Rigid bodies

Descriptions and live, world-bound handles. More...

Data Structures
struct	R3RigidBodyHandle
	Copyable non-owning handle: world pointer plus entity index and generation. More...
struct	R3RigidBodyDesc
	Stack-allocated rigid-body construction data. More...
struct	R3RigidBodyState
	A copied state snapshot, with no pointers or ownership obligations. More...

Macros
#define	R3_DYNAMIC   0
	Dynamic body affected by forces and contacts.
#define	R3_FIXED   1
	Immovable body.
#define	R3_KINEMATIC_POSITION_BASED   2
	Kinematic body controlled by its next pose.
#define	R3_KINEMATIC_VELOCITY_BASED   3
	Kinematic body controlled by its velocity.
#define	R3_LOCK_TRANSLATION_X   1
	Rigid-body lock bit: translation x.
#define	R3_LOCK_TRANSLATION_Y   2
	Rigid-body lock bit: translation y.
#define	R3_LOCK_TRANSLATION_Z   4
	Rigid-body lock bit: translation z.
#define	R3_LOCK_ROTATION_X   8
	Rigid-body lock bit: rotation x.
#define	R3_LOCK_ROTATION_Y   16
	Rigid-body lock bit: rotation y.
#define	R3_LOCK_ROTATION_Z   32
	Rigid-body lock bit: rotation z.

Typedefs
typedef struct R3RigidBodyHandle	R3RigidBodyHandle
	Copyable non-owning handle: world pointer plus entity index and generation.
typedef struct R3RigidBodyDesc	R3RigidBodyDesc
	Stack-allocated rigid-body construction data.
typedef struct R3RigidBodyState	R3RigidBodyState
	A copied state snapshot, with no pointers or ownership obligations.

