PhysicsRigidBody (jMonkeyEngine 3.3.2-stable jme3-bullet Javadoc)

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

All Implemented Interfaces:

com.jme3.export.Savable

Direct Known Subclasses:

PhysicsVehicle, RigidBodyControl
```
public class PhysicsRigidBody
extends PhysicsCollisionObject
```
A collision object for a rigid body, based on Bullet's btRigidBody.

Author:

normenhansen

Field Summary

Fields
Modifier and Type	Field and Description
`protected java.util.ArrayList<PhysicsJoint>`	`joints` joint list
`protected boolean`	`kinematic` copy of kinematic flag: true→set kinematic mode (spatial controls body), false→dynamic/static mode (body controls spatial) (default=false)
`protected float`	`mass` copy of mass (>0) of a dynamic body, or 0 for a static body (default=1)
`protected RigidBodyMotionState`	`motionState` motion state

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, collisionGroup, collisionGroupsMask, collisionShape, objectId

Constructor Summary

Constructors
Modifier	Constructor and Description
`protected`	`PhysicsRigidBody()` No-argument constructor needed by SavableClassUtil.
	`PhysicsRigidBody(CollisionShape shape)` Instantiate a dynamic body with mass=1 and the specified collision shape.
	`PhysicsRigidBody(CollisionShape shape, float mass)` Instantiate a body with the specified collision shape and mass.

