Uses matrices to simulate multiple rigid bodies The jit.phys.multiple object uses several jit.matrix objects to simulate rigid bodies in a physics world. The two outlets connect to the position and rotate matrix inputs of a jit.gl.multiple object allowing for easy visualization of the rigid body shapes. Cycling '74 Jitter position array TEXT_HERE scale array TEXT_HERE position matrix TEXT_HERE rotate matrix TEXT_HERE dumpout TEXT_HERE Update bodies and output matrices TEXT_HERE Name of damping matrix A named matrix to use for the damping parameter if it's in the physparams list. Must be a 2-plane float32 matrix. Name of force matrix A named matrix to use for the force parameter if it's in the physparams list. Must be a 3-plane float32 matrix. Name of friction matrix A named matrix to use for the friction parameter if it's in the physparams list. Must be a 1-plane float32 matrix. Send modified constraint attributes as a dictionary Send a dictionary description of the modified constraint attributes out the dumpout. Apply an impulse to all bodies Apply an impulse (instantaneous force) to the rigid bodies using a worldspace vector described by x, y, z. Optional args relative-x, relative-y, relative-z describe a relative position on the body where the force is applied, otherwise it's a central force. Name of mass matrix A named matrix to use for the mass parameter if it's in the physparams list. Must be a 1-plane float32 matrix. Name of mesh matrix A named matrix to use for the mesh parameter if it's in the physparams list. Specifies a matrix of vertex values for determining the rigid-body convex hull or concave mesh. Must be a 3-plane float32 matrix. Name of position matrix A named matrix to use for the position parameter if it's in the physparams list. Must be a 3-plane float32 matrix. Reset instance body properties Reset all instance body properties position, and quat, and zero all forces. Name of restitution matrix A named matrix to use for the restitution parameter if it's in the physparams list. Must be a 1-plane float32 matrix. Name of rotate matrix A named matrix to use for the rotate parameter if it's in the physparams list. Must be a 4-plane float32 matrix. Name of rotatexyz matrix A named matrix to use for the rotatexyz parameter if it's in the physparams list. Must be a 3-plane float32 matrix. Name of scale matrix A named matrix to use for the scale parameter if it's in the physparams list. Must be a 3-plane float32 matrix. Send a body instance a message Send a body instance a message. If the first arg is a symbol, it's treated as the body instance name. If it's an integer, a list is expected whose length is equal to the number of dimensions of the position-matrix. Possible messages include all values for the physparams attribute (except mesh), as well as the impulse and torque_impulse messages. Send a body instance a message with reset Send a body instance a message with a reset message. See the sendbody message for more info. Send the internal constraints a message TEXT_HERE Apply a torque impulse to all bodies Apply a torque impulse (instantaneous angular force) to the rigid bodies using a worldspace vector described by x, y, z. Name of torque matrix A named matrix to use for the torque parameter if it's in the physparams list. Must be a 3-plane float32 matrix. Set and enable the internal constraints Specifies a constraint type to be used for the internal constraint matrix (default=none). When set, constraints are automatically created halfway between each rigid body and its nearest neighbor, along each dimension of the position matrix. TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE Enable reporting of constraint positions as a jit_matrix Enable reporting of constraint positions as a jit_matrix (default = 0) Constraint output matrix name TEXT_HERE Linear and angular damping Set the linear and angular damping applied to a body in the range 0. to 1. (default 0.2 0.2). Damping can be used to simulate air resistance. Enable simulation Enable bodies in the physics simulation (default = 1). Enable sleeping Enable sleeping on all bodies, causing deactivation when linear and angular velocity are 0 (default = 0). Name of this object's collision filter-class. Set the name of this object's collision filter-class (default = default). Other objects must specify the filterclass name in their filters list to enable collisions with this object. Maximum allowed unique names is 10. List of filterclass names this object collides with Specify a list of filterclass names to enable collisions with (default = all). Possible values include all, worldbox, and default. Additional values include any user-specified filterclass names (maximum allowed = 10). Apply force to all bodies Apply a force to the rigid bodies using a 3D worldspace vector (default = 0 0 0). If forces_relative is enabled, the vector is converted to object space. Forces relative flag Forces relative flag will cause all forces to be converted to object space before applying (default = 0). Friction amount The friction amount (opposite force) (default = 0.5). Applied when the body is in contact with another body that has friction. Kinematic flag Kinematic flag (default = 1). Use this mode to disable dynamics on the bodies, enable collisions, and animate using position and rotate matrices. Local scaling flag Local scaling flag (default = 0). When enabled, the scale attribute will apply a local scaling transform to the collision shape. When disabled, the rigid-body is removed and re-added to the physics world for every scale modification. Body mass Body mass (default = 1.). When set to 0. body dynamics are disabled, however collisions remain active. Instance name Specifies the name of the instance (default = UID). Inlet physics body attributes The list of physics body attributes corresponding to object inlets that are modifiable by passing in a matrix. Valid attributes are position, rotation, rotatexyz, scale, mass, friction, restitution, damping, force, torque, and mesh. Position output matrix name TEXT_HERE Reduce convex hull flag Enable automatic vertex reduction when body shape attribute is set to convexhull (default = 1). Restitution value Restitution value, or bounciness (default = 0.1). The proportion of kinetic energy preserved on impact with other rigid bodies. Rolling friction amount The rolling friction amount (opposite force for a rolling object) (default = 0.0). Applied when the body is in contact with another body that has friction. Rotate output matrix name TEXT_HERE Collision shape type Collision shape type (default = sphere). TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE TEXT_HERE A convex hull is generated that encloses the vertices specified by the mesh matrix. TEXT_HERE A concave shape is generated allowing for hollows in the shape, from the vertices specified by the mesh matrix. TEXT_HERE TEXT_HERE TEXT_HERE Enable collision shape sharing Enable collision shape sharing among body instances (default = 0). When enabled, all rigid body instances will have uniform shape scaling, ignoring the scale matrix if present. Apply torque Apply a torque (angular force) to the rigid bodies using a 3D worldspace vector (default = 0 0 0). Name of the context the bodies are bound to The name of a jit.phys.world context the rigid bodies are bound to. Settable parameters include position, rotation, rotatexyz, scale, mass, friction, restitution, damping, force, torque, and mesh. All parameters take float32 matrices. Parameter matrices can be of differing dim sizes, and will wrap to the dimensions of the matrix specified by the dimparam attribute (except for mesh).