Functions
struct R3RigidBodyDesc	r3DynamicRigidBodyDesc (void)
	Return a dynamic rigid-body description with native defaults; no allocation.
struct R3RigidBodyDesc	r3FixedRigidBodyDesc (void)
	Return a fixed rigid-body description with native defaults; no allocation.
struct R3RigidBodyDesc	r3KinematicPositionBasedRigidBodyDesc (void)
	Return a kinematic position based rigid-body description with native defaults; no allocation.
struct R3RigidBodyDesc	r3KinematicVelocityBasedRigidBodyDesc (void)
	Return a kinematic velocity based rigid-body description with native defaults; no allocation.
struct R3RigidBodyHandle	r3InsertRigidBody (struct R3World *world, const struct R3RigidBodyDesc *desc)
	Create a body from the description and return its world-bound handle.
R3Status	r3RigidBodyPropagateModifiedBodyPositionsToColliders (struct R3World *world)
	Propagate all modified body poses to attached colliders.
R3Status	r3RigidBody_WakeUp (struct R3RigidBodyHandle handle, R3Bool strong)
	Wake a body by handle, including a soft-body cluster proxy.
size_t	r3RigidBodyCount (const struct R3World *world)
	Return the number of rigid body objects in the world.
size_t	r3RigidBodyHandles (const struct R3World *world, struct R3RigidBodyHandle *buffer, size_t capacity)
	Copy entity handles.
R3Bool	r3RigidBody_Contains (struct R3RigidBodyHandle handle)
	Test whether the live world contains this rigid body handle.
R3Status	r3RemoveRigidBody (struct R3RigidBodyHandle handle, R3Bool remove_attached_colliders)
	Remove a body and its joints, optionally keeping colliders as standalone objects.
struct R3Pose	r3RigidBody_Position (struct R3RigidBodyHandle handle)
	Return the rigid body world-space pose.
struct R3Vector	r3RigidBody_Translation (struct R3RigidBodyHandle handle)
	Return the rigid body world-space translation.
struct R3Vector	r3RigidBody_Linvel (struct R3RigidBodyHandle handle)
	Return the rigid body world-space linear velocity.
R3AngVector	r3RigidBody_Angvel (struct R3RigidBodyHandle handle)
	Return the rigid body world-space angular velocity (radians per second).
R3Bool	r3RigidBody_IsSleeping (struct R3RigidBodyHandle handle)
	Return whether the rigid body is sleeping.
R3Bool	r3RigidBody_IsEnabled (struct R3RigidBodyHandle handle)
	Return whether the rigid body is enabled.
struct R3UserData	r3RigidBody_UserData (struct R3RigidBodyHandle handle)
	Return the rigid body application-owned 128-bit user value.
R3Status	r3RigidBody_SetPosition (struct R3RigidBodyHandle handle, struct R3Pose value, R3Bool wake_up)
	Set the rigid body world-space pose.
R3Status	r3RigidBody_SetTranslation (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up)
	Set the rigid body world-space translation.
R3Status	r3RigidBody_SetLinvel (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up)
	Set the rigid body world-space linear velocity.
R3Status	r3RigidBody_SetAngvel (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up)
	Set the rigid body world-space angular velocity (radians per second).
R3Status	r3RigidBody_SetNextKinematicPosition (struct R3RigidBodyHandle handle, struct R3Pose value)
	Set the rigid body next kinematic world-space pose.
R3Status	r3RigidBody_SetNextKinematicTranslation (struct R3RigidBodyHandle handle, struct R3Vector value)
	Set the rigid body next kinematic world-space translation.
R3Status	r3RigidBody_SetGravityScale (struct R3RigidBodyHandle handle, R3Real value, R3Bool wake_up)
	Set the rigid body gravity multiplier.
R3Status	r3RigidBody_SetLinearDamping (struct R3RigidBodyHandle handle, R3Real value)
	Set the rigid body linear damping coefficient.
R3Status	r3RigidBody_SetAngularDamping (struct R3RigidBodyHandle handle, R3Real value)
	Set the rigid body angular damping coefficient.
R3Status	r3RigidBody_SetEnabled (struct R3RigidBodyHandle handle, R3Bool value)
	Enable or disable the rigid body.
R3Status	r3RigidBody_SetUserData (struct R3RigidBodyHandle handle, struct R3UserData value)
	Set the rigid body application-owned 128-bit user value.
R3Status	r3RigidBody_ApplyImpulse (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up)
	Apply a world-space linear impulse.
R3Status	r3RigidBody_ApplyImpulseAtPoint (struct R3RigidBodyHandle handle, struct R3Vector value, struct R3Vector point, R3Bool wake_up)
	Apply a world-space impulse at a world-space point.
R3Status	r3RigidBody_AddForce (struct R3RigidBodyHandle handle, struct R3Vector value, R3Bool wake_up)
	Accumulate a world-space force; it persists until reset.
R3Status	r3RigidBody_ResetForces (struct R3RigidBodyHandle handle, R3Bool wake_up)
	Clear accumulated user forces.
R3Status	r3RigidBody_Sleep (struct R3RigidBodyHandle handle)
	Put the body to sleep.
size_t	r3RigidBodyReadStates (const struct R3World *world, const struct R3RigidBodyHandle *handles, size_t handle_count, struct R3RigidBodyState *states, size_t capacity)
	Copies states in the same order as handles, without allocating temporary storage.
int8_t	r3RigidBody_DominanceGroup (struct R3RigidBodyHandle handle)
	Return the rigid body signed dominance group.
size_t	r3RigidBody_AdditionalSolverIterations (struct R3RigidBodyHandle handle)
	Return the rigid body additional solver iterations for connected bodies.
size_t	r3RigidBody_AdditionalPgsIterations (struct R3RigidBodyHandle handle)
	Return the rigid body additional PGS iterations for connected bodies.
R3Bool	r3RigidBody_IsFastRotationAllowed (struct R3RigidBodyHandle handle)
	Return whether the rigid body may exceed the angular-velocity limit of its CCD.
R3Status	r3RigidBody_SetAllowFastRotation (struct R3RigidBodyHandle handle, R3Bool value)
	Allow or disallow the rigid body to exceed the angular-velocity limit of its CCD (e.g.
R3Status	r3RigidBody_SetAdditionalMassProperties (struct R3RigidBodyHandle handle, struct R3MassProperties properties, R3Bool wake_up)
	Set the rigid body local mass properties added to collider contributions.
R3Status	r3RigidBody_RecomputeMassPropertiesFromColliders (struct R3RigidBodyHandle handle)
	Recompute body mass and inertia from attached colliders and additional mass properties.
R3Status	r3RigidBody_SetLockedAxes (struct R3RigidBodyHandle handle, uint8_t axes, R3Bool wake_up)
	Set the rigid body translation/rotation lock bitmask.
uint8_t	r3RigidBody_LockedAxes (struct R3RigidBodyHandle handle)
	Return the rigid body translation/rotation lock bitmask.
struct R3Pose	r3RigidBody_NextPosition (struct R3RigidBodyHandle handle)
	Return the rigid body next kinematic world-space pose.
struct R3Rotation	r3RigidBody_Rotation (struct R3RigidBodyHandle handle)
	Return the rigid body world-space rotation.
struct R3Vector	r3RigidBody_CenterOfMass (struct R3RigidBodyHandle handle)
	Return the rigid body world-space center of mass.
struct R3Vector	r3RigidBody_LocalCenterOfMass (struct R3RigidBodyHandle handle)
	Return the rigid body body-local center of mass.
struct R3Vector	r3RigidBody_UserForce (struct R3RigidBodyHandle handle)
	Return the rigid body accumulated user-applied world-space force.
R3AngVector	r3RigidBody_UserTorque (struct R3RigidBodyHandle handle)
	Return the rigid body accumulated user-applied world-space torque.
uint32_t	r3RigidBody_BodyType (struct R3RigidBodyHandle handle)
	Return the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).
R3Real	r3RigidBody_Mass (struct R3RigidBodyHandle handle)
	Return the rigid body mass.
R3Real	r3RigidBody_GravityScale (struct R3RigidBodyHandle handle)
	Return the rigid body gravity multiplier.
R3Real	r3RigidBody_LinearDamping (struct R3RigidBodyHandle handle)
	Return the rigid body linear damping coefficient.
R3Real	r3RigidBody_AngularDamping (struct R3RigidBodyHandle handle)
	Return the rigid body angular damping coefficient.
R3Real	r3RigidBody_KineticEnergy (struct R3RigidBodyHandle handle)
	Return the rigid body kinetic energy.
R3Real	r3RigidBody_SoftCcdPrediction (struct R3RigidBodyHandle handle)
	Return the rigid body soft-CCD prediction distance.
R3Bool	r3RigidBody_IsCcdEnabled (struct R3RigidBodyHandle handle)
	Return whether the rigid body is using continuous collision detection.
R3Bool	r3RigidBody_IsDynamic (struct R3RigidBodyHandle handle)
	Return whether the rigid body is dynamic.
R3Bool	r3RigidBody_IsFixed (struct R3RigidBodyHandle handle)
	Return whether the rigid body is fixed.
R3Bool	r3RigidBody_IsKinematic (struct R3RigidBodyHandle handle)
	Return whether the rigid body is kinematic.
R3Bool	r3RigidBody_IsMoving (struct R3RigidBodyHandle handle)
	Return whether the rigid body is moving.
R3Bool	r3RigidBody_IsCcdActive (struct R3RigidBodyHandle handle)
	Return whether the rigid body is currently using CCD for its motion.
R3Status	r3RigidBody_SetRotation (struct R3RigidBodyHandle handle, struct R3Rotation value, R3Bool wake_up)
	Set the rigid body world-space rotation.
R3Status	r3RigidBody_SetBodyType (struct R3RigidBodyHandle handle, uint32_t value, R3Bool wake_up)
	Set the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).
R3Status	r3RigidBody_SetNextKinematicRotation (struct R3RigidBodyHandle handle, struct R3Rotation value)
	Set the rigid body next kinematic world-space rotation.
R3Status	r3RigidBody_SetAdditionalMass (struct R3RigidBodyHandle handle, R3Real value, R3Bool wake_up)
	Set the rigid body mass added to collider contributions.
R3Status	r3RigidBody_SetSoftCcdPrediction (struct R3RigidBodyHandle handle, R3Real value)
	Set the rigid body soft-CCD prediction distance.
R3Status	r3RigidBody_SetCcdEnabled (struct R3RigidBodyHandle handle, R3Bool value)
	Enable or disable using continuous collision detection for the rigid body.
R3Status	r3RigidBody_SetTranslationsLocked (struct R3RigidBodyHandle handle, R3Bool value, R3Bool wake_up)
	Enable or disable locking translation for the rigid body.
R3Status	r3RigidBody_SetRotationsLocked (struct R3RigidBodyHandle handle, R3Bool value, R3Bool wake_up)
	Enable or disable locking rotation for the rigid body.
R3Status	r3RigidBody_SetDominanceGroup (struct R3RigidBodyHandle handle, int8_t value)
	Set the rigid body signed dominance group.
R3Status	r3RigidBody_SetAdditionalSolverIterations (struct R3RigidBodyHandle handle, size_t value)
	Set the rigid body additional solver iterations for connected bodies.
R3Status	r3RigidBody_SetAdditionalPgsIterations (struct R3RigidBodyHandle handle, size_t value)
	Set the rigid body additional PGS iterations.
R3Status	r3RigidBody_AddTorque (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up)
	Accumulate a world-space torque; it persists until reset.
R3Status	r3RigidBody_ApplyTorqueImpulse (struct R3RigidBodyHandle handle, R3AngVector value, R3Bool wake_up)
	Apply a world-space angular impulse.
R3Status	r3RigidBody_AddForceAtPoint (struct R3RigidBodyHandle handle, struct R3Vector value, struct R3Vector point, R3Bool wake_up)
	Accumulate a world-space force applied at a world-space point.
R3Status	r3RigidBody_ResetTorques (struct R3RigidBodyHandle handle, R3Bool wake_up)
	Clear accumulated user torques.
struct R3Vector	r3RigidBody_VelocityAtPoint (struct R3RigidBodyHandle handle, struct R3Vector point)
	Return world-space velocity at a world-space point, including angular motion.
size_t	r3RigidBody_Colliders (struct R3RigidBodyHandle handle, struct R3ColliderHandle *buffer, size_t capacity)
	Copy attached collider handles.
R3Bool	r3RigidBody_GyroscopicForcesEnabled (struct R3RigidBodyHandle handle)
	Return whether the rigid body is using gyroscopic forces.
R3Status	r3RigidBody_SetGyroscopicForcesEnabled (struct R3RigidBodyHandle handle, R3Bool enabled)
	Enable or disable using gyroscopic forces for the rigid body.
R3Status	r3RigidBody_ValidateHandle (struct R3RigidBodyHandle handle)
	Validate the index and generation in the live owning world.

Detailed Description

Descriptions and live, world-bound handles.

Accessors return copies. Handle operations report INVALID_HANDLE for a removed/stale entity in a live world.

Macro Definition Documentation

R3_DYNAMIC

#define R3_DYNAMIC   0

Dynamic body affected by forces and contacts.

R3_FIXED

#define R3_FIXED   1

Immovable body.

R3_KINEMATIC_POSITION_BASED

#define R3_KINEMATIC_POSITION_BASED   2

Kinematic body controlled by its next pose.

R3_KINEMATIC_VELOCITY_BASED

#define R3_KINEMATIC_VELOCITY_BASED   3

Kinematic body controlled by its velocity.

R3_LOCK_ROTATION_X

#define R3_LOCK_ROTATION_X   8

Rigid-body lock bit: rotation x.

R3_LOCK_ROTATION_Y

#define R3_LOCK_ROTATION_Y   16

Rigid-body lock bit: rotation y.

R3_LOCK_ROTATION_Z

#define R3_LOCK_ROTATION_Z   32

Rigid-body lock bit: rotation z.

R3_LOCK_TRANSLATION_X

#define R3_LOCK_TRANSLATION_X   1

Rigid-body lock bit: translation x.

R3_LOCK_TRANSLATION_Y

#define R3_LOCK_TRANSLATION_Y   2

Rigid-body lock bit: translation y.

R3_LOCK_TRANSLATION_Z

#define R3_LOCK_TRANSLATION_Z   4

Rigid-body lock bit: translation z.

Typedef Documentation

R3RigidBodyDesc

typedef struct R3RigidBodyDesc R3RigidBodyDesc

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.

R3RigidBodyHandle

typedef struct R3RigidBodyHandle R3RigidBodyHandle

Copyable non-owning handle: world pointer plus entity index and generation.

The world must remain alive throughout every use. Copying does not retain it. UINT32_MAX/UINT32_MAX with a NULL world is invalid.

R3RigidBodyState

typedef struct R3RigidBodyState R3RigidBodyState

A copied state snapshot, with no pointers or ownership obligations.

