class RigidBody

Public Fields

RigidBody_Integrator RBIntegrator

Public Methods

RigidBody()

virtual ~RigidBody()

void SetMass(const double &m)

Setting properties methods

void SetInertias(double ixx, double iyy, double izz, double jxz)

Set mass of the rigid body

inline void SetPosition(const Vector3D &p)

Set initial state: Vectors/Quaternion given in WORLD axes, but converted to BODY frame (xcept rCM)

void SetOrientation(const Quaternion &o)

Set Position relative to worldWorld Axes

void SetPositionAndOrientation(const Vector3D &p, const Quaternion &o)

Set Orientation relative to worldWorld Axes

void SetVelocity(const Vector3D& v)

Set Position and orientation relative to worldWorld Axes

void SetAngVelocity(const Vector3D& w)

Set translational velocity.

void SetVelocities(const Vector3D& Translational, const Vector3D& Rotational)

Set angular velocity.

void ComputeState(void)

Set translational and rotational velocities (respectively)

Vector3D Body2World(const Vector3D& v)

Axis transformations

Vector3D World2Body(const Vector3D& v) const

Converts a vector expressed in Body frame to World axes, using actual Quaternion

VectorND ComputeStateDot(double t, VectorND y)

void Move(double dt)

function to compute the dy/dt of the rigid body

void ResetForcesAndTorques(void)

Forces/Torques management:

inline void AddForce(const Vector3D &F, const Vector3D &r)

Add a force to the object: Force = force vector, r = point it is acting at, relative to CM

inline void AddForceToCenterOfMass(const Vector3D &F)

Add a force Force to point r, (in body axes)

void AddGlobalForceField(const Vector3D &F)

Add a force to center of mass of the rigidbody (in body axes).

void AddGForce(const Vector3D &F, const Vector3D &r)

Add a force field expressed in WORLD axes.

void AddGForceAtGpoint(const Vector3D &F, const Vector3D &r)

Add a force Force(in World axes) to point r (in body axes)

void AddTorque(const Vector3D &T)

Add a force Force(in World axes) to point r (in world axes)

inline Vector3D GetForces(void) const

Add a torque (in body axes)

inline Vector3D GetTorques(void) const

inline double GetMass(void) const

Mass management:

inline void AddMass(const double IncomingMass)

Returns mass

inline Vector3D GetPosition(void) const

Misc

inline Vector3D GetVelocityCM(void) const

Vector3D GetVelocityW(const Vector3D &r)

returns vCM (body axes)

inline Vector3D GetVelocityB(const Vector3D &r) const

Get the velocity(in body axes) of point r(in body axes)

inline Vector3D GetAngVelocity(void) const

inline Quaternion GetQuaternion(void) const

void GetOpenGLTransformationMatrix(double* matrix)

void OutFandT(void)

Returns current orientation in an OpenGL matrix

void OutState(void)

Prints Forces and Torques to standard output

void OutMassProperties(void)

Prints current VecorND State to standard output

int LoadXML(char* file_name)

Load a rigidbody from a XML file.

int ParseXML(xmlDocPtr doc, xmlNodePtr cur)

Parse a rigidbody node inside a XML file.

Public Members

class RigidBody_Integrator: public Integrator<RigidBody>

Integration stuff

Private Fields

double Mass

Mass properties

double Ixx

double Iyy

double Izz

double Jxz

Vector3D rCM

Kinematic variables

Quaternion Q

Position of the center of mass (world axes)

Vector3D vCM

Orientation quaternion

Vector3D wCM

Velocity of the center of mass (body axes)

VectorND State

Angular Velocity (body axes)

Vector3D Forces

Dynamic variables

Vector3D GForces

Vector3D Torques

GForces=Global Force Fields forces (in global axes)

Documentation

RigidBody()

virtual ~RigidBody()

void SetMass(const double &m)

Setting properties methods

void SetInertias(double ixx, double iyy, double izz, double jxz)

Set mass of the rigid body

inline void SetPosition(const Vector3D &p)

Set initial state: Vectors/Quaternion given in WORLD axes, but converted to BODY frame (xcept rCM)

void SetOrientation(const Quaternion &o)

Set Position relative to worldWorld Axes

void SetPositionAndOrientation(const Vector3D &p, const Quaternion &o)

Set Orientation relative to worldWorld Axes

void SetVelocity(const Vector3D& v)

Set Position and orientation relative to worldWorld Axes

void SetAngVelocity(const Vector3D& w)

Set translational velocity. (body axes)

void SetVelocities(const Vector3D& Translational, const Vector3D& Rotational)

Set angular velocity. (body axes)

void ComputeState(void)

Set translational and rotational velocities (respectively)

Vector3D Body2World(const Vector3D& v)

Axis transformations

Vector3D World2Body(const Vector3D& v) const

Converts a vector expressed in Body frame to World axes, using actual Quaternion

RigidBody_Integrator RBIntegrator

VectorND ComputeStateDot(double t, VectorND y)

void Move(double dt)

function to compute the dy/dt of the rigid body

void ResetForcesAndTorques(void)

Forces/Torques management:

inline void AddForce(const Vector3D &F, const Vector3D &r)

Add a force to the object: Force = force vector, r = point it is acting at, relative to CM

inline void AddForceToCenterOfMass(const Vector3D &F)

Add a force Force to point r, (in body axes)

void AddGlobalForceField(const Vector3D &F)

Add a force to center of mass of the rigidbody (in body axes). It does not generate torques.

void AddGForce(const Vector3D &F, const Vector3D &r)

Add a force field expressed in WORLD axes. Applied to CG

void AddGForceAtGpoint(const Vector3D &F, const Vector3D &r)

Add a force Force(in World axes) to point r (in body axes)

void AddTorque(const Vector3D &T)

Add a force Force(in World axes) to point r (in world axes)

inline Vector3D GetForces(void) const

Add a torque (in body axes)

inline Vector3D GetTorques(void) const

inline double GetMass(void) const

Mass management:

inline void AddMass(const double IncomingMass)

Returns mass

inline Vector3D GetPosition(void) const

Misc

inline Vector3D GetVelocityCM(void) const

Vector3D GetVelocityW(const Vector3D &r)

returns vCM (body axes)

inline Vector3D GetVelocityB(const Vector3D &r) const

Get the velocity(in body axes) of point r(in body axes)

inline Vector3D GetAngVelocity(void) const

inline Quaternion GetQuaternion(void) const

void GetOpenGLTransformationMatrix(double* matrix)

void OutFandT(void)

Returns current orientation in an OpenGL matrix

void OutState(void)

Prints Forces and Torques to standard output

void OutMassProperties(void)

Prints current VecorND State to standard output

int LoadXML(char* file_name)

Load a rigidbody from a XML file. (0 if OK, 1 if ERROR)

int ParseXML(xmlDocPtr doc, xmlNodePtr cur)

Parse a rigidbody node inside a XML file. (0 if OK, 1 if ERROR)

double Mass

Mass properties

double Ixx

double Iyy

double Izz

double Jxz

Vector3D rCM

Kinematic variables

Quaternion Q

Position of the center of mass (world axes)

Vector3D vCM

Orientation quaternion

Vector3D wCM

Velocity of the center of mass (body axes)

VectorND State

Angular Velocity (body axes)

Vector3D Forces

Dynamic variables

Vector3D GForces

Vector3D Torques

GForces=Global Force Fields forces (in global axes)

This class has no child classes.

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