SimTK::Body::Rigid Class Reference
A general rigid body. More...
Inheritance diagram for SimTK::Body::Rigid:
Public Member Functions | |
| Rigid () | |
| Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1)) More... | |
| 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... | |
| Rigid & | setDefaultRigidBodyMassProperties (const MassProperties &m) |
| SimTK_PIMPL_DOWNCAST (Rigid, 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 |
Detailed Description
A general rigid body.
This can represent a body with mass properties that are full, linear, inertialess (e.g. a point), or massless.
Constructor & Destructor Documentation
◆ Rigid() [1/2]
Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1))
◆ Rigid() [2/2]
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explicit |
Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body.
Member Function Documentation
◆ setDefaultRigidBodyMassProperties()
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inline |
◆ SimTK_PIMPL_DOWNCAST()
The documentation for this class was generated from the following file:
