
 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 readonly 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) 
