Method createRigidBody

src/engine/PhysicsWorld.cpp:401–442

Create a rigid body into the physics world * @param transform Transformation from body local-space to world-space * @return A pointer to the body that has been created in the world */

 * @return A pointer to the body that has been created in the world
 */
RigidBody* PhysicsWorld::createRigidBody(const Transform& transform) {

    // Create a new entity for the body
    Entity entity = mEntityManager.createEntity();

    // Check that the transform is valid
    if (!transform.isValid()) {
        RP3D_LOG(mConfig.worldName, Logger::Level::Error, Logger::Category::Body,
                 "Error when creating a rigid body: the init transform is not valid",  __FILE__, __LINE__);
    }
    assert(transform.isValid());

    mTransformComponents.addComponent(entity, false, TransformComponents::TransformComponent(transform));

    // Create the rigid body
    RigidBody* rigidBody = new (mMemoryManager.allocate(MemoryManager::AllocationType::Pool,
                                     sizeof(RigidBody))) RigidBody(*this, entity);
    assert(rigidBody != nullptr);

    BodyComponents::BodyComponent bodyComponent(rigidBody);
    mBodyComponents.addComponent(entity, false, bodyComponent);

    RigidBodyComponents::RigidBodyComponent rigidBodyComponent(rigidBody, BodyType::DYNAMIC, transform.getPosition());
    mRigidBodyComponents.addComponent(entity, false, rigidBodyComponent);

    // Compute the inverse mass
    mRigidBodyComponents.setMassInverse(entity, decimal(1.0) / mRigidBodyComponents.getMass(entity));

    // Add the rigid body to the physics world
    mRigidBodies.add(rigidBody);

#ifdef IS_RP3D_PROFILING_ENABLED

    rigidBody->setProfiler(mProfiler);
#endif

    RP3D_LOG(mConfig.worldName, Logger::Level::Information, Logger::Category::Body,
             "Body " + std::to_string(entity.id) + ": New collision body created",  __FILE__, __LINE__);

    // Return the pointer to the rigid body
    return rigidBody;
}

// Destroy a rigid body and all the joints which it belongs
/**