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`activate()` Reactivates this body if it has been deactivated due to lack of motion.
`void`	`addJoint(PhysicsJoint joint)` Do not invoke directly! Joints are added automatically when created.
`void`	`applyCentralForce(com.jme3.math.Vector3f force)` Apply a force to the PhysicsRigidBody.
`void`	`applyForce(com.jme3.math.Vector3f force, com.jme3.math.Vector3f location)` Apply a force to the PhysicsRigidBody.
`void`	`applyImpulse(com.jme3.math.Vector3f impulse, com.jme3.math.Vector3f rel_pos)` Apply an impulse to the body the next physics update.
`void`	`applyTorque(com.jme3.math.Vector3f torque)` Apply a force to the PhysicsRigidBody.
`void`	`applyTorqueImpulse(com.jme3.math.Vector3f vec)` Apply a torque impulse to the body in the next physics update.
`void`	`clearForces()` Clear all forces acting on this body.
`float`	`getAngularDamping()` Read this body's angular damping.
`float`	`getAngularFactor()` Read this body's angular factor for the X axis.
`com.jme3.math.Vector3f`	`getAngularFactor(com.jme3.math.Vector3f store)` Copy this body's angular factors.
`float`	`getAngularSleepingThreshold()` Read this body's angular sleeping threshold.
`com.jme3.math.Vector3f`	`getAngularVelocity()` Copy this body's angular velocity.
`void`	`getAngularVelocity(com.jme3.math.Vector3f vec)` Copy this body's angular velocity.
`float`	`getCcdMotionThreshold()` Calculate this body's continuous collision detection (CCD) motion threshold.
`float`	`getCcdSquareMotionThreshold()` Calculate the square of this body's continuous collision detection (CCD) motion threshold.
`float`	`getCcdSweptSphereRadius()` Read the radius of the swept sphere used for continuous collision detection (CCD).
`float`	`getFriction()` Read this body's friction.
`com.jme3.math.Vector3f`	`getGravity()` Copy this body's gravitational acceleration.
`com.jme3.math.Vector3f`	`getGravity(com.jme3.math.Vector3f gravity)` Copy this body's gravitational acceleration.
`com.jme3.math.Vector3f`	`getInverseInertiaLocal(com.jme3.math.Vector3f trans)` Copy the principal components of the local inverse inertia tensor.
`java.util.List<PhysicsJoint>`	`getJoints()` Access the list of joints connected with this body.
`float`	`getLinearDamping()` Read this body's linear damping.
`com.jme3.math.Vector3f`	`getLinearFactor()` Copy this body's linear factors.
`float`	`getLinearSleepingThreshold()` Read this body's linear sleeping threshold.
`com.jme3.math.Vector3f`	`getLinearVelocity()` Copy the linear velocity of this body's center of mass.
`void`	`getLinearVelocity(com.jme3.math.Vector3f vec)` 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.
`com.jme3.math.Vector3f`	`getPhysicsLocation()` Copy the location of this body's center of mass.
`com.jme3.math.Vector3f`	`getPhysicsLocation(com.jme3.math.Vector3f trans)` Copy the location of this body's center of mass.
`com.jme3.math.Quaternion`	`getPhysicsRotation()` Copy this body's orientation to a quaternion.
`com.jme3.math.Quaternion`	`getPhysicsRotation(com.jme3.math.Quaternion rot)` Copy this body's orientation to a quaternion.
`com.jme3.math.Matrix3f`	`getPhysicsRotationMatrix()` Copy this body's orientation to a matrix.
`com.jme3.math.Matrix3f`	`getPhysicsRotationMatrix(com.jme3.math.Matrix3f rot)` Copy this body's orientation to a matrix.
`float`	`getRestitution()` Read this body's restitution (bounciness).
`boolean`	`isActive()` Test whether this body has been deactivated due to lack of motion.
`boolean`	`isInWorld()` Test whether this body is in a physics space.
`boolean`	`isKinematic()` Test whether this body is in kinematic mode.
`protected void`	`postRebuild()` For use by subclasses.
`protected void`	`preRebuild()` For use by subclasses.
`void`	`read(com.jme3.export.JmeImporter e)` De-serialize this body, for example when loading from a J3O file.
`protected void`	`rebuildRigidBody()` Build/rebuild this body after parameters have changed.
`void`	`removeJoint(PhysicsJoint joint)` Do not invoke directly! Joints are removed automatically when destroyed.
`void`	`setAngularDamping(float angularDamping)` Alter this body's angular damping.
`void`	`setAngularFactor(float factor)` Alter this body's angular factor.
`void`	`setAngularFactor(com.jme3.math.Vector3f factor)` Alter this body's angular factors.
`void`	`setAngularSleepingThreshold(float angularSleepingThreshold)` Alter this body's angular sleeping threshold.
`void`	`setAngularVelocity(com.jme3.math.Vector3f vec)` Alter this body's angular velocity.
`void`	`setCcdMotionThreshold(float threshold)` Alter the amount of motion required to activate continuous collision detection (CCD).
`void`	`setCcdSweptSphereRadius(float radius)` Alter the radius of the swept sphere used for continuous collision detection (CCD).
`void`	`setCollisionShape(CollisionShape collisionShape)` Apply the specified CollisionShape to this body.
`void`	`setContactResponse(boolean responsive)` Enable/disable this body's contact response.
`void`	`setDamping(float linearDamping, float angularDamping)` Alter this body's damping.
`void`	`setFriction(float friction)` Alter this body's friction.
`void`	`setGravity(com.jme3.math.Vector3f gravity)` Alter this body's gravitational acceleration.
`void`	`setInverseInertiaLocal(com.jme3.math.Vector3f gravity)` Alter the principal components of the local inertia tensor.
`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(com.jme3.math.Vector3f factor)` Alter this body's linear factors.
`void`	`setLinearSleepingThreshold(float linearSleepingThreshold)` Alter this body's linear sleeping threshold.
`void`	`setLinearVelocity(com.jme3.math.Vector3f vec)` Alter the linear velocity of this body's center of mass.
`void`	`setMass(float mass)` Alter this body's mass.
`void`	`setPhysicsLocation(com.jme3.math.Vector3f location)` Directly alter the location of this body's center of mass.
`void`	`setPhysicsRotation(com.jme3.math.Matrix3f rotation)` Directly alter this body's orientation.
`void`	`setPhysicsRotation(com.jme3.math.Quaternion rotation)` Directly alter this body's orientation.
`void`	`setRestitution(float restitution)` Alter this body's restitution (bounciness).
`void`	`setSleepingThresholds(float linear, float angular)` Alter this body's sleeping thresholds.
`void`	`write(com.jme3.export.JmeExporter e)` Serialize this body, for example when saving to a J3O file.

