bulletRigidBodyShape Node

Rigid body shape used in the Bullet dynamics system. This node is from the Bullet plug-in.

Node name	Parents	MFn type	Compatible function sets
bulletRigidBodyShape		MPxLocatorNode

Attributes

The bulletRigidBodyShape Node has 41 attributes:

• bodyType
• neverSleeps
• mass
• centerOfMass
• linearDamping
• angularDamping
• friction
• Restitution
• initiallySleeping
• initialVelocity
• initialAngularVelocity
• inWorldMatrix
• impulse
• impulsePosition
• torqueImpulse
• colliderShapeType (Auto Fit bool default on)
• inMesh
• axis
• length
• radius
• extents
• currentTime
• startTime
• inParentInverseMatrix
• solverInitialized
• solverUpdated
• collisionFilterGroup
• collisionFilterMask
• outColliderData
• outRigidBodyData
• isDrivenBySimulation
• outPreSolverWorldTransalate
• outPreSolverWorldRotate
• outPreSolverWorldScale
• outSolvedTranslate
• outSolvedRotate
• outSolvedWorldTranslate
• outSolvedWorldRotate
• outSolvedWorldTranslate
• outSolvedWorldRotate

Long name (short name)	Type	Default	Flags
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.
neverSleeps (notslp)	bool	false	input connectable storable
Dynamic rigid body never sleeps/deactivates. This is for optimization purposes and can help to stop the lasting simmering motion. If never sleeps is enabled, the dynamic rigid body will always participate in the simulation. If never sleeps is disabled, the rigid body will no longer participate in the simulation if its linear velocity's magnitude is below 0.8 and angular velocity's magnitude is below 1.0. The velocity thresholds are currently not exposed for user control. The rigid body will re-engage if it receives an impact.
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.
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
initiallySleeping (initslp)	bool	false	input connectable storable readable
Dynamic rigid body starts off in a sleeping/deactivated state. This is for optimization purposes. Initially sleeping only affects dynamic rigid bodies that are initially stationary. If initially sleeping is enabled, the stationary dynamic rigid body won't participate in the simulation from the start until it receives an impact. If initially sleeping is disabled, the stationary dynamic rigid body will participate in the simulation from the start.
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
inWorldMatrix (inwmat)	matrix		input connectable storable
Initial position for dynamic rigid bodies, and specified position for kinematic ones.
impulse (i)	float3	0.0, 0.0, 0.0	input connectable storable keyable
Impulse force applied to the object at a specified time
impulsePosition (ip)	float3	0.0, 0.0, 0.0	input connectable storable keyable
Position where impulse force will be applied to the object relative to the center of mass 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
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. 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. Set 'radius' and 'length'.
inMesh (imesh)	mesh		input hidden connectable storable
input mesh for the collision object as a mesh
axis (axis)	enum	1	input connectable storable
Axis specified for rigid body collision shape of cylinder or capsule type. X: X axis Y: Y axis Z: Z axis
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
currentTime (ct)	time		input hidden connectable storable
Current time for the shape.
startTime (st)	time		input hidden connectable storable
Initializing time for the shape. REVISIT
inParentInverseMatrix (inpim)	matrix		input connectable storable
The RigidBody parent inverse matrix used to calculate the local-space values for outSolvedTranslate and outSolvedRotate
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
collisionFilterGroup (cfg)	int	0	input storable
The collision filter group determines the collision groups for this rigid body, by default the rigid body belongs to the DefaultFilter group. The first 16 bits of the integer determine the collision filter groups. The display names for the collision filter groups are defined by the Bullet Solver's collision filters attribute.
collisionFilterMask (cfm)	int	0	input storable
The collision filter mask determines which other rigid bodies may collide with this body, by default this rigid body will collide with bodies belonging to the DefaultFilter group.  The first 16 bits of the integer determine the collision filter mask. The display names for the collision filter masks are defined by the Bullet Solver's collision filters attribute.
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)