step/stepcore

StepCore::RigidBody

StepCore::RigidBody Class Reference
[Physical bodies]

#include <rigidbody.h>

Inheritance diagram for StepCore::RigidBody:

[legend]

List of all members.

Detailed Description

Rigid body.

Definition at line 144 of file rigidbody.h.


Public Types
enum	{ PositionOffset = 0, AngleOffset = 2 }
Public Member Functions
Vector2d	acceleration () const
void	addForce (const double force, const double forceVariance)
double	angle () const
double	angularAcceleration () const
double	angularMomentum () const
double	angularVelocity () const
void	applyForce (const Vector2d &force, const Vector2d &position)
void	applyTorque (double torque)
const Vector2d &	force () const
void	getAccelerations (double acceleration, double accelerationVariance)
void	getInverseMass (GmmSparseRowMatrix inverseMass, GmmSparseRowMatrix variance, int offset)
void	getVariables (double position, double velocity, double positionVariance, double velocityVariance)
double	inertia () const
double	kineticEnergy () const
double	mass () const
Vector2d	momentum () const
Vector2d	pointLocalToWorld (const Vector2d &p) const
Vector2d	pointWorldToLocal (const Vector2d &p) const
const Vector2d &	position () const
void	resetForce (bool resetVariance)
	RigidBody (Vector2d position=Vector2d(0), double angle=0, Vector2d velocity=Vector2d(0), double angularVelocity=0, double mass=1, double inertia=1)
RigidBodyErrors *	rigidBodyErrors ()
void	setAngle (double angle)
void	setAngularMomentum (double angularMomentum)
void	setAngularVelocity (double angularVelocity)
void	setForce (const Vector2d &force)
void	setInertia (double inertia)
void	setKineticEnergy (double kineticEnergy)
void	setMass (double mass)
void	setMomentum (const Vector2d &momentum)
void	setPosition (const Vector2d &position)
void	setTorque (double torque)
void	setVariables (const double position, const double velocity, const double positionVariance, const double velocityVariance)
void	setVelocity (const Vector2d &velocity)
double	torque () const
int	variablesCount ()
Vector2d	vectorLocalToWorld (const Vector2d &v) const
Vector2d	vectorWorldToLocal (const Vector2d &v) const
const Vector2d &	velocity () const
Vector2d	velocityLocal (const Vector2d &localPoint) const
Vector2d	velocityWorld (const Vector2d &worldPoint) const
Protected Member Functions
ObjectErrors *	createObjectErrors ()
Protected Attributes
double	_angle
double	_angularVelocity
Vector2d	_force
double	_inertia
double	_mass
Vector2d	_position
double	_torque
Vector2d	_velocity

Member Enumeration Documentation

anonymous enum

Enumerator:

PositionOffset	Offset of body position in variables array.
AngleOffset	Offset of body angle in variables array.

Definition at line 149 of file rigidbody.h.

Constructor & Destructor Documentation

StepCore::RigidBody::RigidBody	(	Vector2d	position = `Vector2d(0)`,
		double	angle = `0`,
		Vector2d	velocity = `Vector2d(0)`,
		double	angularVelocity = `0`,
		double	mass = `1`,
		double	inertia = `1`
	)			`[explicit]`

Constructs RigidBody.

Definition at line 163 of file rigidbody.cc.

Member Function Documentation

Vector2d StepCore::RigidBody::acceleration ( ) const [inline]

Get acceleration of the center of mass of the body.

Definition at line 184 of file rigidbody.h.

void StepCore::RigidBody::addForce	(	const double *	force,
		const double *	forceVariance
	)			`[virtual]`

Add force and (possibly) its variance to force accomulator.

Note:: This function is used only by generic constraints handling code, force objects should use body-specific functions.

Implements StepCore::Body.

Definition at line 289 of file rigidbody.cc.

double StepCore::RigidBody::angle ( ) const [inline]

Get angle of the body.

Definition at line 165 of file rigidbody.h.

double StepCore::RigidBody::angularAcceleration ( ) const [inline]

Get angular acceleration of the body.

Definition at line 187 of file rigidbody.h.

double StepCore::RigidBody::angularMomentum ( ) const [inline]

Get angular momentum of the body.

