Stack-allocated rigid-body construction data. More...

#include <rapier.h>

Data Fields
struct R3Pose	position
	World-space pose.
struct R3Vector	linvel
	World-space linear velocity.
R3AngVector	angvel
	World-space angular velocity in radians per second.
uint32_t	bodyType
	R3_DYNAMIC, R3_FIXED, R3_KINEMATIC_POSITION_BASED, or R3_KINEMATIC_VELOCITY_BASED.
R3Real	gravityScale
	Multiplier applied to world gravity.
R3Real	linearDamping
	Nonnegative linear damping coefficient.
R3Real	angularDamping
	Nonnegative angular damping coefficient.
R3Real	additionalMass
	Nonnegative mass added to attached collider contributions.
R3Bool	useAdditionalMassProperties
	1 uses additionalMassProperties; 0 uses additionalMass.
struct R3MassProperties	additionalMassProperties
	Additional body-local mass and inertia when enabled.
uint8_t	lockedAxes
	Locked-axis bitmask; translations precede rotations.
R3Bool	canSleep
	Whether automatic sleeping is allowed.
R3Bool	sleeping
	Whether the body starts/is asleep.
R3Bool	ccdEnabled
	Whether continuous collision detection is enabled.
R3Real	softCcdPrediction
	Nonnegative prediction distance for soft CCD.
R3Bool	allowFastRotation
	Whether to allow fast rotations without the native angular-motion clamp.
R3Bool	enabled
	Whether this setting/object is enabled (0 or 1).
int8_t	dominanceGroup
	Signed dominance group; larger groups dominate smaller groups.
size_t	additionalSolverIterations
	Extra solver iterations for this body and connected bodies.
size_t	additionalPgsIterations
	Extra PGS iterations for this body.
R3Bool	gyroscopicForcesEnabled
	Whether to include gyroscopic forces (3D).
struct R3UserData	userData
	Application data; Rapier does not own pointers encoded in it.

Detailed Description

Stack-allocated rigid-body construction data.

Initialize with r3DynamicRigidBodyDesc, r3FixedRigidBodyDesc, or a kinematic description constructor. Copying this value is safe; it owns no resources and must never be freed by Rapier.

Field Documentation

◆ additionalMass

R3Real R3RigidBodyDesc::additionalMass

Nonnegative mass added to attached collider contributions.

◆ additionalMassProperties

struct R3MassProperties R3RigidBodyDesc::additionalMassProperties

Additional body-local mass and inertia when enabled.

◆ additionalPgsIterations

size_t R3RigidBodyDesc::additionalPgsIterations

Extra PGS iterations for this body.

◆ additionalSolverIterations

size_t R3RigidBodyDesc::additionalSolverIterations

Extra solver iterations for this body and connected bodies.

◆ allowFastRotation

R3Bool R3RigidBodyDesc::allowFastRotation

Whether to allow fast rotations without the native angular-motion clamp.

◆ angularDamping

R3Real R3RigidBodyDesc::angularDamping

Nonnegative angular damping coefficient.

◆ angvel

R3AngVector R3RigidBodyDesc::angvel

World-space angular velocity in radians per second.

◆ bodyType

uint32_t R3RigidBodyDesc::bodyType

R3_DYNAMIC, R3_FIXED, R3_KINEMATIC_POSITION_BASED, or R3_KINEMATIC_VELOCITY_BASED.

◆ canSleep

R3Bool R3RigidBodyDesc::canSleep

Whether automatic sleeping is allowed.

◆ ccdEnabled

R3Bool R3RigidBodyDesc::ccdEnabled

Whether continuous collision detection is enabled.

◆ dominanceGroup

int8_t R3RigidBodyDesc::dominanceGroup

Signed dominance group; larger groups dominate smaller groups.

◆ enabled

R3Bool R3RigidBodyDesc::enabled

Whether this setting/object is enabled (0 or 1).

◆ gravityScale

R3Real R3RigidBodyDesc::gravityScale

Multiplier applied to world gravity.

◆ gyroscopicForcesEnabled

R3Bool R3RigidBodyDesc::gyroscopicForcesEnabled

Whether to include gyroscopic forces (3D).

◆ linearDamping

R3Real R3RigidBodyDesc::linearDamping

Nonnegative linear damping coefficient.

◆ linvel

struct R3Vector R3RigidBodyDesc::linvel

World-space linear velocity.

◆ lockedAxes

uint8_t R3RigidBodyDesc::lockedAxes

Locked-axis bitmask; translations precede rotations.

◆ position

struct R3Pose R3RigidBodyDesc::position

World-space pose.

Examples: falling_ball.c.

◆ sleeping

R3Bool R3RigidBodyDesc::sleeping

Whether the body starts/is asleep.

◆ softCcdPrediction

R3Real R3RigidBodyDesc::softCcdPrediction

Nonnegative prediction distance for soft CCD.

◆ useAdditionalMassProperties

R3Bool R3RigidBodyDesc::useAdditionalMassProperties

1 uses additionalMassProperties; 0 uses additionalMass.

◆ userData

struct R3UserData R3RigidBodyDesc::userData

Application data; Rapier does not own pointers encoded in it.

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

rapier.h

Data Fields