Methods inherited from class com.jme3.bullet.collision.PhysicsCollisionObject
addCollideWithGroup, attachCollisionShape, finalize, finalizeNative, getCollideWithGroups, getCollisionFlags, getCollisionGroup, getCollisionShape, getDeactivationTime, getObjectId, getUserObject, initUserPointer, isContactResponse, removeCollideWithGroup, setCollideWithGroups, setCollisionFlags, setCollisionGroup, setUserObject

Methods inherited from class java.lang.Object
clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - motionState
```
protected RigidBodyMotionState motionState
```
    motion state
  - mass
```
protected float mass
```
    copy of mass (>0) of a dynamic body, or 0 for a static body (default=1)
  - kinematic
```
protected boolean kinematic
```
    copy of kinematic flag: true→set kinematic mode (spatial controls body), false→dynamic/static mode (body controls spatial) (default=false)
  - joints
```
protected java.util.ArrayList<PhysicsJoint> joints
```
    joint list
- Constructor Detail
  - PhysicsRigidBody
```
protected PhysicsRigidBody()
```
    No-argument constructor needed by SavableClassUtil. Do not invoke directly!
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape)
```
    Instantiate a dynamic body with mass=1 and the specified collision shape.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
  - PhysicsRigidBody
```
public PhysicsRigidBody(CollisionShape shape,
                        float mass)
```
    Instantiate a body with the specified collision shape and mass.
    
    Parameters:
    
    shape - the desired shape (not null, alias created)
    
    mass - if 0, a static body is created; otherwise a dynamic body is created (≥0)
- Method Detail
  - rebuildRigidBody
```
protected void rebuildRigidBody()
```
    Build/rebuild this body after parameters have changed.
  - preRebuild
```
protected void preRebuild()
```
    For use by subclasses.
  - postRebuild
```
protected void postRebuild()
```
    For use by subclasses.
  - getMotionState
```
public RigidBodyMotionState getMotionState()
```
    Access this body's motion state.
    
    Returns:
    
    the pre-existing instance
  - isInWorld
```
public boolean isInWorld()
```
    Test whether this body is in a physics space.
    
    Returns:
    
    true→in a space, false→not in a space
  - setPhysicsLocation
```
public void setPhysicsLocation(com.jme3.math.Vector3f location)
```
    Directly alter the location of this body's center of mass.
    
    Parameters:
    
    location - the desired location (not null, unaffected)
  - setPhysicsRotation
```
public void setPhysicsRotation(com.jme3.math.Matrix3f rotation)
```
    Directly alter this body's orientation.
    
    Parameters:
    
    rotation - the desired orientation (rotation matrix, not null, unaffected)
  - setPhysicsRotation
```
public void setPhysicsRotation(com.jme3.math.Quaternion rotation)
```
    Directly alter this body's orientation.
    
    Parameters:
    
    rotation - the desired orientation (quaternion, in physics-space coordinates, not null, unaffected)
  - getPhysicsLocation
```
public com.jme3.math.Vector3f getPhysicsLocation(com.jme3.math.Vector3f trans)
```
    Copy the location of this body's center of mass.
    
    Parameters:
    
    trans - storage for the result (modified if not null)
    
    Returns:
    
    the location (in physics-space coordinates, either the provided storage or a new vector, not null)
  - getPhysicsRotation
```
public com.jme3.math.Quaternion getPhysicsRotation(com.jme3.math.Quaternion rot)
```
    Copy this body's orientation to a quaternion.
    
    Parameters:
    
    rot - storage for the result (modified if not null)
    
    Returns:
    
    the orientation (either the provided storage or a new quaternion, not null)
  - setInverseInertiaLocal
```
public void setInverseInertiaLocal(com.jme3.math.Vector3f gravity)
```
    Alter the principal components of the local inertia tensor.
    
    Parameters:
    
    gravity - (not null, unaffected)
  - getInverseInertiaLocal
```
public com.jme3.math.Vector3f getInverseInertiaLocal(com.jme3.math.Vector3f trans)
```
    Copy the principal components of the local inverse inertia tensor.
    
    Parameters:
    
    trans - storage for the result (modified if not null)
    
    Returns:
    
    a vector (either the provided storage or a new vector, not null)
  - getPhysicsRotationMatrix
```
public com.jme3.math.Matrix3f getPhysicsRotationMatrix(com.jme3.math.Matrix3f rot)
```
    Copy this body's orientation to a matrix.
    
    Parameters:
    
    rot - storage for the result (modified if not null)
    
    Returns:
    
    the orientation (in physics-space coordinates, either the provided storage or a new matrix, not null)
  - getPhysicsLocation
```
public com.jme3.math.Vector3f getPhysicsLocation()
```
    Copy the location of this body's center of mass.
    
    Returns:
    
    a new location vector (not null)
  - getPhysicsRotation
```
public com.jme3.math.Quaternion getPhysicsRotation()
```
    Copy this body's orientation to a quaternion.
    
    Returns:
    
    a new quaternion (not null)
  - getPhysicsRotationMatrix
```
public com.jme3.math.Matrix3f getPhysicsRotationMatrix()
```
    Copy this body's orientation to a matrix.
    
    Returns:
    
    a new matrix (not null)
  - 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 movement and weight.
    
    Parameters:
    
    kinematic - true→set kinematic mode, false→set dynamic/static mode (default=false)
  - isKinematic
```
public 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)
  - setContactResponse
```
public void setContactResponse(boolean responsive)
```
    Enable/disable this body's contact response.
    