Definition at line 223 of file rigidbody.h.

double StepCore::RigidBody::angularVelocity ( ) const [inline]

Get angular velocity of the body.

Definition at line 179 of file rigidbody.h.

void StepCore::RigidBody::applyForce	(	const Vector2d &	force,
		const Vector2d &	position
	)

Apply force (and torque) to the body at given position (in World coordinates).

Definition at line 170 of file rigidbody.cc.

void StepCore::RigidBody::applyTorque ( double torque ) [inline]

Apply torque (but no force) to the body.

Definition at line 205 of file rigidbody.h.

ObjectErrors* StepCore::RigidBody::createObjectErrors ( ) [inline, protected, virtual]

For internal use only.

Creates specific ObjectErrors-derived class (to be reimplemented in derived classes)

Reimplemented from StepCore::Item.

Definition at line 266 of file rigidbody.h.

const Vector2d& StepCore::RigidBody::force ( ) const [inline]

Get force that acts upon the body.

Definition at line 190 of file rigidbody.h.

void StepCore::RigidBody::getAccelerations	(	double *	acceleration,
		double *	accelerationVariance
	)			`[virtual]`

Copy acceleration (forces left-multiplied by inverse mass) and (possibly) its variances to arrays.

Variances should only be copied if accelerationVariance != NULL.

Implements StepCore::Body.

Definition at line 273 of file rigidbody.cc.

void StepCore::RigidBody::getInverseMass	(	GmmSparseRowMatrix *	inverseMass,
		GmmSparseRowMatrix *	variance,
		int	offset
	)			`[virtual]`

Get inverse mass and (possibly) its variance matrixes.

Variance should only be copied of variance != NULL.

Implements StepCore::Body.

Definition at line 313 of file rigidbody.cc.

void StepCore::RigidBody::getVariables	(	double *	position,
		double *	velocity,
		double *	positionVariance,
		double *	velocityVariance
	)			`[virtual]`

Copy positions, velocities and (possibly) its variances to arrays.

Variances should only be copied if positionVariance != NULL.

Implements StepCore::Body.

Definition at line 233 of file rigidbody.cc.

double StepCore::RigidBody::inertia ( ) const [inline]

Get inertia "tensor" of the body.

Definition at line 213 of file rigidbody.h.

double StepCore::RigidBody::kineticEnergy ( ) const [inline]

Get kinetic energy of the body.

Definition at line 229 of file rigidbody.h.

double StepCore::RigidBody::mass ( ) const [inline]

Get mass of the body.

Definition at line 208 of file rigidbody.h.

Vector2d StepCore::RigidBody::momentum ( ) const [inline]

Get momentum of the body.

Definition at line 218 of file rigidbody.h.

Vector2d StepCore::RigidBody::pointLocalToWorld ( const Vector2d & p ) const

Translate local coordinates on body to world coordinates.

Definition at line 201 of file rigidbody.cc.

Vector2d StepCore::RigidBody::pointWorldToLocal ( const Vector2d & p ) const

Translate world coordinates to local coordinates on body.

Definition at line 209 of file rigidbody.cc.

const Vector2d& StepCore::RigidBody::position ( ) const [inline]

Get position of the center of mass of the body.

Definition at line 160 of file rigidbody.h.

void StepCore::RigidBody::resetForce ( bool resetVariance ) [virtual]

Reset force accomulator and (possibly) its variance to zero.

Variance should only be reseted if resetVariance == true.

Implements StepCore::Body.

Definition at line 302 of file rigidbody.cc.

RigidBodyErrors* StepCore::RigidBody::rigidBodyErrors ( ) [inline]

Get (and possibly create) RigidBodyErrors object.

Definition at line 262 of file rigidbody.h.

void StepCore::RigidBody::setAngle ( double angle ) [inline]

Set angle of the body.

Definition at line 167 of file rigidbody.h.

void StepCore::RigidBody::setAngularMomentum ( double angularMomentum ) [inline]

Set angular momentum of the body (will modify only angularVelocity).

Definition at line 225 of file rigidbody.h.

void StepCore::RigidBody::setAngularVelocity ( double angularVelocity ) [inline]

Set angular velocity of the body.

