StepCore::RigidBody Class Reference

#include <rigidbody.h>

Inheritance diagram for StepCore::RigidBody:

Public Types
enum	{ PositionOffset = 0, AngleOffset = 2 }

Public Member Functions
	RigidBody (Vector2d position=Vector2d::Zero(), double angle=0, Vector2d velocity=Vector2d::Zero(), double angularVelocity=0, double mass=1, double inertia=1)
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 (VectorXd *inverseMass, DynSparseRowMatrix *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)
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
Public Member Functions inherited from StepCore::Item
	Item (const QString &name=QString())
	Item (const Item &item)
virtual	~Item ()
Color	color () const
void	deleteObjectErrors ()
ItemGroup *	group () const
ObjectErrors *	objectErrors ()
Item &	operator= (const Item &item)
void	setColor (Color color)
virtual void	setGroup (ItemGroup *group)
virtual void	setWorld (World *world)
ObjectErrors *	tryGetObjectErrors () const
World *	world () const
virtual void	worldItemRemoved (Item *item STEPCORE_UNUSED)
Public Member Functions inherited from StepCore::Object
	Object (const QString &name=QString())
virtual	~Object ()
const QString &	name () const
void	setName (const QString &name)
Public Member Functions inherited from StepCore::Body
	Body ()
virtual	~Body ()
int	variablesOffset () const

Protected Member Functions
ObjectErrors *	createObjectErrors ()

Protected Attributes
double	_angle
double	_angularVelocity
Vector2d	_force
double	_inertia
double	_mass
Vector2d	_position
double	_torque
Vector2d	_velocity
Protected Attributes inherited from StepCore::Object
QString	_name

Detailed Description

Rigid body.

Definition at line 144 of file rigidbody.h.

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::Zero(), double  angle = 0, Vector2d  velocity = Vector2d::Zero(), 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 ( )

inlineprotectedvirtual

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

Reimplemented from StepCore::Item.

Definition at line 265 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 ( VectorXd *  inverseMass, DynSparseRowMatrix *  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 261 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 ( )

inlinevirtual

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 268 of file rigidbody.h.

double StepCore::RigidBody::_angularVelocity

protected

Definition at line 271 of file rigidbody.h.

Vector2d StepCore::RigidBody::_force

protected

Definition at line 273 of file rigidbody.h.

double StepCore::RigidBody::_inertia

protected

Definition at line 277 of file rigidbody.h.

double StepCore::RigidBody::_mass

protected

Definition at line 276 of file rigidbody.h.

Vector2d StepCore::RigidBody::_position

protected

Definition at line 267 of file rigidbody.h.

double StepCore::RigidBody::_torque

protected

Definition at line 274 of file rigidbody.h.

Vector2d StepCore::RigidBody::_velocity

protected

Definition at line 270 of file rigidbody.h.

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

• rigidbody.h
• rigidbody.cc