    Parameters:
    
    responsive - true to respond to contacts, false to ignore them (default=true)
  - setCcdSweptSphereRadius
```
public void setCcdSweptSphereRadius(float radius)
```
    Alter the radius of the swept sphere used for continuous collision detection (CCD).
    
    Parameters:
    
    radius - the desired radius (≥0, default=0)
  - setCcdMotionThreshold
```
public void setCcdMotionThreshold(float threshold)
```
    Alter the amount of motion required to activate continuous collision detection (CCD).
    This addresses the issue of fast objects passing through other objects with no collision detected.
    
    Parameters:
    
    threshold - the desired threshold velocity (>0) or zero to disable CCD (default=0)
  - getCcdSweptSphereRadius
```
public float getCcdSweptSphereRadius()
```
    Read the radius of the swept sphere used for continuous collision detection (CCD).
    
    Returns:
    
    radius (≥0)
  - getCcdMotionThreshold
```
public float getCcdMotionThreshold()
```
    Calculate this body's continuous collision detection (CCD) motion threshold.
    
    Returns:
    
    the threshold velocity (≥0)
  - getCcdSquareMotionThreshold
```
public float getCcdSquareMotionThreshold()
```
    Calculate the square of this body's continuous collision detection (CCD) motion threshold.
    
    Returns:
    
    the threshold velocity squared (≥0)
  - getMass
```
public float getMass()
```
    Read this body's mass.
    
    Returns:
    
    the mass (>0) or zero for a static body
  - setMass
```
public void setMass(float mass)
```
    Alter this body's mass. Bodies with mass=0 are static. For dynamic bodies, it is best to keep the mass around 1.
    
    Parameters:
    
    mass - the desired mass (>0) or 0 for a static body (default=1)
  - getGravity
```
public com.jme3.math.Vector3f getGravity()
```
    Copy this body's gravitational acceleration.
    