Definition at line 181 of file rigidbody.h.

void StepCore::RigidBody::setForce ( const Vector2d & force ) [inline]

Set force that acts upon the body.

Definition at line 192 of file rigidbody.h.

void StepCore::RigidBody::setInertia ( double inertia ) [inline]

Set inertia "tensor" of the body.

Definition at line 215 of file rigidbody.h.

void StepCore::RigidBody::setKineticEnergy ( double kineticEnergy )

Set kinetic energy of the body (will modify only velocity and (possibly) angularVelocity).

Definition at line 329 of file rigidbody.cc.

void StepCore::RigidBody::setMass ( double mass ) [inline]

Set mass of the body.

Definition at line 210 of file rigidbody.h.

void StepCore::RigidBody::setMomentum ( const Vector2d & momentum ) [inline]

Set momentum of the body (will modify only velocity).

Definition at line 220 of file rigidbody.h.

void StepCore::RigidBody::setPosition ( const Vector2d & position ) [inline]

Set position of the center of mass of the body.

Definition at line 162 of file rigidbody.h.

void StepCore::RigidBody::setTorque ( double torque ) [inline]

Set torque that acts upon the body.

Definition at line 197 of file rigidbody.h.

void StepCore::RigidBody::setVariables	(	const double *	position,
		const double *	velocity,
		const double *	positionVariance,
		const double *	velocityVariance
	)			`[virtual]`

Set positions, velocities and (possibly) its variances using values in arrays and also reset accelerations and its variances.

Variances should only be copied and reseted if positionVariance != NULL.

Implements StepCore::Body.

Definition at line 250 of file rigidbody.cc.

void StepCore::RigidBody::setVelocity ( const Vector2d & velocity ) [inline]

Set velocity of the particle.

Definition at line 172 of file rigidbody.h.

double StepCore::RigidBody::torque ( ) const [inline]

Get torque that acts upon the body.

Definition at line 195 of file rigidbody.h.

int StepCore::RigidBody::variablesCount ( ) [inline, virtual]

Get count of dynamic variables (not including velocities).

Implements StepCore::Body.

Definition at line 250 of file rigidbody.h.

Vector2d StepCore::RigidBody::vectorLocalToWorld ( const Vector2d & v ) const

Translate local vector on body to world vector.

Definition at line 217 of file rigidbody.cc.

Vector2d StepCore::RigidBody::vectorWorldToLocal ( const Vector2d & v ) const

Translate world vector to local vector on body.

Definition at line 225 of file rigidbody.cc.

const Vector2d& StepCore::RigidBody::velocity ( ) const [inline]

Get velocity of the center of mass of the body.

Definition at line 170 of file rigidbody.h.

Vector2d StepCore::RigidBody::velocityLocal ( const Vector2d & localPoint ) const

Get velocity of given (local) point on the body.

Definition at line 195 of file rigidbody.cc.

Vector2d StepCore::RigidBody::velocityWorld ( const Vector2d & worldPoint ) const

Get velocity of given (world) point on the body.

Definition at line 189 of file rigidbody.cc.

Member Data Documentation

double StepCore::RigidBody::_angle [protected]

Definition at line 269 of file rigidbody.h.

double StepCore::RigidBody::_angularVelocity [protected]

Definition at line 272 of file rigidbody.h.

Vector2d StepCore::RigidBody::_force [protected]

Definition at line 274 of file rigidbody.h.

double StepCore::RigidBody::_inertia [protected]

Definition at line 278 of file rigidbody.h.

double StepCore::RigidBody::_mass [protected]

Definition at line 277 of file rigidbody.h.

Vector2d StepCore::RigidBody::_position [protected]

Definition at line 268 of file rigidbody.h.

double StepCore::RigidBody::_torque [protected]

Definition at line 275 of file rigidbody.h.

Vector2d StepCore::RigidBody::_velocity [protected]

Definition at line 271 of file rigidbody.h.

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

step/stepcore

StepCore::RigidBody Class Reference [Physical bodies]

Detailed Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

step/stepcore

kdeedu

StepCore::RigidBody Class Reference
[Physical bodies]