#include <GranularBody.h>

Public Types
enum	MotionControl { KINEMATICS = 2 , DYNAMICS = 3 }

Public Member Functions
	GranularBody ()

	GranularBody (agx::Physics::GranularBodyPtr)

void	addForce (const Vec3 &force)

void	addForce (double fx, double fy, double fz)

void	addTorque (const Vec3 &torque)

void	addTorque (double tx, double ty, double tz)

void	destroy ()

Vec3	getAngularVelocity () const

Vec4	getColor () const

Vec3	getForce () const

unsigned int	getId () const

double	getMass () const

Material *	getMaterial () const

GranularBody::MotionControl	getMotionControl () const

Vec3	getPosition () const

double	getRadius () const

Quat	getRotation () const

Vec3	getVelocity () const

bool	is (agx::Physics::GranularBodyPtr granularBody) const

bool	isValid () const

bool	operator== (const GranularBody &other) const

agx::Physics::GranularBodyPtr	ptr () const

void	setAngularVelocity (const Vec3 &angularVelocity)

void	setAngularVelocity (double ax, double ay, double az)

void	setColor (const Vec4 &color)

void	setForce (const Vec3 &force)

void	setForce (double fx, double fy, double fz)

void	setLinearVelocity (const Vec3 &velocity)

void	setLinearVelocity (double vx, double vy, double vz)

void	setMass (double mass)

void	setMaterial (const Material *material)

void	setMotionControl (GranularBody::MotionControl motionControl)

void	setPosition (const Vec3 &position)

void	setPosition (double x, double y, double z)

void	setRadius (double radius)

void	setRotation (const EulerAngles &e)

void	setRotation (const Quat &q)

void	setTorque (const Vec3 &torque)

void	setTorque (double tx, double ty, double tz)

void	setVelocity (const Vec3 &velocity)

void	setVelocity (double vx, double vy, double vz)

Detailed Description

A GranularBody class, representing a 6DOF spherical object that interacts with the environment trough hertzian contacts with coulomb friction and rolling resistance.

Member Enumeration Documentation

◆ MotionControl

enum MOMENTUM_NAMESPACE::GranularBody::MotionControl

There are two forms of motion allowed : -KINEMATICS means that motion is scripted; -DYNAMICS means that motion results from forces;.

Enumerator

KINEMATICS

This Granular Body's motion is scripted.

(Position/velocity set by the user)

DYNAMICS

This Granular Body moves from the influence of forces.

(Position/velocity updated by the system)

Constructor & Destructor Documentation

◆ GranularBody() [1/2]

MOMENTUM_NAMESPACE::GranularBody::GranularBody ( agx::Physics::GranularBodyPtr )

Create a wrapper around an agx::Physics::GranularBodyPtr.

◆ GranularBody() [2/2]

MOMENTUM_NAMESPACE::GranularBody::GranularBody ( )

Null-constructor.

Member Function Documentation

◆ addForce() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::addForce ( const Vec3 & force )

Adds the force, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Parameters

force - the force, given in world coordinate frame,

Only available in simulation mode.

◆ addForce() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::addForce	(	double	fx,
		double	fy,
		double	fz
	)

Adds the force, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Parameters

fx,fy,fz - the force, given in world coordinate frame,

Only available in simulation mode.

◆ addTorque() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::addTorque ( const Vec3 & torque )

Adds the torque, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Parameters

torque - the torque, given in world coordinate frame

Only available in simulation mode.

◆ addTorque() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::addTorque	(	double	tx,
		double	ty,
		double	tz
	)

Adds the torque, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Parameters

tx,ty,tz - the torque, given in world coordinate frame

Only available in simulation mode.

◆ destroy()

void MOMENTUM_NAMESPACE::GranularBody::destroy ( )

Tag the GranularBody for destruction at the end of the timestep.

Will make the GranularBody non-valid.

Note: This will cause the GranularBody to return false during isValid() calls.

Only available in simulation mode.

◆ getAngularVelocity()

Vec3 MOMENTUM_NAMESPACE::GranularBody::getAngularVelocity ( ) const

Returns the current world angular velocity of the GranularBody.

Returns: The current world angular velocity of the GranularBody.

◆ getColor()

Vec4 MOMENTUM_NAMESPACE::GranularBody::getColor ( ) const

Get the color that will be used during rendering of the GranularBody.