    Returns:
    
    a new acceleration vector (in physics-space coordinates, not null)
  - getGravity
```
public com.jme3.math.Vector3f getGravity(com.jme3.math.Vector3f gravity)
```
    Copy this body's gravitational acceleration.
    
    Parameters:
    
    gravity - storage for the result (modified if not null)
    
    Returns:
    
    an acceleration vector (in physics-space coordinates, either the provided storage or a new vector, not null)
  - setGravity
```
public void setGravity(com.jme3.math.Vector3f gravity)
```
    Alter this body's gravitational acceleration.
    Invoke this after adding the body to a PhysicsSpace. Adding a body to a PhysicsSpace alters its gravity.
    
    Parameters:
    
    gravity - the desired acceleration vector (not null, unaffected)
  - getFriction
```
public float getFriction()
```
    Read this body's friction.
    
    Returns:
    
    friction value
  - setFriction
```
public void setFriction(float friction)
```
    Alter this body's friction.
    
    Parameters:
    
    friction - the desired friction value (default=0.5)
  - setDamping
```
public void setDamping(float linearDamping,
                       float angularDamping)
```
    Alter this body's damping.
    
    Parameters:
    
    linearDamping - the desired linear damping value (default=0)
    
    angularDamping - the desired angular damping value (default=0)
  - setLinearDamping
```
public void setLinearDamping(float linearDamping)
```
    Alter this body's linear damping.
    
    Parameters:
    
    linearDamping - the desired linear damping value (default=0)
  - setAngularDamping
```
public void setAngularDamping(float angularDamping)
```
    Alter this body's angular damping.
    
    Parameters:
    
    angularDamping - the desired angular damping value (default=0)
  - getLinearDamping
```
public float getLinearDamping()
```
    Read this body's linear damping.
    
    Returns:
    
    damping value
  - getAngularDamping
```
public float getAngularDamping()
```
    Read this body's angular damping.
    
    Returns:
    
    damping value
  - getRestitution
```
public float getRestitution()
```
    Read this body's restitution (bounciness).
    
    Returns:
    
    restitution value
  - setRestitution
```
public void setRestitution(float restitution)
```
    Alter this body's restitution (bounciness). For best performance, set restitution=0.
    
    Parameters:
    
    restitution - the desired value (default=0)
  - getAngularVelocity
```
public com.jme3.math.Vector3f getAngularVelocity()
```
    Copy this body's angular velocity.
    
    Returns:
    
    a new velocity vector (in physics-space coordinates, not null)
  - getAngularVelocity
```
public void getAngularVelocity(com.jme3.math.Vector3f vec)
```
    Copy this body's angular velocity.
    
    Parameters:
    
    vec - storage for the result (in physics-space coordinates, not null, modified)
  - setAngularVelocity
```
public void setAngularVelocity(com.jme3.math.Vector3f vec)
```
    Alter this body's angular velocity.
    
    Parameters:
    
    vec - the desired angular velocity vector (not null, unaffected)
  - getLinearVelocity
```
public com.jme3.math.Vector3f getLinearVelocity()
```
    Copy the linear velocity of this body's center of mass.
    
    Returns:
    
    a new velocity vector (in physics-space coordinates, not null)
  - getLinearVelocity
```
public void getLinearVelocity(com.jme3.math.Vector3f vec)
```
    Copy the linear velocity of this body's center of mass.
    
    Parameters:
    
    vec - storage for the result (in physics-space coordinates, not null, modified)
  - setLinearVelocity
```
public void setLinearVelocity(com.jme3.math.Vector3f vec)
```
    Alter the linear velocity of this body's center of mass.
    
    Parameters:
    
    vec - the desired velocity vector (not null)
  - applyForce
```
public void applyForce(com.jme3.math.Vector3f force,
                       com.jme3.math.Vector3f location)
```
    Apply a force to the PhysicsRigidBody. Effective only if the next physics update steps the physics space.
    To apply an impulse, use applyImpulse, use applyContinuousForce to apply continuous force.
    
