sheep::RigidBody Class Reference

#include <rigidbody.h>

List of all members.

Public Types
typedef IDE1Solver< StateVector >	StateDESolver
Public Member Functions
	RigidBody (Real mass, const Matrix3 &inertia)
	~RigidBody ()
Real	GetMass () const
const Matrix3 &	GetInertiaTensor () const
Matrix3	GetWorldInertiaTensor () const
void	Freeze ()
void	Unfreeze ()
bool	IsFrozen () const
void	SetPosition (const Vector3 &x)
const Vector3 &	GetPosition () const
void	SetOrientation (const Quaternion &q)
const Quaternion &	GetOrientation () const
void	SetLinearVelocity (const Vector3 &v)
Vector3	GetLinearVelocity () const
void	SetAngularVelocity (const Vector3 &omega)
Vector3	GetAngularVelocity () const
Real	GetKineticEnergy () const
Vector3	TransformVectorToWorld (const Vector3 &v) const
Vector3	TransformVectorToBody (const Vector3 &v) const
Vector3	TransformPointToWorld (const Vector3 &p) const
Vector3	TransformPointToBody (const Vector3 &p) const
Vector3	GetPointVelocity (const Vector3 &p) const
void	ApplyForce (const Vector3 &f)
void	ApplyForce (const Vector3 &f, const Vector3 &p)
void	ApplyTorque (const Vector3 &t)
void	ZeroForce ()
void	ZeroTorque ()
Vector3	GetTotalForce () const
Vector3	GetTotalTorque () const
void	ApplyLinearImpulse (const Vector3 &j)
void	ApplyAngularImpulse (const Vector3 &j)
void	SetState (const StateVector &s)
StateVector	GetState () const
void	EvolveOneStep (const StateDESolver &solver, Real t, Real h)
Private Attributes
Real	m_mass
Matrix3	m_inertia
bool	m_is_frozen
StateVector	m_state
StateVectorDE *	m_state_de
Vector3	m_total_force
Vector3	m_total_torque
Friends
class	StateVectorDE

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Member Typedef Documentation

typedef IDE1Solver<StateVector> sheep::RigidBody::StateDESolver

Definition at line 61 of file rigidbody.h. Referenced by EvolveOneStep().

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Constructor & Destructor Documentation

RigidBody::RigidBody (  Real  mass, const Matrix3 &  inertia )

Definition at line 60 of file rigidbody.cpp. References sheep::Matrix3::Determinant(), EPSILON, sheep::fnz(), m_inertia, m_is_frozen, sheep::RigidBody::StateVector::m_L, m_mass, sheep::RigidBody::StateVector::m_P, sheep::RigidBody::StateVector::m_q, m_state, m_state_de, m_total_force, m_total_torque, sheep::RigidBody::StateVector::m_x, sheep::Real, and StateVectorDE.

RigidBody::~RigidBody (   )

Definition at line 85 of file rigidbody.cpp. References m_state_de.

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Member Function Documentation

void RigidBody::ApplyAngularImpulse (  const Vector3 &  j  )  [inline]

Definition at line 399 of file rigidbody.h. Referenced by sheep::Contact::CancelNormalVelocity(), and sheep::ContactHandler::resolve_col_contact().

void RigidBody::ApplyForce (  const Vector3 &  f, const Vector3 &  p )  [inline]

Definition at line 358 of file rigidbody.h.

void RigidBody::ApplyForce (  const Vector3 &  f  )  [inline]

Definition at line 352 of file rigidbody.h. Referenced by sheep::RCTracker::ResolveAll(), and sheep::Subspace::Step().

void RigidBody::ApplyLinearImpulse (  const Vector3 &  j  )  [inline]

Definition at line 393 of file rigidbody.h. Referenced by sheep::Contact::CancelNormalVelocity(), and sheep::ContactHandler::resolve_col_contact().

void RigidBody::ApplyTorque (  const Vector3 &  t  )  [inline]

Definition at line 366 of file rigidbody.h. Referenced by sheep::Subspace::Step().

void RigidBody::EvolveOneStep (  const StateDESolver &  solver, Real  t, Real  h )

Definition at line 89 of file rigidbody.cpp. References EPSILON, sheep::IDE1Solver< T >::Integrate(), sheep::RigidBody::StateVector::m_q, m_state, m_state_de, sheep::Quaternion::Normalized(), sheep::Real, and StateDESolver. Referenced by sheep::Subspace::step_bodies().

void RigidBody::Freeze (   )  [inline]

Definition at line 246 of file rigidbody.h.

Vector3 RigidBody::GetAngularVelocity (   )  const [inline]

Definition at line 307 of file rigidbody.h. Referenced by sheep::RCTracker::compute_b_vector(), sheep::Contact::GetNormalDerivative(), and sheep::Subspace::Step().

const Matrix3 & RigidBody::GetInertiaTensor (   )  const [inline]

Definition at line 226 of file rigidbody.h.

Real RigidBody::GetKineticEnergy (   )  const [inline]

Definition at line 312 of file rigidbody.h.

Vector3 RigidBody::GetLinearVelocity (   )  const [inline]

Definition at line 294 of file rigidbody.h. Referenced by sheep::Subspace::Step().

