→enable sleeping, false→disable sleeping (default=true)
  - setGravityDp
```
public void setGravityDp(Vec3d acceleration)
```
    Alter this body's gravitational acceleration.
    Invoke this method after adding the body to a PhysicsSpace. Unless protection is set, adding a body to a PhysicsSpace overrides its gravity.
    
    Parameters:
    
    acceleration - the desired acceleration vector (in physics-space coordinates, not null, unaffected, default=(0,0,0))
    
    See Also:
    
    setProtectGravity(boolean)
  - setInverseInertiaLocal
```
public void setInverseInertiaLocal(Vector3f inverseInertia)
```
    Alter the principal (diagonal) components of the local inertia tensor in the body's local coordinates.
    
    Parameters:
    
    inverseInertia - the desired component values (not null, unaffected)
  - setKinematic
```
public void setKinematic(boolean kinematic)
```
    Put this body into kinematic mode or take it out of kinematic mode.
    In kinematic mode, the body is not influenced by physics but can affect other physics objects. Its kinetic force is calculated based on its mass and motion.
    
    Parameters:
    
    kinematic - true→set kinematic mode, false→set dynamic (default=false)
  - setLinearDamping
```
public void setLinearDamping(float linearDamping)
```
    Alter this body's linear damping.
    
    Parameters:
    
    linearDamping - the desired linear damping fraction (≥0, ≤1, default=0)
  - setLinearFactor
```
public void setLinearFactor(Vector3f factor)
```
    Alter this body's linear factors.
    
    Parameters:
    
    factor - the desired linear factor for each axis (not null, unaffected, default=(1,1,1))
  - setLinearSleepingThreshold
```
public void setLinearSleepingThreshold(float threshold)
```
    Alter this body's linear-motion sleeping threshold. Note that "sleeping" is synonym for "deactivation".
    
    Parameters:
    
    threshold - the desired threshold (in physics-space units per second, ≥0, default=0.8)
  - setLinearVelocity
```
public void setLinearVelocity(Vector3f velocity)
```
    Alter the linear velocity of this body's center of mass.
    
    Parameters:
    
    velocity - the desired velocity (physics-space units per second in physics-space coordinates, not null, finite, unaffected)
  - setLinearVelocityDp
```
public void setLinearVelocityDp(Vec3d velocity)
```
    Alter the linear velocity of this body's center of mass.
    
    Parameters:
    
    velocity - the desired velocity (physics-space units per second in physics-space coordinates, not null, unaffected)
  - setPhysicsLocationDp
```
public void setPhysicsLocationDp(Vec3d location)
```
    Directly relocate this body's center of mass.
    
    Parameters:
    
    location - the desired location (in physics-space coordinates, not null, unaffected)
  - setPhysicsRotation
```
public void setPhysicsRotation(Matrix3f orientation)
```
    Directly alter this body's orientation.
    
    Parameters:
    
    orientation - the desired orientation (rotation matrix relative to physics-space coordinates, not null, unaffected)
  - setPhysicsRotation
```
public void setPhysicsRotation(Quaternion orientation)
```
    Directly reorient this body.
    
    Parameters:
    
    orientation - the desired orientation (relative to physics-space coordinates, not null, not zero, unaffected)
  - setPhysicsRotationDp
```
public void setPhysicsRotationDp(Matrix3d orientation)
```
    Directly reorient this body.
    
    Parameters:
    
    orientation - the desired orientation (rotation matrix relative to physics-space coordinates, not null, unaffected)
  - setPhysicsRotationDp
```
public void setPhysicsRotationDp(Quatd orientation)
```
    Directly reorient this body.
    
    Parameters:
    
    orientation - the desired orientation (relative to physics-space coordinates, not null, not zero, unaffected)
  - setPhysicsScale
```
public void setPhysicsScale(Vector3f newScale)
```
    Rescale this body. Note that if it has joints, their pivot locations will not be adjusted.
    
    Parameters:
    
    newScale - the desired scale factor for each local axis (not null, no negative component, unaffected, default=(1,1,1))
  - setPhysicsTransform
```
public void setPhysicsTransform(Transform transform)
```
    Directly alter this body's transform, including the scale of its shape. If the body has joints, their pivot points will not be adjusted for scale changes.
    
    Parameters:
    
    transform - the desired transform (relative to physics-space coordinates, not null, unaffected)
  - setProtectGravity
```
public void setProtectGravity(boolean newState)
```
    Alter whether this body's gravity should be overwritten if the body gets added to a PhysicsSpace or the gravity of the PhysicsSpace changes.
    
    Parameters:
    
    newState - true to preserve this body's gravity, false to allow it to be overwritten (default=false)
  - setSleepingThresholds
```
public void setSleepingThresholds(float linear,
                                  float angular)
```
    Alter this body's sleeping thresholds. Note that "sleeping" is synonym for "deactivation".
    These thresholds influence whether the body will be deactivated to save resources. Low values keep the body active when it barely moves.
    
