Table of Contents

Class CollidableComponent

Namespace
Stride.BepuPhysics
Assembly
Stride.BepuPhysics.dll
[CategoryOrder(5, "Collider")]
[CategoryOrder(10, "Forces", Expand = ExpandRule.Once)]
[CategoryOrder(15, "Contacts", Expand = ExpandRule.Once)]
[CategoryOrder(20, "Activity", Expand = ExpandRule.Once)]
[DataContract(Inherited = true)]
[DefaultEntityComponentProcessor(typeof(CollidableProcessor), ExecutionMode = ExecutionMode.Runtime)]
public abstract class CollidableComponent : EntityComponent, IIdentifiable
Inheritance
object
CollidableComponent
Implements
Derived
Inherited Members

Constructors

CollidableComponent() 

public CollidableComponent()

Fields

CategoryActivity 

public const string CategoryActivity = "Activity"

Field Value

string

CategoryCollider 

public const string CategoryCollider = "Collider"

Field Value

string

CategoryContacts 

public const string CategoryContacts = "Contacts"

Field Value

string

CategoryForces 

public const string CategoryForces = "Forces"

Field Value

string

Properties

CenterOfMass

The center of mass of this object in local space

public Vector3 CenterOfMass { get; }

Property Value

Vector3

Remarks

This property will always return Zero if this object is not part of a simulation yet.

CollidableReference 

protected abstract CollidableReference? CollidableReference { get; }

Property Value

CollidableReference?

Collider

The collider definition used by this object.

[Display(null, "Collider", Expand = ExpandRule.Always)]
public required ICollider Collider { get; set; }

Property Value

ICollider

Remarks

Changing this value will reset some of the internal physics state of this body

CollisionGroup

This value follows up CollisionLayer when filtering out collisions. It prevents collisions between objects sharing the same Id, when the absolute difference between their IndexA, IndexB, and IndexC is less than two.

[DataAlias("FilterByDistance")]
[Display(null, "Contacts")]
public CollisionGroup CollisionGroup { get; set; }

Property Value

CollisionGroup

Remarks

Example A: You have multiple characters (A, B, C, D) all with the same CollisionLayer, they are split in two teams {A, B} and {C, D}, but you don't want members of the same team to collide between each other, you can set {A, B}'s Id to 1 and {C, D}'s Id to 2.

Example B: You have a chain of three colliders attached to each other {A, B, C}, you don't want A and C to collide with B, but A and C should collide together. Set A, B and C's Ids to 1 to start filtering, leave A's IndexA at 0, B's to 1 and C to 2. A and C will collide since the difference between their IndexA is equal to two, but neither of them will collide with B since they are both only one away from B's index.

CollisionLayer

Controls how this object interacts with other objects, allow or prevent collisions between it and other groups based on how CollisionMatrix is set up.

[DataAlias("CollisionMask")]
[Display(null, "Contacts")]
public CollisionLayer CollisionLayer { get; set; }

Property Value

CollisionLayer

ContactEventHandler

Provides the ability to collect and mutate contact data when this object collides with other objects.

[Display(null, "Contacts")]
public IContactEventHandler? ContactEventHandler { get; set; }

Property Value

IContactEventHandler

FrictionCoefficient 

[Display(null, "Forces")]
public float FrictionCoefficient { get; set; }

Property Value

float

MaterialProperties 

protected abstract ref MaterialProperties MaterialProperties { get; }

Property Value

MaterialProperties

MaximumRecoveryVelocity

The maximum speed this object will exit out of the collision when overlapping another collidable

[Display(null, "Forces")]
public float MaximumRecoveryVelocity { get; set; }

Property Value

float

Pose 

protected abstract RigidPose? Pose { get; }

Property Value

RigidPose?

ShapeIndex 

protected TypedIndex ShapeIndex { get; }

Property Value

TypedIndex

Simulation

The simulation this object belongs to, null when it is not part of a simulation.

public BepuSimulation? Simulation { get; }

Property Value

BepuSimulation

SimulationSelector

Which simulation this object is assigned to

[DefaultValueIsSceneBased]
[Display(null, "Contacts")]
public ISimulationSelector SimulationSelector { get; set; }

Property Value

ISimulationSelector

SpringDampingRatio

The amount of energy/velocity lost when this collidable bounces off

[Display(null, "Forces")]
public float SpringDampingRatio { get; set; }

Property Value

float

SpringFrequency

The bounce frequency in hz

[Display(null, "Forces")]
public float SpringFrequency { get; set; }

Property Value

float

Remarks

Must be low enough that the simulation can actually represent it. If the contact is trying to make a bounce happen at 240hz, but the integrator timestep is only 60hz, the unrepresentable motion will get damped out and the body won't bounce as much.

Methods

AttachInner(RigidPose, BodyInertia, TypedIndex)

Called every time this is added to a simulation

protected abstract void AttachInner(RigidPose pose, BodyInertia shapeInertia, TypedIndex shapeIndex)

Parameters

pose RigidPose
shapeInertia BodyInertia
shapeIndex TypedIndex

Remarks

May occur when certain larger changes are made to the object, Simulation is the one this object is being added to

DetachInner()

Called every time this is removed from the simulation

protected abstract void DetachInner()

Remarks

May occur right before AttachInner(RigidPose, BodyInertia, TypedIndex) when certain larger changes are made to the object, Simulation is the one this object was on prior to detaching

GetHandleValue() 

protected abstract int GetHandleValue()

Returns

int

IsContactHandlerRegistered() 

protected bool IsContactHandlerRegistered()

Returns

bool

RayCast(in Vector3, in Vector3, float, out HitInfo)

Finds the closest intersection between the ray provided and this shape.

public bool RayCast(in Vector3 origin, in Vector3 dir, float maxDistance, out HitInfo result)

Parameters

origin Vector3

The start position for this ray

dir Vector3

The normalized direction the ray is facing

maxDistance float

The maximum distance from the origin that hits will be collected

result HitInfo

An intersection in the world when this method returns true, an undefined value when this method returns false

Returns

bool

True when the given ray intersects with this shape, false otherwise

RayCastPenetrating(in Vector3, in Vector3, float, ICollection<HitInfo>)

Collect intersections between the given ray and this shape. Hits are NOT sorted.

public void RayCastPenetrating(in Vector3 origin, in Vector3 dir, float maxDistance, ICollection<HitInfo> collection)

Parameters

origin Vector3

The start position for this ray

dir Vector3

The normalized direction the ray is facing

maxDistance float

The maximum distance from the origin that hits will be collected

collection ICollection<HitInfo>

The collection used to store hits into, the collection is not cleared before usage, hits are appended to it

Remarks

There are no guarantees as to the order hits are returned in.

RayCastPenetrating(in Vector3, in Vector3, float, Span<HitInfoStack>)

Collect intersections between the ray provided and this shape in this simulation.

public ConversionEnum<ManagedConverter, HitInfoStack, HitInfo> RayCastPenetrating(in Vector3 origin, in Vector3 dir, float maxDistance, Span<HitInfoStack> buffer)

Parameters

origin Vector3

The start position for this ray

dir Vector3

The normalized direction the ray is facing

maxDistance float

The maximum distance from the origin that hits will be collected

buffer Span<HitInfoStack>

A temporary buffer which is used as a backing array to write to, its length defines the maximum amount of info you want to read. It is used by the returned enumerator as its backing array from which you read

Returns

ConversionEnum<ManagedConverter, HitInfoStack, HitInfo>

Remarks

When there are more hits than buffer can accomodate, returns only the closest hits.
There are no guarantees as to the order hits are returned in.

RegisterContactHandler() 

protected void RegisterContactHandler()

TryUpdateMaterialProperties() 

protected void TryUpdateMaterialProperties()

UnregisterContactHandler() 

protected void UnregisterContactHandler()
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