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| | Rigid () |
| | Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1)) More...
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| | Rigid (const MassProperties &) |
| | Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body. More...
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| Rigid & | setDefaultRigidBodyMassProperties (const MassProperties &m) |
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| | SimTK_PIMPL_DOWNCAST (Rigid, Body) |
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 Public Member Functions inherited from SimTK::Body |
| | Body () |
| | Default constructor creates an empty Body handle. More...
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| | ~Body () |
| | Destroy the handle and the body if this is the owner. More...
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| | Body (const Body &source) |
| | Copy constructor is a deep copy; the new Body is separate from the source Body. More...
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| Body & | operator= (const Body &source) |
| | Copy assignment is a deep copy; the original object is deleted if this is the owner, then replaced with a copy of the source. More...
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| | Body (const MassProperties &massProps) |
| | This is a default conversion from MassProperties to Body. More...
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| Body & | setDefaultRigidBodyMassProperties (const MassProperties &) |
| | Every type of Body should provide an initial set of rigid body mass properties defined at Topology stage (i.e., in the System rather than the State). More...
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| const MassProperties & | getDefaultRigidBodyMassProperties () const |
| | Get the default (that is, Topology stage) mass properties for this Body. More...
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| int | addDecoration (const Transform &X_BD, const DecorativeGeometry &geometry) |
| | Add a piece of decorative geometry fixed at some pose on this Body. More...
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| int | addDecoration (const DecorativeGeometry &geometry) |
| | Convenience method for when the decorative geometry is to be placed at the body frame. More...
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| int | getNumDecorations () const |
| | Obtain a count nd of how many pieces of DecorativeGeometry have been attached to this Body. More...
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| const DecorativeGeometry & | getDecoration (int i) const |
| | Get a read-only reference to the i'th piece of DecorativeGeometry that was added to this Body, with 0 <= i < getNumDecorations(). More...
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| DecorativeGeometry & | updDecoration (int i) const |
| | Get a writable reference to the i'th piece of DecorativeGeometry that was added to this Body, with 0 <= i < getNumDecorations(). More...
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| int | addContactSurface (const Transform &X_BS, const ContactSurface &shape) |
| | Create a new contact surface on a body and place it using the indicated Transform. More...
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| int | addContactSurface (const ContactSurface &shape) |
| | Convenience method for when the contact surface is to be placed at the body frame. More...
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| int | getNumContactSurfaces () const |
| | Obtain the number of contact surfaces ns attached to this Body. More...
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| const ContactSurface & | getContactSurface (int i) const |
| | Get a reference to the i'th contact surface on this body; be sure to get the Transform also. More...
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| const Transform & | getContactSurfaceTransform (int i) const |
| | Get the transform specifying the placement of the i'th contact surface on this Body. More...
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| ContactSurface & | updContactSurface (int i) |
| | Get write access to the i'th unique contact surface owned by this Body. More...
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| Transform & | updContactSurfaceTransform (int i) |
| | Get a writable reference to the transform specifying the placement of the i'th contact surface on this Body. More...
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| bool | isOwnerHandle () const |
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| bool | isEmptyHandle () const |
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| | Body (class BodyRep *r) |
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| bool | hasRep () const |
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| const BodyRep & | getRep () const |
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| BodyRep & | updRep () const |
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| void | setRep (BodyRep &r) |
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A general rigid body.
This can represent a body with mass properties that are full, linear, inertialess (e.g. a point), or massless.
1.8.11 