    Parameters:
    
    linear - the desired linear threshold (in physics-space units per second, ≥0, default=0.8)
    
    angular - the desired angular threshold (in radians per second, ≥0, default=1)
  - totalAppliedForce
```
public Vector3f totalAppliedForce(Vector3f storeResult)
```
    Determine the total force applied to this body (excluding contact forces, damping, and gravity).
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the total force (either storeResult or a new vector, mass times physics-space units per second squared in physics-space coordinates)
  - totalAppliedTorque
```
public Vector3f totalAppliedTorque(Vector3f storeResult)
```
    Determine the total torque applied to this body (excluding contact forces and damping).
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    the total torque (either storeResult or a new vector, mass times physics-space units squared per second squared in physics-space coordinates)
  - postRebuild
```
protected void postRebuild()
```
    For use by subclasses.
  - preRebuild
```
protected void preRebuild()
```
    For use by subclasses.
  - getGravity
```
public Vector3f getGravity(Vector3f storeResult)
```
    Copy this body's gravitational acceleration.
    
    Specified by:
    
    getGravity in class PhysicsBody
    
    Parameters:
    
    storeResult - storage for the result (modified if not null)
    
    Returns:
    
    an acceleration vector in physics-space coordinates (either storeResult or a new vector, not null)
  - getMass
```
public float getMass()
```
    Read this body's mass.
    
    Specified by:
    
    getMass in class PhysicsBody
    
    Returns:
    
    the mass (>0) or zero for a static body
  - setGravity
```
public void setGravity(Vector3f acceleration)
```
    Alter this body's gravitational acceleration.
    Invoke this method after adding the body to a PhysicsSpace. Unless protection is set, adding a body to a PhysicsSpace overrides its gravity.
    
    Specified by:
    
    setGravity in class PhysicsBody
    
    Parameters:
    
    acceleration - the desired acceleration vector (in physics-space coordinates, not null, finite, unaffected, default=(0,0,0))
    
    See Also:
    
    setProtectGravity(boolean), setGravityDp(com.simsilica.mathd.Vec3d)
  - setMass
```
public void setMass(float mass)
```
    Alter this body's mass. Static bodies have mass=0. For dynamic bodies, it is best to keep the mass on the order of 1.
    
    Specified by:
    
    setMass in class PhysicsBody
    
    Parameters:
    
    mass - the desired mass (≥0, default=1)
  - setPhysicsLocation
```
public void setPhysicsLocation(Vector3f location)
```
    Directly relocate this body's center of mass.
    
    Specified by:
    
    setPhysicsLocation in class PhysicsBody
    
    Parameters:
    
    location - the desired location (in physics-space coordinates, not null, finite, unaffected)

Class PhysicsRigidBody

Field Summary

Fields inherited from class com.jme3.bullet.objects.PhysicsBody

Fields inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Fields inherited from class com.jme3.bullet.NativePhysicsObject

Constructor Summary

Method Summary

Methods inherited from class com.jme3.bullet.objects.PhysicsBody

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject

Methods inherited from class com.jme3.bullet.NativePhysicsObject

Methods inherited from class java.lang.Object

Field Detail

logger2

mass

Constructor Detail

PhysicsRigidBody

PhysicsRigidBody

Method Detail

activate

applyCentralForce

applyCentralImpulse

applyForce

applyImpulse

applyTorque

applyTorqueImpulse

clearForces

getAngularDamping

getAngularFactor

getAngularSleepingThreshold

getAngularVelocity

getAngularVelocityDp

getAngularVelocityLocal

getGravityDp

getInverseInertiaLocal

getInverseInertiaWorld

getLinearDamping

getLinearFactor

getLinearSleepingThreshold

getLinearVelocity

getLinearVelocityDp

getMotionState

getSquaredSpeed

isDynamic

isGravityProtected

isKinematic

kineticEnergy

mechanicalEnergy

rebuildRigidBody

setAngularDamping

setAngularFactor

setAngularFactor

setAngularSleepingThreshold

setAngularVelocity

setAngularVelocityDp

setCollisionShape

setContactResponse

setDamping

setEnableSleep

setGravityDp

setInverseInertiaLocal

setKinematic

setLinearDamping

setLinearFactor

setLinearSleepingThreshold

setLinearVelocity

setLinearVelocityDp

setPhysicsLocationDp

setPhysicsRotation

setPhysicsRotation

setPhysicsRotationDp

setPhysicsRotationDp

setPhysicsScale

setPhysicsTransform

setProtectGravity

setSleepingThresholds

totalAppliedForce

totalAppliedTorque

postRebuild

preRebuild

getGravity