Function Documentation

r3DynamicRigidBodyDesc()

struct R3RigidBodyDesc r3DynamicRigidBodyDesc

(

void

)

Return a dynamic rigid-body description with native defaults; no allocation.

r3FixedRigidBodyDesc()

struct R3RigidBodyDesc r3FixedRigidBodyDesc

(

void

)

Return a fixed rigid-body description with native defaults; no allocation.

r3InsertRigidBody()

struct R3RigidBodyHandle r3InsertRigidBody	(	struct R3World *	world,
		const struct R3RigidBodyDesc *	desc )

Create a body from the description and return its world-bound handle.

The world owns the body.

r3KinematicPositionBasedRigidBodyDesc()

struct R3RigidBodyDesc r3KinematicPositionBasedRigidBodyDesc

(

void

)

Return a kinematic position based rigid-body description with native defaults; no allocation.

r3KinematicVelocityBasedRigidBodyDesc()

struct R3RigidBodyDesc r3KinematicVelocityBasedRigidBodyDesc

(

void

)

Return a kinematic velocity based rigid-body description with native defaults; no allocation.

r3RemoveRigidBody()

R3Status r3RemoveRigidBody	(	struct R3RigidBodyHandle	handle,
		R3Bool	remove_attached_colliders )

Remove a body and its joints, optionally keeping colliders as standalone objects.

A removed or stale handle fails with R3_INVALID_HANDLE, like the other Remove functions. Removing a soft-body cluster proxy removes its cluster (see r3SoftBody_RemoveCluster). The root body of a soft body is rejected: remove the soft body with r3RemoveSoftBody.

r3RigidBody_AddForce()

R3Status r3RigidBody_AddForce	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		R3Bool	wake_up )

Accumulate a world-space force; it persists until reset.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_AddForceAtPoint()

R3Status r3RigidBody_AddForceAtPoint	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		struct R3Vector	point,
		R3Bool	wake_up )

Accumulate a world-space force applied at a world-space point.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_AdditionalPgsIterations()

size_t r3RigidBody_AdditionalPgsIterations

(

struct R3RigidBodyHandle

handle

)

Return the rigid body additional PGS iterations for connected bodies.

r3RigidBody_AdditionalSolverIterations()

size_t r3RigidBody_AdditionalSolverIterations

(

struct R3RigidBodyHandle

handle

)

Return the rigid body additional solver iterations for connected bodies.

r3RigidBody_AddTorque()

R3Status r3RigidBody_AddTorque	(	struct R3RigidBodyHandle	handle,
		R3AngVector	value,
		R3Bool	wake_up )

Accumulate a world-space torque; it persists until reset.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_AngularDamping()

R3Real r3RigidBody_AngularDamping

(

struct R3RigidBodyHandle

handle

)

Return the rigid body angular damping coefficient.

r3RigidBody_Angvel()

R3AngVector r3RigidBody_Angvel

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space angular velocity (radians per second).

r3RigidBody_ApplyImpulse()

R3Status r3RigidBody_ApplyImpulse	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		R3Bool	wake_up )

Apply a world-space linear impulse.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_ApplyImpulseAtPoint()

R3Status r3RigidBody_ApplyImpulseAtPoint	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		struct R3Vector	point,
		R3Bool	wake_up )

Apply a world-space impulse at a world-space point.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_ApplyTorqueImpulse()

R3Status r3RigidBody_ApplyTorqueImpulse	(	struct R3RigidBodyHandle	handle,
		R3AngVector	value,
		R3Bool	wake_up )

Apply a world-space angular impulse.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_BodyType()

uint32_t r3RigidBody_BodyType

(

struct R3RigidBodyHandle

handle

)

Return the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).

r3RigidBody_CenterOfMass()

struct R3Vector r3RigidBody_CenterOfMass

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space center of mass.

r3RigidBody_Colliders()

size_t r3RigidBody_Colliders	(	struct R3RigidBodyHandle	handle,
		struct R3ColliderHandle *	buffer,
		size_t	capacity )

Copy attached collider handles.

See also

Arrays and output buffers

r3RigidBody_Contains()

R3Bool r3RigidBody_Contains

(

struct R3RigidBodyHandle

handle

)

Test whether the live world contains this rigid body handle.

