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

#include <rapier.h>

Data Fields
struct R2Pose	position
	World-space pose.
struct R2Vector	linvel
	World-space linear velocity.
R2AngVector	angvel
	World-space angular velocity in radians per second.
uint32_t	bodyType
	R2_DYNAMIC, R2_FIXED, R2_KINEMATIC_POSITION_BASED, or R2_KINEMATIC_VELOCITY_BASED.
R2Real	gravityScale
	Multiplier applied to world gravity.
R2Real	linearDamping
	Nonnegative linear damping coefficient.
R2Real	angularDamping
	Nonnegative angular damping coefficient.
R2Real	additionalMass
	Nonnegative mass added to attached collider contributions.
R2Bool	useAdditionalMassProperties
	1 uses additionalMassProperties; 0 uses additionalMass.
struct R2MassProperties	additionalMassProperties
	Additional body-local mass and inertia when enabled.
uint8_t	lockedAxes
	Locked-axis bitmask; translations precede rotations.
R2Bool	canSleep
	Whether automatic sleeping is allowed.
R2Bool	sleeping
	Whether the body starts/is asleep.
R2Bool	ccdEnabled
	Whether continuous collision detection is enabled.
R2Real	softCcdPrediction
	Nonnegative prediction distance for soft CCD.
R2Bool	allowFastRotation
	Whether to allow fast rotations without the native angular-motion clamp.
R2Bool	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.
R2Bool	gyroscopicForcesEnabled
	Whether to include gyroscopic forces (3D).
struct R2UserData	userData
	Application data; Rapier does not own pointers encoded in it.

Detailed Description

Stack-allocated rigid-body construction data.

Initialize with r2DynamicRigidBodyDesc, r2FixedRigidBodyDesc, or a kinematic description constructor. Copying this value is safe; it owns no resources and must never be freed by Rapier.

Field Documentation

◆ additionalMass

R2Real R2RigidBodyDesc::additionalMass

Nonnegative mass added to attached collider contributions.

◆ additionalMassProperties

struct R2MassProperties R2RigidBodyDesc::additionalMassProperties

Additional body-local mass and inertia when enabled.

◆ additionalPgsIterations

size_t R2RigidBodyDesc::additionalPgsIterations

Extra PGS iterations for this body.

◆ additionalSolverIterations

size_t R2RigidBodyDesc::additionalSolverIterations

Extra solver iterations for this body and connected bodies.

◆ allowFastRotation

R2Bool R2RigidBodyDesc::allowFastRotation

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

◆ angularDamping

R2Real R2RigidBodyDesc::angularDamping

Nonnegative angular damping coefficient.

◆ angvel

R2AngVector R2RigidBodyDesc::angvel

World-space angular velocity in radians per second.

◆ bodyType

uint32_t R2RigidBodyDesc::bodyType

R2_DYNAMIC, R2_FIXED, R2_KINEMATIC_POSITION_BASED, or R2_KINEMATIC_VELOCITY_BASED.

◆ canSleep

R2Bool R2RigidBodyDesc::canSleep

Whether automatic sleeping is allowed.

◆ ccdEnabled

R2Bool R2RigidBodyDesc::ccdEnabled

Whether continuous collision detection is enabled.

◆ dominanceGroup

int8_t R2RigidBodyDesc::dominanceGroup

Signed dominance group; larger groups dominate smaller groups.

◆ enabled

R2Bool R2RigidBodyDesc::enabled

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

◆ gravityScale

R2Real R2RigidBodyDesc::gravityScale

Multiplier applied to world gravity.

◆ gyroscopicForcesEnabled

R2Bool R2RigidBodyDesc::gyroscopicForcesEnabled

Whether to include gyroscopic forces (3D).

◆ linearDamping

R2Real R2RigidBodyDesc::linearDamping

Nonnegative linear damping coefficient.

◆ linvel

struct R2Vector R2RigidBodyDesc::linvel

World-space linear velocity.

◆ lockedAxes

uint8_t R2RigidBodyDesc::lockedAxes

Locked-axis bitmask; translations precede rotations.

◆ position

struct R2Pose R2RigidBodyDesc::position

World-space pose.

Examples: falling_ball.c.

◆ sleeping

R2Bool R2RigidBodyDesc::sleeping

Whether the body starts/is asleep.

◆ softCcdPrediction

R2Real R2RigidBodyDesc::softCcdPrediction

Nonnegative prediction distance for soft CCD.

◆ useAdditionalMassProperties

R2Bool R2RigidBodyDesc::useAdditionalMassProperties

1 uses additionalMassProperties; 0 uses additionalMass.

◆ userData

struct R2UserData R2RigidBodyDesc::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