btRigidBody

type btRigidBody = class(btCollisionObject)

  m_invInertiaTensorWorld: btMatrix3x3;

  m_linearVelocity: btVector3;

  m_angularVelocity: btVector3;

  m_inverseMass: btScalar;

  m_linearFactor: btVector3;

  m_gravity: btVector3;

  m_gravity_acceleration: btVector3;

  m_invInertiaLocal: btVector3;

  m_totalForce: btVector3;

  m_totalTorque: btVector3;

  m_linearDamping: btScalar;

  m_angularDamping: btScalar;

  m_additionalDamping: Boolean;

  m_additionalDampingFactor: btScalar;

  m_additionalLinearDampingThresholdSqr: btScalar;

  m_additionalAngularDampingThresholdSqr: btScalar;

  m_additionalAngularDampingFactor: btScalar;

  m_linearSleepingThreshold: btScalar;

  m_angularSleepingThreshold: btScalar;

  m_optionalMotionState: btMotionState;

  m_constraintRefs: btTypedConstraintArray;

  m_rigidbodyFlags: btRigidBodyFlagSet;

  m_debugBodyId: Integer;

protected

  m_deltaLinearVelocity: btVector3;

  m_deltaAngularVelocity: btVector3;

  m_angularFactor: btVector3;

  m_invMass: btVector3;

  m_turnVelocity: btVector3;

  m_pushVelocity: btVector3;

  m_contactSolverType: Integer;

  m_frictionSolverType: Integer;

  procedure setupRigidBody();

public

  constructor create();

  destructor destroy; override;

  procedure proceedToTransform();

  class function upcast();

  procedure predictIntegratedTransform();

  procedure saveKinematicState();

  procedure applyGravity;

  procedure setGravity();

  function getGravityP;

  procedure setDamping();

  function getLinearDamping;

  function getAngularDamping;

  function getLinearSleepingThreshold;

  function getAngularSleepingThreshold;

  procedure applyDamping();

  function getCollisionShape;

  procedure setMassProps();

  function getLinearFactorP;

  procedure setLinearFactor();

  function getInvMass;

  function getInvInertiaTensorWorldP;

  procedure integrateVelocities();

  procedure setCenterOfMassTransform();

  procedure applyCentralForce();

  function getTotalForceP;

  function getTotalTorqueP;

  function getInvInertiaDiagLocalP;

  procedure setInvInertiaDiagLocal();

  procedure setSleepingThresholds();

  procedure applyTorque();

  procedure applyForce();

  procedure applyCentralImpulse();

  procedure applyTorqueImpulse();

  procedure applyImpulse();

  procedure clearForces;

  procedure updateInertiaTensor;

  function getCenterOfMassPositionP;

  function getOrientation;

  function getCenterOfMassTransformP;

  function getLinearVelocityP;

  function getAngularVelocityP;

  procedure setLinearVelocity();

  procedure setAngularVelocity();

  function getVelocityInLocalPoint();

  procedure translate();

  procedure getAabb();

  function computeImpulseDenominator();

  function computeAngularImpulseDenominator();

  procedure updateDeactivation();

  function wantsSleeping;

  function getBroadphaseProxy;

  procedure setNewBroadphaseProxy();

  function getMotionState;

  procedure setMotionState();

  procedure setAngularFactor();

  function getAngularFactorP;

  function isInWorld;

  function checkCollideWithOverride(); override;

  procedure addConstraintRef();

  procedure removeConstraintRef();

  function getConstraintRef();

  function getNumConstraintRefs;

  procedure setFlags();

  function getFlags;

  function getDeltaLinearVelocityP;

  function getDeltaAngularVelocityP;

  function getPushVelocityP;

  function getTurnVelocityP;

  function internalGetDeltaLinearVelocityP;

  function internalGetDeltaAngularVelocityP;

  function internalGetAngularFactorP;

  function internalGetInvMassP;

  function internalGetPushVelocityP;

  function internalGetTurnVelocityP;

  procedure internalGetVelocityInLocalPointObsolete();

  procedure internalGetAngularVelocity();

  procedure internalApplyImpulse();

  procedure internalApplyPushImpulse();

  procedure internalWritebackVelocity();

end;

btRigidBody

btCollisionObject

TObject