A removed/stale handle returns false.

r3RigidBody_DominanceGroup()

int8_t r3RigidBody_DominanceGroup

(

struct R3RigidBodyHandle

handle

)

Return the rigid body signed dominance group.

r3RigidBody_GravityScale()

R3Real r3RigidBody_GravityScale

(

struct R3RigidBodyHandle

handle

)

Return the rigid body gravity multiplier.

r3RigidBody_GyroscopicForcesEnabled()

R3Bool r3RigidBody_GyroscopicForcesEnabled

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is using gyroscopic forces.

r3RigidBody_IsCcdActive()

R3Bool r3RigidBody_IsCcdActive

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is currently using CCD for its motion.

r3RigidBody_IsCcdEnabled()

R3Bool r3RigidBody_IsCcdEnabled

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is using continuous collision detection.

r3RigidBody_IsDynamic()

R3Bool r3RigidBody_IsDynamic

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is dynamic.

r3RigidBody_IsEnabled()

R3Bool r3RigidBody_IsEnabled

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is enabled.

r3RigidBody_IsFastRotationAllowed()

R3Bool r3RigidBody_IsFastRotationAllowed

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body may exceed the angular-velocity limit of its CCD.

r3RigidBody_IsFixed()

R3Bool r3RigidBody_IsFixed

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is fixed.

r3RigidBody_IsKinematic()

R3Bool r3RigidBody_IsKinematic

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is kinematic.

r3RigidBody_IsMoving()

R3Bool r3RigidBody_IsMoving

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is moving.

r3RigidBody_IsSleeping()

R3Bool r3RigidBody_IsSleeping

(

struct R3RigidBodyHandle

handle

)

Return whether the rigid body is sleeping.

r3RigidBody_KineticEnergy()

R3Real r3RigidBody_KineticEnergy

(

struct R3RigidBodyHandle

handle

)

Return the rigid body kinetic energy.

r3RigidBody_LinearDamping()

R3Real r3RigidBody_LinearDamping

(

struct R3RigidBodyHandle

handle

)

Return the rigid body linear damping coefficient.

r3RigidBody_Linvel()

struct R3Vector r3RigidBody_Linvel

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space linear velocity.

r3RigidBody_LocalCenterOfMass()

struct R3Vector r3RigidBody_LocalCenterOfMass

(

struct R3RigidBodyHandle

handle

)

Return the rigid body body-local center of mass.

r3RigidBody_LockedAxes()

uint8_t r3RigidBody_LockedAxes

(

struct R3RigidBodyHandle

handle

)

Return the rigid body translation/rotation lock bitmask.

r3RigidBody_Mass()

R3Real r3RigidBody_Mass

(

struct R3RigidBodyHandle

handle

)

Return the rigid body mass.

r3RigidBody_NextPosition()

struct R3Pose r3RigidBody_NextPosition

(

struct R3RigidBodyHandle

handle

)

Return the rigid body next kinematic world-space pose.

r3RigidBody_Position()

struct R3Pose r3RigidBody_Position

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space pose.

r3RigidBody_RecomputeMassPropertiesFromColliders()

R3Status r3RigidBody_RecomputeMassPropertiesFromColliders

(

struct R3RigidBodyHandle

handle

)

Recompute body mass and inertia from attached colliders and additional mass properties.

r3RigidBody_ResetForces()

R3Status r3RigidBody_ResetForces	(	struct R3RigidBodyHandle	handle,
		R3Bool	wake_up )

Clear accumulated user forces.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_ResetTorques()

R3Status r3RigidBody_ResetTorques	(	struct R3RigidBodyHandle	handle,
		R3Bool	wake_up )

Clear accumulated user torques.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_Rotation()

struct R3Rotation r3RigidBody_Rotation

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space rotation.

r3RigidBody_SetAdditionalMass()

R3Status r3RigidBody_SetAdditionalMass	(	struct R3RigidBodyHandle	handle,
		R3Real	value,
		R3Bool	wake_up )

Set the rigid body mass added to collider contributions.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetAdditionalMassProperties()

R3Status r3RigidBody_SetAdditionalMassProperties	(	struct R3RigidBodyHandle	handle,
		struct R3MassProperties	properties,
		R3Bool	wake_up )

