Struct RigidBodyData

Namespace

Jitter2.Dynamics

Assembly

Jitter2.dll

Low-level simulation state for a RigidBody, stored in unmanaged memory.

public struct RigidBodyData

Inherited Members

ValueType.Equals(object)

ValueType.GetHashCode()

ValueType.ToString()

object.Equals(object, object)

object.GetType()

object.ReferenceEquals(object, object)

Remarks

This structure is layout-sensitive and intended for internal engine use. Prefer using RigidBody properties instead of accessing fields directly. All spatial values (position, velocity, orientation, inertia) are in world space. The Flags field is a bitfield: bits 0–1 encode MotionType, bit 2 indicates active state, bit 3 enables gyroscopic forces, and bits 4–9 encode motion locks.

Fields

AngularVelocity

Angular velocity in world space, measured in radians per second. The vector direction is the rotation axis, and its magnitude is the rotation speed.

public JVector AngularVelocity

Field Value

JVector

DeltaAngularVelocity

Angular velocity change applied each substep (from torques), prepared at the end of the previous step. Internal use only.

public JVector DeltaAngularVelocity

Field Value

JVector

DeltaVelocity

Linear velocity change applied each substep (from forces and gravity), prepared at the end of the previous step. Internal use only.

public JVector DeltaVelocity

Field Value

JVector

Flags

Bitfield encoding motion type (bits 0–1), active state (bit 2), gyroscopic forces (bit 3), and locked world-space degrees of freedom (bits 4–9). Use the corresponding properties instead of manipulating this directly.

public int Flags

Field Value

int

InverseInertiaWorld

Inverse inertia tensor in world space. For dynamic bodies, this is recomputed each step from the body-space inverse inertia and current orientation. Locked angular axes are eliminated with Schur complements to preserve the remaining inertia response. For static and kinematic bodies, this is zero (representing infinite inertia).

public JSymmetricMatrix InverseInertiaWorld

Field Value

JSymmetricMatrix

InverseMassVector

World-space diagonal inverse mass, including the body's translation locks. Static and kinematic bodies have zero inverse mass on every axis.

public JVector InverseMassVector

Field Value

JVector

Remarks

Custom constraints should use Multiply(in JVector, in JVector) with InverseMassVector for impulses. The linear contribution to effective inverse mass along a direction is JVector.Multiply(direction, InverseMassVector) * direction.

Orientation

World-space orientation of the rigid body.

public JQuaternion Orientation

Field Value

JQuaternion

Position

World-space position of the rigid body (center of mass).

public JVector Position

Field Value

JVector

Velocity

Linear velocity in world space, measured in units per second.

public JVector Velocity

Field Value

JVector

_index

Internal index used by the engine for handle management. Not stable across frames.

public int _index

Field Value

int

_lockFlag

Internal synchronization flag used by the engine. Do not modify.

public int _lockFlag

Field Value

int

Properties

AllowedMotion

Permitted world-space motion. Set through AllowedMotion.

public readonly MotionAxes AllowedMotion { get; }

Property Value

MotionAxes

EnableGyroscopicForces

Gets or sets whether the implicit gyroscopic torque solver is enabled. See EnableGyroscopicForces for details.

public bool EnableGyroscopicForces { readonly get; set; }

Property Value

bool

IsActive

Gets or sets whether the body is active (awake) and participating in simulation. Inactive bodies are considered sleeping and skip integration until reactivated.

public bool IsActive { readonly get; set; }

Property Value

bool

IsStaticOrInactive

Returns true if the body is not dynamic or currently inactive (sleeping).

[Obsolete("Use MotionType directly.", true)]
public bool IsStaticOrInactive { get; }

Property Value

bool

MotionType

Gets or sets how this body participates in the simulation. Encoded in bits 0–1 of Flags.

public MotionType MotionType { get; set; }

Property Value

MotionType