Interface RigidBodyBridge

All Known Implementing Classes:
GenesisRigidBody, JBulletRigidBody, ODERigidBody
public interface RigidBodyBridge
Backend representation of a RigidBody.

This interface bridges the high-level Episteme RigidBody state to the low-level physics engine representation (e.g. btRigidBody).

Since:
1.0
Author:
Silvere Martin-Michiellot, Gemini AI (Google DeepMind)

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    applyCentralForce(double x, double y, double z)
    Apply a central force to the body.
    void
    applyCentralImpulse(double x, double y, double z)
    Apply a central impulse to the body.
    void
    destroy()
    Destroys native resources associated with this body.
    RigidBody
    getOwner()
    Gets the Episteme RigidBody owner of this bridge.
    void
    pullState()
    Syncs the Episteme object from the backend state.
    void
    pushState()
    Syncs the backend state from the Episteme object.

  • Method Details

    • pushState

      void pushState()
      Syncs the backend state from the Episteme object. Called before simulation step.

    • pullState

      void pullState()
      Syncs the Episteme object from the backend state. Called after simulation step.

    • applyCentralForce

      void applyCentralForce(double x, double y, double z)
      Apply a central force to the body.
      Parameters:
      x - force x
      y - force y
      z - force z

    • applyCentralImpulse

      void applyCentralImpulse(double x, double y, double z)
      Apply a central impulse to the body.
      Parameters:
      x - impulse x
      y - impulse y
      z - impulse z

    • getOwner

      RigidBody getOwner()
      Gets the Episteme RigidBody owner of this bridge.

    • destroy

      void destroy()
      Destroys native resources associated with this body.