Set the rigid body local mass properties added to collider contributions.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetAdditionalPgsIterations()

R3Status r3RigidBody_SetAdditionalPgsIterations	(	struct R3RigidBodyHandle	handle,
		size_t	value )

Set the rigid body additional PGS iterations.

r3RigidBody_SetAdditionalSolverIterations()

R3Status r3RigidBody_SetAdditionalSolverIterations	(	struct R3RigidBodyHandle	handle,
		size_t	value )

Set the rigid body additional solver iterations for connected bodies.

r3RigidBody_SetAllowFastRotation()

R3Status r3RigidBody_SetAllowFastRotation	(	struct R3RigidBodyHandle	handle,
		R3Bool	value )

Allow or disallow the rigid body to exceed the angular-velocity limit of its CCD (e.g.

for wheels).

r3RigidBody_SetAngularDamping()

R3Status r3RigidBody_SetAngularDamping	(	struct R3RigidBodyHandle	handle,
		R3Real	value )

Set the rigid body angular damping coefficient.

r3RigidBody_SetAngvel()

R3Status r3RigidBody_SetAngvel	(	struct R3RigidBodyHandle	handle,
		R3AngVector	value,
		R3Bool	wake_up )

Set the rigid body world-space angular velocity (radians per second).

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetBodyType()

R3Status r3RigidBody_SetBodyType	(	struct R3RigidBodyHandle	handle,
		uint32_t	value,
		R3Bool	wake_up )

Set the rigid body body type (R3_DYNAMIC, R3_FIXED, or a kinematic kind).

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetCcdEnabled()

R3Status r3RigidBody_SetCcdEnabled	(	struct R3RigidBodyHandle	handle,
		R3Bool	value )

Enable or disable using continuous collision detection for the rigid body.

r3RigidBody_SetDominanceGroup()

R3Status r3RigidBody_SetDominanceGroup	(	struct R3RigidBodyHandle	handle,
		int8_t	value )

Set the rigid body signed dominance group.

r3RigidBody_SetEnabled()

R3Status r3RigidBody_SetEnabled	(	struct R3RigidBodyHandle	handle,
		R3Bool	value )

Enable or disable the rigid body.

r3RigidBody_SetGravityScale()

R3Status r3RigidBody_SetGravityScale	(	struct R3RigidBodyHandle	handle,
		R3Real	value,
		R3Bool	wake_up )

Set the rigid body gravity multiplier.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetGyroscopicForcesEnabled()

R3Status r3RigidBody_SetGyroscopicForcesEnabled	(	struct R3RigidBodyHandle	handle,
		R3Bool	enabled )

Enable or disable using gyroscopic forces for the rigid body.

r3RigidBody_SetLinearDamping()

R3Status r3RigidBody_SetLinearDamping	(	struct R3RigidBodyHandle	handle,
		R3Real	value )

Set the rigid body linear damping coefficient.

r3RigidBody_SetLinvel()

R3Status r3RigidBody_SetLinvel	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		R3Bool	wake_up )

Set the rigid body world-space linear velocity.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetLockedAxes()

R3Status r3RigidBody_SetLockedAxes	(	struct R3RigidBodyHandle	handle,
		uint8_t	axes,
		R3Bool	wake_up )

Set the rigid body translation/rotation lock bitmask.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetNextKinematicPosition()

R3Status r3RigidBody_SetNextKinematicPosition	(	struct R3RigidBodyHandle	handle,
		struct R3Pose	value )

Set the rigid body next kinematic world-space pose.

r3RigidBody_SetNextKinematicRotation()

R3Status r3RigidBody_SetNextKinematicRotation	(	struct R3RigidBodyHandle	handle,
		struct R3Rotation	value )

Set the rigid body next kinematic world-space rotation.

r3RigidBody_SetNextKinematicTranslation()

R3Status r3RigidBody_SetNextKinematicTranslation	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value )

Set the rigid body next kinematic world-space translation.

r3RigidBody_SetPosition()

R3Status r3RigidBody_SetPosition	(	struct R3RigidBodyHandle	handle,
		struct R3Pose	value,
		R3Bool	wake_up )

Set the rigid body world-space pose.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetRotation()