Returns: the rendering color on the GranularBody.

◆ getForce()

Vec3 MOMENTUM_NAMESPACE::GranularBody::getForce ( ) const

Gets the current active force on the GranularBody that will be active during the next simulation step.

Returns: the current active force on the GranularBody that will be active during the next simulation step.

◆ getId()

unsigned int MOMENTUM_NAMESPACE::GranularBody::getId ( ) const

Gets the unique identifier id for the GranularBody.

Returns: the unique identifier id for the GranularBody.

◆ getMass()

double MOMENTUM_NAMESPACE::GranularBody::getMass ( ) const

Gets the mass of the GranularBody.

Returns: the mass of the GranularBody

◆ getMaterial()

Material * MOMENTUM_NAMESPACE::GranularBody::getMaterial ( ) const

Gets the active material on the GranularBody.

Returns: the material of the GranularBody

◆ getMotionControl()

GranularBody::MotionControl MOMENTUM_NAMESPACE::GranularBody::getMotionControl ( ) const

Returns: the motion control state of this rigid body

◆ getPosition()

Vec3 MOMENTUM_NAMESPACE::GranularBody::getPosition ( ) const

Returns the current world position of the GranularBody.

Returns: The current world position of the GranularBody.

◆ getRadius()

double MOMENTUM_NAMESPACE::GranularBody::getRadius ( ) const

Gets the radius of the GranularBody.

Returns: the radius of the GranularBody

◆ getRotation()

Quat MOMENTUM_NAMESPACE::GranularBody::getRotation ( ) const

Returns the current world orientation of the GranularBody.

Returns: The current world orientation of the GranularBody.

◆ getVelocity()

Vec3 MOMENTUM_NAMESPACE::GranularBody::getVelocity ( ) const

Returns the current world velocity of the GranularBody.

Returns: The current world velocity of the GranularBody.

◆ is()

bool MOMENTUM_NAMESPACE::GranularBody::is ( agx::Physics::GranularBodyPtr granularBody ) const

◆ isValid()

bool MOMENTUM_NAMESPACE::GranularBody::isValid ( ) const

Gets true/false if the active GranularBody is valid or not.

Will return false if the GranularBody has been removed from the simulation.

Returns: true/false if the GranularBody is valid, i.e removed from the simulation.

◆ operator==()

bool MOMENTUM_NAMESPACE::GranularBody::operator== ( const GranularBody & other ) const

◆ ptr()

agx::Physics::GranularBodyPtr MOMENTUM_NAMESPACE::GranularBody::ptr ( ) const

◆ setAngularVelocity() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setAngularVelocity ( const Vec3 & angularVelocity )

Set the world angular velocity of the GranularBody.

Parameters

angularVelocity - angular velocity around the respective world axis ( x, y ,z ) to set on the GranularBody.

Only available in simulation mode.

◆ setAngularVelocity() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setAngularVelocity	(	double	ax,
		double	ay,
		double	az
	)

Set the world angular velocity of the GranularBody.

Parameters

ax	- the angular velocity around the world x-axis to set.
ay	- the angular velocity around the world y-axis to set.
az	- the angular velocity around the world z-axis to set.

Only available in simulation mode.

◆ setColor()

void MOMENTUM_NAMESPACE::GranularBody::setColor ( const Vec4 & color )

Set the color that will be used during rendering of the GranularBody.

Parameters

color The color that should be set on the GranularBody

Only available in simulation mode.

◆ setForce() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setForce ( const Vec3 & force )

Explicitly set the force, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Note: Force added before calling this method will be overwritten. Force added after calling this method will be added to force.

Parameters

force - the force

Only available in simulation mode.

◆ setForce() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setForce	(	double	fx,
		double	fy,
		double	fz
	)

Explicitly set the force, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Note: Force added before calling this method will be overwritten. Force added after calling this method will be added to force.

Parameters

fx,fy,fz - the force

Only available in simulation mode.

◆ setLinearVelocity() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setLinearVelocity ( const Vec3 & velocity )

Set the world linear velocity of the GranularBody.

Parameters

velocity - the desired world linear velocity to set on the GranularBody.

Only available in simulation mode.

◆ setLinearVelocity() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setLinearVelocity	(	double	vx,
		double	vy,
		double	vz
	)

Set the world linear velocity of the GranularBody.

