Class RigidBody

• Defined in File RigidBody.h

Class Documentation

class RigidBody

This class encapsulates the state of a rigid body.

Public Functions

inline RigidBody(void)

inline ~RigidBody(void)

inline void initBody(const Real mass, const Vector3r &x, const Vector3r &inertiaTensor, const Quaternionr &rotation, const VertexData &vertices, const Utilities::IndexedFaceMesh &mesh, const Vector3r &scale = Vector3r(1.0, 1.0, 1.0))

inline void initBody(const Real density, const Vector3r &x, const Quaternionr &rotation, const VertexData &vertices, const Utilities::IndexedFaceMesh &mesh, const Vector3r &scale = Vector3r(1.0, 1.0, 1.0))

inline void reset()

inline void updateInverseTransformation()

inline void rotationUpdated()

inline void updateInertiaW()

inline void determineMassProperties(const Real density)

Determine mass and inertia tensor of the given geometry.

inline const Matrix3r &getTransformationR()

inline const Vector3r &getTransformationV1()

inline const Vector3r &getTransformationV2()

inline const Vector3r &getTransformationRXV1()

inline FORCE_INLINE Real & getMass ()

inline FORCE_INLINE const Real & getMass () const

inline FORCE_INLINE void setMass (const Real &value)

inline FORCE_INLINE const Real & getInvMass () const

inline FORCE_INLINE Vector3r & getPosition ()

inline FORCE_INLINE const Vector3r & getPosition () const

inline FORCE_INLINE void setPosition (const Vector3r &pos)

inline FORCE_INLINE Vector3r & getLastPosition ()

inline FORCE_INLINE const Vector3r & getLastPosition () const

inline FORCE_INLINE void setLastPosition (const Vector3r &pos)

inline FORCE_INLINE Vector3r & getOldPosition ()

inline FORCE_INLINE const Vector3r & getOldPosition () const

inline FORCE_INLINE void setOldPosition (const Vector3r &pos)

inline FORCE_INLINE Vector3r & getPosition0 ()

inline FORCE_INLINE const Vector3r & getPosition0 () const

inline FORCE_INLINE void setPosition0 (const Vector3r &pos)

inline FORCE_INLINE Vector3r & getPositionInitial_MAT ()

inline FORCE_INLINE const Vector3r & getPositionInitial_MAT () const

inline FORCE_INLINE void setPositionInitial_MAT (const Vector3r &pos)

inline FORCE_INLINE Vector3r & getVelocity ()

inline FORCE_INLINE const Vector3r & getVelocity () const

inline FORCE_INLINE void setVelocity (const Vector3r &value)

inline FORCE_INLINE Vector3r & getVelocity0 ()

inline FORCE_INLINE const Vector3r & getVelocity0 () const

inline FORCE_INLINE void setVelocity0 (const Vector3r &value)

inline FORCE_INLINE Vector3r & getAcceleration ()

inline FORCE_INLINE const Vector3r & getAcceleration () const

inline FORCE_INLINE void setAcceleration (const Vector3r &accel)

inline FORCE_INLINE const Vector3r & getInertiaTensor () const

inline FORCE_INLINE void setInertiaTensor (const Vector3r &value)

inline FORCE_INLINE Matrix3r & getInertiaTensorW ()

inline FORCE_INLINE const Matrix3r & getInertiaTensorW () const

inline FORCE_INLINE const Vector3r & getInertiaTensorInverse () const

inline FORCE_INLINE Matrix3r & getInertiaTensorInverseW ()

inline FORCE_INLINE const Matrix3r & getInertiaTensorInverseW () const

inline FORCE_INLINE void setInertiaTensorInverseW (const Matrix3r &value)

inline FORCE_INLINE Quaternionr & getRotation ()

inline FORCE_INLINE const Quaternionr & getRotation () const

inline FORCE_INLINE void setRotation (const Quaternionr &value)

inline FORCE_INLINE Quaternionr & getLastRotation ()

inline FORCE_INLINE const Quaternionr & getLastRotation () const

inline FORCE_INLINE void setLastRotation (const Quaternionr &value)

inline FORCE_INLINE Quaternionr & getOldRotation ()

inline FORCE_INLINE const Quaternionr & getOldRotation () const

inline FORCE_INLINE void setOldRotation (const Quaternionr &value)

inline FORCE_INLINE Quaternionr & getRotation0 ()

inline FORCE_INLINE const Quaternionr & getRotation0 () const

inline FORCE_INLINE void setRotation0 (const Quaternionr &value)

inline FORCE_INLINE Quaternionr & getRotationMAT ()

inline FORCE_INLINE const Quaternionr & getRotationMAT () const

inline FORCE_INLINE void setRotationMAT (const Quaternionr &value)

inline FORCE_INLINE Quaternionr & getRotationInitial ()

inline FORCE_INLINE const Quaternionr & getRotationInitial () const

inline FORCE_INLINE void setRotationInitial (const Quaternionr &value)

inline FORCE_INLINE Matrix3r & getRotationMatrix ()

inline FORCE_INLINE const Matrix3r & getRotationMatrix () const

inline FORCE_INLINE void setRotationMatrix (const Matrix3r &value)

inline FORCE_INLINE Vector3r & getAngularVelocity ()

inline FORCE_INLINE const Vector3r & getAngularVelocity () const

inline FORCE_INLINE void setAngularVelocity (const Vector3r &value)

inline FORCE_INLINE Vector3r & getAngularVelocity0 ()

inline FORCE_INLINE const Vector3r & getAngularVelocity0 () const

inline FORCE_INLINE void setAngularVelocity0 (const Vector3r &value)

inline FORCE_INLINE Vector3r & getTorque ()

inline FORCE_INLINE const Vector3r & getTorque () const

inline FORCE_INLINE void setTorque (const Vector3r &value)

inline FORCE_INLINE Real getRestitutionCoeff () const

inline FORCE_INLINE void setRestitutionCoeff (Real val)

inline FORCE_INLINE Real getFrictionCoeff () const

inline FORCE_INLINE void setFrictionCoeff (Real val)

inline RigidBodyGeometry &getGeometry()