R3Status r3RigidBody_SetRotation	(	struct R3RigidBodyHandle	handle,
		struct R3Rotation	value,
		R3Bool	wake_up )

Set the rigid body world-space rotation.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetRotationsLocked()

R3Status r3RigidBody_SetRotationsLocked	(	struct R3RigidBodyHandle	handle,
		R3Bool	value,
		R3Bool	wake_up )

Enable or disable locking rotation for the rigid body.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetSoftCcdPrediction()

R3Status r3RigidBody_SetSoftCcdPrediction	(	struct R3RigidBodyHandle	handle,
		R3Real	value )

Set the rigid body soft-CCD prediction distance.

r3RigidBody_SetTranslation()

R3Status r3RigidBody_SetTranslation	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	value,
		R3Bool	wake_up )

Set the rigid body world-space translation.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetTranslationsLocked()

R3Status r3RigidBody_SetTranslationsLocked	(	struct R3RigidBodyHandle	handle,
		R3Bool	value,
		R3Bool	wake_up )

Enable or disable locking translation for the rigid body.

wake_up = 1 wakes affected bodies; 0 preserves their sleep state.

r3RigidBody_SetUserData()

R3Status r3RigidBody_SetUserData	(	struct R3RigidBodyHandle	handle,
		struct R3UserData	value )

Set the rigid body application-owned 128-bit user value.

r3RigidBody_Sleep()

R3Status r3RigidBody_Sleep

(

struct R3RigidBodyHandle

handle

)

Put the body to sleep.

r3RigidBody_SoftCcdPrediction()

R3Real r3RigidBody_SoftCcdPrediction

(

struct R3RigidBodyHandle

handle

)

Return the rigid body soft-CCD prediction distance.

r3RigidBody_Translation()

struct R3Vector r3RigidBody_Translation

(

struct R3RigidBodyHandle

handle

)

Return the rigid body world-space translation.

r3RigidBody_UserData()

struct R3UserData r3RigidBody_UserData

(

struct R3RigidBodyHandle

handle

)

Return the rigid body application-owned 128-bit user value.

r3RigidBody_UserForce()

struct R3Vector r3RigidBody_UserForce

(

struct R3RigidBodyHandle

handle

)

Return the rigid body accumulated user-applied world-space force.

r3RigidBody_UserTorque()

R3AngVector r3RigidBody_UserTorque

(

struct R3RigidBodyHandle

handle

)

Return the rigid body accumulated user-applied world-space torque.

r3RigidBody_ValidateHandle()

R3Status r3RigidBody_ValidateHandle

(

struct R3RigidBodyHandle

handle

)

Validate the index and generation in the live owning world.

Cannot detect a world pointer that has already been freed.

r3RigidBody_VelocityAtPoint()

struct R3Vector r3RigidBody_VelocityAtPoint	(	struct R3RigidBodyHandle	handle,
		struct R3Vector	point )

Return world-space velocity at a world-space point, including angular motion.

r3RigidBody_WakeUp()

R3Status r3RigidBody_WakeUp	(	struct R3RigidBodyHandle	handle,
		R3Bool	strong )

Wake a body by handle, including a soft-body cluster proxy.

r3RigidBodyCount()

size_t r3RigidBodyCount

(

const struct R3World *

world

)

Return the number of rigid body objects in the world.

r3RigidBodyHandles()

size_t r3RigidBodyHandles	(	const struct R3World *	world,
		struct R3RigidBodyHandle *	buffer,
		size_t	capacity )

Copy entity handles.

See also

Arrays and output buffers

r3RigidBodyPropagateModifiedBodyPositionsToColliders()

R3Status r3RigidBodyPropagateModifiedBodyPositionsToColliders

(

struct R3World *

world

)

Propagate all modified body poses to attached colliders.

Run collision detection or step before querying the broad phase.

r3RigidBodyReadStates()

size_t r3RigidBodyReadStates	(	const struct R3World *	world,
		const struct R3RigidBodyHandle *	handles,
		size_t	handle_count,
		struct R3RigidBodyState *	states,
		size_t	capacity )

Copies states in the same order as handles, without allocating temporary storage.

All handles are validated before writing. On INVALID_HANDLE outputs are unchanged. NULL/0 is a size query. BUFFER_TOO_SMALL returns the required count and leaves states untouched.