Real RigidBody::GetMass (   )  const [inline]

Definition at line 219 of file rigidbody.h. Referenced by sheep::JointManager::ApplyContraints(), sheep::Contact::CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), and sheep::ContactHandler::resolve_col_contact().

const Quaternion & RigidBody::GetOrientation (   )  const [inline]

Definition at line 281 of file rigidbody.h. Referenced by sheep::SWIFTCollisionDetector::RefreshTransformations(), and sheep::IFrameworkApp::TransformTo().

Vector3 RigidBody::GetPointVelocity (  const Vector3 &  p  )  const [inline]

Definition at line 347 of file rigidbody.h. Referenced by sheep::Contact::Update().

const Vector3 & RigidBody::GetPosition (   )  const [inline]

Definition at line 271 of file rigidbody.h. Referenced by sheep::SWIFTCollisionDetector::RefreshTransformations(), sheep::IFrameworkApp::TransformTo(), and sheep::Contact::Update().

STATEVECTOR RigidBody::GetState (   )  const [inline]

Definition at line 411 of file rigidbody.h.

Vector3 RigidBody::GetTotalForce (   )  const [inline]

Definition at line 383 of file rigidbody.h. Referenced by sheep::RCTracker::compute_b_vector().

Vector3 RigidBody::GetTotalTorque (   )  const [inline]

Definition at line 388 of file rigidbody.h. Referenced by sheep::RCTracker::compute_b_vector().

Matrix3 RigidBody::GetWorldInertiaTensor (   )  const [inline]

Definition at line 233 of file rigidbody.h. Referenced by sheep::JointManager::ApplyContraints(), sheep::Contact::CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), and sheep::ContactHandler::resolve_col_contact().

bool RigidBody::IsFrozen (   )  const [inline]

Definition at line 261 of file rigidbody.h. Referenced by sheep::JointManager::ApplyContraints(), sheep::Contact::CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), sheep::ContactHandler::resolve_col_contact(), and sheep::Subspace::step_bodies().

void RigidBody::SetAngularVelocity (  const Vector3 &  omega  )  [inline]

Definition at line 299 of file rigidbody.h.

void RigidBody::SetLinearVelocity (  const Vector3 &  v  )  [inline]

Definition at line 286 of file rigidbody.h.

void RigidBody::SetOrientation (  const Quaternion &  q  )  [inline]

Definition at line 276 of file rigidbody.h.

void RigidBody::SetPosition (  const Vector3 &  x  )  [inline]

Definition at line 266 of file rigidbody.h.

void sheep::RigidBody::SetState (  const StateVector &  s  )  [inline]

Vector3 RigidBody::TransformPointToBody (  const Vector3 &  p  )  const [inline]

Definition at line 342 of file rigidbody.h. Referenced by sheep::Contact::Update().

Vector3 RigidBody::TransformPointToWorld (  const Vector3 &  p  )  const [inline]

Definition at line 337 of file rigidbody.h. Referenced by sheep::FixedPathJoint::CorrectError(), sheep::SphericalJoint::GetError(), sheep::Contact::GetNormalDerivative(), and sheep::Contact::Update().

Vector3 RigidBody::TransformVectorToBody (  const Vector3 &  v  )  const [inline]

Definition at line 330 of file rigidbody.h.

Vector3 RigidBody::TransformVectorToWorld (  const Vector3 &  v  )  const [inline]

Definition at line 323 of file rigidbody.h. Referenced by sheep::Contact::CancelNormalVelocity(), sheep::RCTracker::compute_A_matrix(), sheep::RCTracker::compute_b_vector(), sheep::ContactHandler::resolve_col_contact(), sheep::FixedPathJoint::Update(), and sheep::SphericalJoint::Update().

void RigidBody::Unfreeze (   )  [inline]

Definition at line 256 of file rigidbody.h.

void RigidBody::ZeroForce (   )  [inline]

Definition at line 373 of file rigidbody.h. Referenced by sheep::Subspace::Step().

void RigidBody::ZeroTorque (   )  [inline]

Definition at line 378 of file rigidbody.h. Referenced by sheep::Subspace::Step().

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Friends And Related Function Documentation

friend class StateVectorDE [friend]

Definition at line 150 of file rigidbody.h. Referenced by RigidBody().

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Member Data Documentation

Matrix3 sheep::RigidBody::m_inertia [private]

Definition at line 136 of file rigidbody.h. Referenced by RigidBody().

bool sheep::RigidBody::m_is_frozen [private]

Definition at line 138 of file rigidbody.h. Referenced by RigidBody().

Real sheep::RigidBody::m_mass [private]

Definition at line 133 of file rigidbody.h. Referenced by RigidBody().

StateVector sheep::RigidBody::m_state [private]

Definition at line 140 of file rigidbody.h. Referenced by EvolveOneStep(), and RigidBody().

StateVectorDE* sheep::RigidBody::m_state_de [private]

Definition at line 153 of file rigidbody.h. Referenced by EvolveOneStep(), RigidBody(), and ~RigidBody().

Vector3 sheep::RigidBody::m_total_force [private]

Definition at line 156 of file rigidbody.h. Referenced by RigidBody().

Vector3 sheep::RigidBody::m_total_torque [private]

Definition at line 159 of file rigidbody.h. Referenced by RigidBody().

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

• rigidbody.h
• rigidbody.cpp
• rigidbody.inl

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