OpenCAL::RigidBody Class Reference

#include <RigidBody.h>

Inheritance diagram for OpenCAL::RigidBody:

[legend]Collaboration diagram for OpenCAL::RigidBody:

[legend]List of all members.

Public Member Functions
	RigidBody (System *parent, float mass=1.0)
const Vector3 &	getAngularMomentum () const
Vector3 *	getAngularMomentumP ()
const Vector3 &	getTorque () const
Vector3 *	getTorqueP ()
const Matrix33 &	getInvInertia () const
Matrix33 *	getInvInertiaP ()
void	setTorque (const Vector3 &torque)
void	addTorque (const Vector3 &torque)
Vector3	getAngularVelocity () const
void	setAngularVelocity (const Vector3 &velocity)
virtual void	addForce (const Vector3 &force, const Vector3 &position)
virtual void	initialize ()
virtual void	calculateVolume ()=0
virtual void	calculateInversedInertia ()=0
virtual void	addToState (PhaseSpace *state)
virtual void	addToDerivative (PhaseSpace *deriv)
virtual void	fromState (PhaseSpace *state)
virtual void	disable ()
Protected Attributes
Vector3	m_angularMomentum
Vector3	m_torque
Matrix33	m_inertia
Matrix33	m_invInertia
	(inverse) Inertia tensor in body coördinates
float	m_volume

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Detailed Description

This class represents a rigid body, so a physical object with a position and an orientation.

Definition at line 31 of file RigidBody.h.

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Member Function Documentation

void RigidBody::addToDerivative (  PhaseSpace *  deriv  )  [virtual]

Implements OpenCAL::PhysicalObject. Definition at line 109 of file RigidBody.cpp. References OpenCAL::PhaseSpace::concat(), OpenCAL::PhaseSpace::concatZeros(), m_invInertia, and OpenCAL::Utils::Quaternion::toMatrix33(). Here is the call graph for this function:

void RigidBody::fromState (  PhaseSpace *  state  )  [virtual]

Should this be done here? Implements OpenCAL::PhysicalObject. Definition at line 148 of file RigidBody.cpp. References OpenCAL::PhaseSpace::getNext(), OpenCAL::Utils::Quaternion::setScalar(), OpenCAL::Utils::Quaternion::setVector(), and OpenCAL::PhaseSpace::skip(). Here is the call graph for this function:

void RigidBody::setAngularVelocity (  const Vector3 &  velocity  )

Definition at line 63 of file RigidBody.cpp. References m_invInertia, and OpenCAL::Utils::Quaternion::toMatrix33(). Here is the call graph for this function:

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The documentation for this class was generated from the following files:

• RigidBody.h
• RigidBody.cpp

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