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Rigid body shape used in the Bullet dynamics system.

This node is is from the "bullet" plugin

Node name Parents MFn type Compatible function sets
bulletRigidBodyShape MPxLocatorNode

Attributes (34)

currentTime, startTime, inWorldMatrix, inParentInverseMatrix, initialVelocity, initialAngularVelocity, impulse, torqueImpulse, mass, centerOfMass, linearDamping, angularDamping, friction, restitution, colliderShapeType, bodyType, length, radius, extents, inMesh, initiallySleeping, neverSleeps, solverInitialized, solverUpdated, outColliderData, outRigidBodyData, isDrivenBySimulation, outPreSolverWorldTranslate, outPreSolverWorldRotate, outPreSolverWorldScale, outSolvedTranslate, outSolvedRotate, outSolvedWorldTranslate, outSolvedWorldRotate,

Long name (short name) Type Default Flags
currentTime (ct) time input hidden connectable storable
Current time for the shape. REVISIT
startTime (st) time input hidden connectable storable
Initializing time for the shape. REVISIT
inWorldMatrix (inwmat) matrix input connectable storable
Initial position for dynamic rigid bodies, and specified position for kinematic ones.
inParentInverseMatrix (inpim) matrix input connectable storable
The RigidBody parent inverse matrix used to calculate the local-space values for outSolvedTranslate and outSolvedRotate
initialVelocity (iv) float3 0.0, 0.0, 0.0 input connectable storable
Initial velocity of the object
initialAngularVelocity (iav) float3 0.0, 0.0, 0.0 input connectable storable
Initial angular (rotational) velocity of the object
impulse (i) float3 0.0, 0.0, 0.0 input connectable storable keyable
Impulse force applied to the object at a specified time
torqueImpulse (ti) float3 0.0, 0.0, 0.0 input connectable storable keyable
Torque (rotational) impulse force applied to the object at a specified time
mass (ms) float 1.0 input connectable storable keyable
Mass of the object. If mass=0, then rigid body turns kinematic (hand-animatable).
centerOfMass (com) float3 0.0, 0.0, 0.0 input connectable storable
Center of mass for the object used as the rotational pivot.
centerOfMass (com) point readable input
Center of mass for the object used as the rotational pivot.
linearDamping (lindamp) float 0.0 input connectable storable keyable
Linear damping for the body
angularDamping (angdamp) float 0.0 input connectable storable keyable
Angular damping for the body
friction (fric) float 1.0 input connectable storable keyable
Friction for the body
restitution (restit) float 0.0 input connectable storable keyable
Restitution for the body
colliderShapeType (colshtyp) enum 1 input connectable storable
Collider primitive or generated collider used as the collider shape for the RigidBody.
  • Box: set the 'extents' for dimensions
  • Sphere: set the 'radius'
  • Capsule: cylinder with sphere caps along the X-Axis. Set 'radius' and 'length'.
  • Hull: Convex hull for an input mesh. Preferred over mesh when possible for performance.
  • Mesh: Mesh shape that is not necessarily convex. Limitation: This cannot be a Dynamic RigidBody.
  • Plane: Infinite plane with surface normal pointing up along the Y-Axis. Limitation: This cannot be a Dynamic RigidBody.
  • Cylinder: cylinder along the X-Axis. Set 'radius' and 'length'.
bodyType (bdytyp) enum 1 input connectable storable
Type of motion characteristics for this body.
  • Static Body: does not move
  • Kinematic RigidBody: hand-animatable
  • Dynamic RigidBody: moved by rigid body system after initial position set.
length (len) float 1.0 input connectable storable
length of the rigid body collision object
radius (rad) float 0.5 input connectable storable
radius of the rigid body collision object
extents (ext) float3 1.0, 1.0, 1.0 input connectable storable
extents of the bounding box for the rigid body collision object
inMesh (imesh) mesh input hidden connectable storable
input mesh for the collision object as a mesh
initiallySleeping (initslp) bool false input connectable storable
Dynamic RigidBody starts off in a sleeping/deactivated state.
initiallySleeping (initslp) bool false readable input
Dynamic RigidBody starts off in a sleeping/deactivated state.
neverSleeps (notslp) bool false input connectable storable
Dynamic RigidBody never sleeps/deactivates. Otherwise, it can be turned off (sleep/deactivate) by the Solver over time if not moving.
solverInitialized (solinit) BulletSolverData::id input connectable storable
SolverData pointer to the initialized solver. Also makes sure data processed in the correct order for new/delete and add/remove.
solverUpdated (solup) BulletSolverData::id input connectable storable
stub parameter noting that the solver has been updated for the current timestep
outColliderData (coldata) BulletColliderData::id connectable storable output
Collider shape data (output)
outRigidBodyData (rbdata) BulletRigidBodyData::id connectable storable output
Rigid body data (output)
isDrivenBySimulation (isdriven) bool false connectable storable output
Returns if Rigid Body is driven by the simulation or uses the keyed value for a particular frame. Value determined by frame number, rigid body type, and mass value. Used to connect to pairBlend weight.
outPreSolverWorldTranslate (psowt) float3 0.0, 0.0, 0.0 connectable storable output
Pre-solved translation (world-space coords) for dynamic rigid body before updated by solver (output)
outPreSolverWorldRotate (psowr) float3 0.0, 0.0, 0.0 connectable storable output
Pre-solved rotation (world-space coords) for dynamic rigid body before updated by solver (output)
outPreSolverWorldScale (psows) float3 0.0, 0.0, 0.0 connectable storable output
Pre-solved scale (world-space coords) for dynamic rigid body before updated by solver (output)
outSolvedTranslate (sot) float3 0.0, 0.0, 0.0 connectable storable output
Solved translation (local-space coords) for dynamic rigid body. Values returned if driven by simulation. (output)
outSolvedRotate (sor) float3 0.0, 0.0, 0.0 connectable storable output
Solved rotation (local-space coords) for dynamic rigid body. Values returned if driven by simulation. (output)
outPreSolverWorldTranslate (psowt) point readable output connectable
Pre-solved translation (world-space coords) for dynamic rigid body before updated by solver (output)
outPreSolverWorldRotate (psowr) point readable output connectable
Pre-solved rotation (world-space coords) for dynamic rigid body before updated by solver (output)
outPreSolverWorldScale (psows) point readable output connectable
Pre-solved scale (world-space coords) for dynamic rigid body before updated by solver (output)
outSolvedWorldTranslate (sowt) float3 0.0, 0.0, 0.0 connectable storable output
Solved translation (world-space coords) for dynamic rigid body. Values always returned. (output)
outSolvedWorldRotate (sowr) float3 0.0, 0.0, 0.0 connectable storable output
Solved rotation (world-space coords) for dynamic rigid body. Values always returned. (output)