Parameters

vx	- the linear velocity in the world x-axis to set.
vy	- the linear velocity in the world y-axis to set.
vz	- the linear velocity in the world z-axis to set.

Only available in simulation mode.

◆ setMass()

void MOMENTUM_NAMESPACE::GranularBody::setMass ( double mass )

Explicitly set the mass of the GranularBody.

Note: this will override the mass set to the body from the material density. When a new material is set, this mass will be overridden by the specified material density.

Parameters

mass	the mass to set on the GranularBody

Only available in simulation mode.

◆ setMaterial()

void MOMENTUM_NAMESPACE::GranularBody::setMaterial ( const Material * material )

Set the material on the GranularBody.

Note: This will update the mass of the GranularBody from the material density.

Parameters

mass	the mass to set on the GranularBody

Only available in simulation mode.

◆ setMotionControl()

void MOMENTUM_NAMESPACE::GranularBody::setMotionControl ( GranularBody::MotionControl motionControl )

Assign new motion control state to this granular body.

If new state is KINEMATICS - the body will have infinite mass and only move from user velocity/position input. Default: DYNAMICS

Parameters

control - new motion control

Only available in simulation mode

◆ setPosition() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setPosition ( const Vec3 & position )

Set the world position of the GranularBody.

Parameters

position the desired position to set on the GranularBody.

Only available in simulation mode.

◆ setPosition() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setPosition	(	double	x,
		double	y,
		double	z
	)

Set the world position of the GranularBody.

Parameters

x	- desired x-coordinate in world frame
y	- desired y-coordinate in world frame
z	- desired z-coordinate in world frame

Only available in simulation mode.

◆ setRadius()

void MOMENTUM_NAMESPACE::GranularBody::setRadius ( double radius )

Explicitly set the radius of the GranularBody.

Note: the mass of the GranularBody will be automatically updated from the body material density

Parameters

radius the radius to set on the GranularBody

Only available in simulation mode.

◆ setRotation() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setRotation ( const EulerAngles & e )

Set the rotation of the GranularBody relative to world coordinate system.

Parameters

e	- rotation given as Euler angles

Only available in simulation mode

◆ setRotation() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setRotation ( const Quat & q )

Set the rotation of the GranularBody relative to world coordinate system.

Parameters

q	- rotation given as a quaternion

Only available in simulation mode

◆ setTorque() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setTorque ( const Vec3 & torque )

Explicitly set the torque, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Note: Torque added before calling this method will be overwritten. Torque added after calling this method will be added to torque.

Parameters

torque - the torque

Only available in simulation mode.

◆ setTorque() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setTorque	(	double	tx,
		double	ty,
		double	tz
	)

Explicitly set the torque, given in world coordinate frame, that will be affecting this GranularBody in the next solve.

Note: Torque added before calling this method will be overwritten. Torque added after calling this method will be added to torque.

Parameters

tx,ty,tz - the torque

Only available in simulation mode.

◆ setVelocity() [1/2]

void MOMENTUM_NAMESPACE::GranularBody::setVelocity ( const Vec3 & velocity )

◆ setVelocity() [2/2]

void MOMENTUM_NAMESPACE::GranularBody::setVelocity	(	double	vx,
		double	vy,
		double	vz
	)

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ MotionControl

Constructor & Destructor Documentation

◆ GranularBody() [1/2]

◆ GranularBody() [2/2]

Member Function Documentation

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addTorque() [1/2]

◆ addTorque() [2/2]

◆ destroy()

◆ getAngularVelocity()

◆ getColor()

◆ getForce()

◆ getId()

◆ getMass()

◆ getMaterial()

◆ getMotionControl()

◆ getPosition()

◆ getRadius()

◆ getRotation()

◆ getVelocity()

◆ is()

◆ isValid()

◆ operator==()

◆ ptr()

◆ setAngularVelocity() [1/2]

◆ setAngularVelocity() [2/2]

◆ setColor()

◆ setForce() [1/2]

◆ setForce() [2/2]

◆ setLinearVelocity() [1/2]

◆ setLinearVelocity() [2/2]

◆ setMass()

◆ setMaterial()

◆ setMotionControl()

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ setRadius()

◆ setRotation() [1/2]

◆ setRotation() [2/2]

◆ setTorque() [1/2]

◆ setTorque() [2/2]

◆ setVelocity() [1/2]

◆ setVelocity() [2/2]