StepCore::Body Class Reference

#include <world.h>

Inheritance diagram for StepCore::Body:

Public Member Functions
	Body ()
virtual	~Body ()
virtual void	addForce (const double *force, const double *forceVariance)=0
virtual void	getAccelerations (double *acceleration, double *accelerationVariance)=0
virtual void	getInverseMass (VectorXd *inverseMass, DynSparseRowMatrix *variance, int offset)=0
virtual void	getVariables (double *position, double *velocity, double *positionVariance, double *velocityVariance)=0
virtual void	resetForce (bool resetVariance)=0
virtual void	setVariables (const double *position, const double *velocity, const double *positionVariance, const double *velocityVariance)=0
virtual int	variablesCount ()=0
int	variablesOffset () const

Detailed Description

Interface for bodies.

Body is anything that has dynamic variables that require ODE integration

Definition at line 138 of file world.h.

Constructor & Destructor Documentation

StepCore::Body::Body ( )

inline

Definition at line 143 of file world.h.

virtual StepCore::Body::~Body ( )

inlinevirtual

Definition at line 144 of file world.h.

Member Function Documentation

virtual void StepCore::Body::addForce ( const double *  force, const double *  forceVariance  )

pure 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.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual void StepCore::Body::getAccelerations ( double *  acceleration, double *  accelerationVariance  )

pure virtual

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

Variances should only be copied if accelerationVariance != NULL.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual void StepCore::Body::getInverseMass ( VectorXd *  inverseMass, DynSparseRowMatrix *  variance, int  offset  )

pure virtual

Get inverse mass and (possibly) its variance matrixes.

Variance should only be copied of variance != NULL.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual void StepCore::Body::getVariables ( double *  position, double *  velocity, double *  positionVariance, double *  velocityVariance  )

pure virtual

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

Variances should only be copied if positionVariance != NULL.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual void StepCore::Body::resetForce ( bool  resetVariance )

pure virtual

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

Variance should only be reseted if resetVariance == true.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual void StepCore::Body::setVariables ( const double *  position, const double *  velocity, const double *  positionVariance, const double *  velocityVariance  )

pure 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.

Implemented in StepCore::RigidBody, and StepCore::Particle.

virtual int StepCore::Body::variablesCount ( )

pure virtual

Get count of dynamic variables (not including velocities)

Implemented in StepCore::RigidBody, and StepCore::Particle.

int StepCore::Body::variablesOffset ( ) const

inline

Offset of body's variables in global arrays (meaningless if the body is not a part of the world)

Definition at line 181 of file world.h.

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

• world.h