    Parameters:
    
    force - the force (not null, unaffected)
    
    location - the location of the force
  - applyCentralForce
```
public void applyCentralForce(com.jme3.math.Vector3f force)
```
    Apply a force to the PhysicsRigidBody. Effective only if the next physics update steps the physics space.
    To apply an impulse, use applyImpulse(com.jme3.math.Vector3f, com.jme3.math.Vector3f).
    
    Parameters:
    
    force - the force (not null, unaffected)
  - applyTorque
```
public void applyTorque(com.jme3.math.Vector3f torque)
```
    Apply a force to the PhysicsRigidBody. Effective only if the next physics update steps the physics space.
    To apply an impulse, use applyImpulse(com.jme3.math.Vector3f, com.jme3.math.Vector3f).
    
    Parameters:
    
    torque - the torque (not null, unaffected)
  - applyImpulse
```
public void applyImpulse(com.jme3.math.Vector3f impulse,
                         com.jme3.math.Vector3f rel_pos)
```
    Apply an impulse to the body the next physics update.
    
    Parameters:
    
    impulse - applied impulse (not null, unaffected)
    
    rel_pos - location relative to object (not null, unaffected)
  - applyTorqueImpulse
```
public void applyTorqueImpulse(com.jme3.math.Vector3f vec)
```
    Apply a torque impulse to the body in the next physics update.
    
    Parameters:
    
    vec - the torque to apply
  - clearForces
```
public void clearForces()
```
    Clear all forces acting on this body.
  - setCollisionShape
```
public void setCollisionShape(CollisionShape collisionShape)
```
    Apply the specified CollisionShape to this body.
    Note that the body should not be in any physics space while changing shape; the body gets rebuilt on the physics side.
    
    Overrides:
    
    setCollisionShape in class PhysicsCollisionObject
    
    Parameters:
    
    collisionShape - the shape to apply (not null, alias created)
  - activate
```
public void activate()
```
    Reactivates this body if it has been deactivated due to lack of motion.
  - isActive
```
public boolean isActive()
```
    Test whether this body has been deactivated due to lack of motion.
    
    Returns:
    
    true if still active, false if deactivated
  - setSleepingThresholds
```
public void setSleepingThresholds(float linear,
                                  float angular)
```
    Alter this body's sleeping thresholds.
    These thresholds determine when the body can be deactivated to save resources. Low values keep the body active when it barely moves.
    
    Parameters:
    
    linear - the desired linear sleeping threshold (≥0, default=0.8)
    
    angular - the desired angular sleeping threshold (≥0, default=1)
  - setLinearSleepingThreshold
```
public void setLinearSleepingThreshold(float linearSleepingThreshold)
```
    Alter this body's linear sleeping threshold.
    
    Parameters:
    
    linearSleepingThreshold - the desired threshold (≥0, default=0.8)
  - setAngularSleepingThreshold
```
public void setAngularSleepingThreshold(float angularSleepingThreshold)
```
    Alter this body's angular sleeping threshold.
    
    Parameters:
    
    angularSleepingThreshold - the desired threshold (≥0, default=1)
  - getLinearSleepingThreshold
```
public float getLinearSleepingThreshold()
```
    Read this body's linear sleeping threshold.
    
    Returns:
    
    the linear sleeping threshold (≥0)
  - getAngularSleepingThreshold
```
public float getAngularSleepingThreshold()
```
    Read this body's angular sleeping threshold.
    
    Returns:
    
    the angular sleeping threshold (≥0)
  - getAngularFactor
```
public float getAngularFactor()
```
    Read this body's angular factor for the X axis.
    
    Returns:
    
    the angular factor
  - getAngularFactor
```
public com.jme3.math.Vector3f getAngularFactor(com.jme3.math.Vector3f store)
```
    Copy this body's angular factors.
    
