Simbody
3.7
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This is a Body that is constitutively massless (and inertialess); meaning that no amount of fiddling with it will ever give it any mass or inertia. More...
Public Member Functions | |
Massless () | |
SimTK_PIMPL_DOWNCAST (Massless, Body) | |
Public Member Functions inherited from SimTK::Body | |
Body () | |
Default constructor creates an empty Body handle. More... | |
~Body () | |
Destroy the handle and the body if this is the owner. More... | |
Body (const Body &source) | |
Copy constructor is a deep copy; the new Body is separate from the source Body. More... | |
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... | |
Body (const MassProperties &massProps) | |
This is a default conversion from MassProperties to Body. More... | |
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... | |
const MassProperties & | getDefaultRigidBodyMassProperties () const |
Get the default (that is, Topology stage) mass properties for this Body. More... | |
int | addDecoration (const Transform &X_BD, const DecorativeGeometry &geometry) |
Add a piece of decorative geometry fixed at some pose on this Body. More... | |
int | addDecoration (const DecorativeGeometry &geometry) |
Convenience method for when the decorative geometry is to be placed at the body frame. More... | |
int | getNumDecorations () const |
Obtain a count nd of how many pieces of DecorativeGeometry have been attached to this Body. More... | |
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... | |
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... | |
int | addContactSurface (const Transform &X_BS, const ContactSurface &shape) |
Create a new ContactSurface on a body and place it using the indicated Transform. More... | |
int | addContactSurface (const ContactSurface &shape) |
Convenience method for when the contact surface is to be placed at the body frame. More... | |
int | getNumContactSurfaces () const |
Obtain the number of contact surfaces ns attached to this Body. More... | |
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... | |
const Transform & | getContactSurfaceTransform (int i) const |
Get the Transform specifying the placement of the i'th contact surface on this Body. More... | |
ContactSurface & | updContactSurface (int i) |
Get write access to the i'th unique contact surface owned by this Body. More... | |
Transform & | updContactSurfaceTransform (int i) |
Get a writable reference to the Transform specifying the placement of the i'th contact surface on this Body. More... | |
bool | isOwnerHandle () const |
bool | isEmptyHandle () const |
Body (class BodyRep *r) | |
bool | hasRep () const |
const BodyRep & | getRep () const |
BodyRep & | updRep () const |
void | setRep (BodyRep &r) |
Additional Inherited Members | |
Protected Attributes inherited from SimTK::Body | |
class BodyRep * | rep |
This is a Body that is constitutively massless (and inertialess); meaning that no amount of fiddling with it will ever give it any mass or inertia.