    Parameters:
    
    store - storage for the result (modified if not null)
    
    Returns:
    
    the angular factor for each axis (either the provided storage or new vector, not null)
  - 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(com.jme3.math.Vector3f factor)
```
    Alter this body's angular factors.
    
    Parameters:
    
    factor - the desired angular factor for each axis (not null, unaffected, default=(1,1,1))
  - getLinearFactor
```
public com.jme3.math.Vector3f getLinearFactor()
```
    Copy this body's linear factors.
    
    Returns:
    
    the linear factor for each axis (not null)
  - setLinearFactor
```
public void setLinearFactor(com.jme3.math.Vector3f factor)
```
    Alter this body's linear factors.
    
    Parameters:
    
    factor - the desired linear factor for each axis (not null, unaffected, default=(1,1,1))
  - addJoint
```
public void addJoint(PhysicsJoint joint)
```
    Do not invoke directly! Joints are added automatically when created.
    
    Parameters:
    
    joint - the joint to add (not null)
  - removeJoint
```
public void removeJoint(PhysicsJoint joint)
```
    Do not invoke directly! Joints are removed automatically when destroyed.
    
    Parameters:
    
    joint - the joint to remove (not null)
  - getJoints
```
public java.util.List<PhysicsJoint> getJoints()
```
    Access the list of joints connected with this body.
    This list is only filled when the PhysicsRigidBody is added to a physics space.
    
    Returns:
    
    the pre-existing list (not null)
  - write
```
public void write(com.jme3.export.JmeExporter e)
           throws java.io.IOException
```
    Serialize this body, for example when saving to a J3O file.
    
    Specified by:
    
    write in interface com.jme3.export.Savable
    
    Overrides:
    
    write in class PhysicsCollisionObject
    
    Parameters:
    
    e - exporter (not null)
    
    Throws:
    
    java.io.IOException - from exporter
  - read
```
public void read(com.jme3.export.JmeImporter e)
          throws java.io.IOException
```
    De-serialize this body, for example when loading from a J3O file.
    
    Specified by:
    
    read in interface com.jme3.export.Savable
    
    Overrides:
    
    read in class PhysicsCollisionObject
    
    Parameters:
    
    e - importer (not null)
    
    Throws:
    
    java.io.IOException - from importer

Class PhysicsRigidBody

Field Summary

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

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Detail

motionState

mass

kinematic

joints

Constructor Detail

PhysicsRigidBody

PhysicsRigidBody

PhysicsRigidBody

Method Detail

rebuildRigidBody

preRebuild

postRebuild

getMotionState

isInWorld

setPhysicsLocation

setPhysicsRotation

setPhysicsRotation

getPhysicsLocation

getPhysicsRotation

setInverseInertiaLocal

getInverseInertiaLocal

getPhysicsRotationMatrix

getPhysicsLocation

getPhysicsRotation

getPhysicsRotationMatrix

setKinematic

isKinematic

setContactResponse

setCcdSweptSphereRadius

setCcdMotionThreshold

getCcdSweptSphereRadius

getCcdMotionThreshold

getCcdSquareMotionThreshold

getMass

setMass

getGravity

getGravity

setGravity

getFriction

setFriction

setDamping

setLinearDamping

setAngularDamping

getLinearDamping

getAngularDamping

getRestitution

setRestitution

getAngularVelocity

getAngularVelocity

setAngularVelocity

getLinearVelocity

getLinearVelocity

setLinearVelocity

applyForce

applyCentralForce

applyTorque

applyImpulse

applyTorqueImpulse

clearForces

setCollisionShape

activate

isActive

setSleepingThresholds

setLinearSleepingThreshold

setAngularSleepingThreshold

getLinearSleepingThreshold

getAngularSleepingThreshold

getAngularFactor

getAngularFactor

setAngularFactor

setAngularFactor

getLinearFactor