#include <RigidBody.h>

Public Types
enum	MotionControl { STATIC = 1 , KINEMATICS = 2 , DYNAMICS = 3 }

Public Member Functions
void	addForce (const Vec3 &force)

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

void	addForceAtLocalCmPosition (const Vec3 &force, const Vec3 &position)

void	addForceAtLocalCmPosition (double fx, double fy, double fz, double px, double py, double pz)

void	addForceAtLocalPosition (const Vec3 &force, const Vec3 &position)

void	addForceAtLocalPosition (double fx, double fy, double fz, double px, double py, double pz)

void	addForceAtPosition (const Vec3 &force, const Vec3 &position)

void	addForceAtPosition (double fx, double fy, double fz, double px, double py, double pz)

void	addLocalTorque (const Vec3 &torque)

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

void	addTorque (const Vec3 &torque)

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

agx::RigidBody *	body () const

Vec3	getAngularAcceleration () const

Vec3	getAngularMomentum () const

Vec3	getAngularVelocity () const

Vec3	getAngularVelocityDamping () const

Vec3	getCmLocalTranslate () const

Vec3	getCmPosition () const

AffineMatrix4x4	getCmTransform () const

ContactPointVector	getContacts () const

bool	getEnable () const

Vec3	getForce () const

GeometryVector	getGeometries () const

Matrix3x3	getInertia ()

Vec3	getLastForce () const

Vec3	getLastTorque () const

Vec3	getLinearAcceleration () const

Vec3	getLinearMomentum () const

Vec3	getLinearVelocity () const

Vec3	getLinearVelocityDamping () const

double	getMass ()

Vec3	getModelAcceleration (const Vec3 &relPos=Vec3()) const

Vec3	getModelVelocity (const Vec3 &relPos=Vec3()) const

RigidBody::MotionControl	getMotionControl () const

std::string	getName () const

size_t	getNumConstraints () const

Vec3	getPosition () const

Quat	getRotation () const

double	getRotationalEnergy () const

Vec3	getTorque () const

double	getTotalEnergy () const

AffineMatrix4x4	getTransform () const

double	getTranslationalEnergy () const

bool	is (agx::RigidBody *body) const

bool	isEmittedBody () const

void	moveTo (const AffineMatrix4x4 &target, double t)

void	moveTo (const Vec3 &targetPosition, const Quat &targetRotation, double dt)

bool	operator== (const RigidBody &other) const

void	setAngularVelocity (const Vec3 &angularVelocity)

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

void	setAngularVelocityDamping (const Vec3 &damping)

void	setAngularVelocityDamping (double damping)

bool	setCmAndInertiaInObserver (const Observer &observer, const Matrix3x3 &inertia)

void	setCmLocalTranslate (const Vec3 &translate)

void	setCmPosition (const Vec3 &p)

void	setCmTransform (const AffineMatrix4x4 &matrix)

void	setEnable (bool enable)

void	setForce (const Vec3 &force)

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

bool	setInertia (Matrix3x3 inertia)

void	setLinearVelocity (const Vec3 &velocity)

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

void	setLinearVelocityDamping (const Vec3 &damping)

void	setLinearVelocityDamping (double damping)

void	setMass (double mass)

void	setMotionControl (RigidBody::MotionControl control)

void	setPosition (const Vec3 &p)

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

void	setRotation (const EulerAngles *e)

void	setRotation (const Quat &q)

void	setTorque (const Vec3 &torque)

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

void	setTransform (const AffineMatrix4x4 &matrix)

void	setVelocityDamping (double damping)

Detailed Description

A rigid body is a moving (translation/rotation) object with a mass and a inertia.

It can contain zero or more geometries.

Member Enumeration Documentation

◆ MotionControl

enum MOMENTUM_NAMESPACE::RigidBody::MotionControl

The MotionControl enumeration indicates what makes a RigidBody move.

There are three forms of motion allowed:

STATIC - The body has infinite mass and will not move;
KINEMATICS - The body has infinite mass and is only controlled by the velocity;
DYNAMICS - The body can be affected by forces

Enumerator

STATIC

The body has infinite mass and will not move.

KINEMATICS

The body has infinite mass and will not move.

(Position/velocity set by the user)

DYNAMICS

The body can be affected by forces.

(Position/velocity updated by the system)

Member Function Documentation

◆ addForce() [1/2]

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

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

Parameters

force - the force, given in world coordinate system,

Only available in simulation mode

◆ addForce() [2/2]

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

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

Parameters

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

Only available in simulation mode

◆ addForceAtLocalCmPosition() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtLocalCmPosition	(	const Vec3 &	force,
		const Vec3 &	position
	)

Add a force, given in world coordinate system, applied at a position relative to the center of mass.

Whenever the position is different from (0,0,0), this method will also introduce a torque.

Parameters

force	- the force, given in world coordinate system, to be added to the already previously added forces
position	- the position in local center of mass coordinate system where the force should be applied

Only available in simulation mode

◆ addForceAtLocalCmPosition() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtLocalCmPosition	(	double	fx,
		double	fy,
		double	fz,
		double	px,
		double	py,
		double	pz
	)

Add a force, given in world coordinate system, applied at a position relative to the center of mass.

Whenever the position is different from (0,0,0), this method will also introduce a torque.

Parameters

fx,fy,fz	- the force, given in world coordinate system, to be added to the already previously added forces
px,py,pz	- the position in local center of mass coordinate system where the force should be applied

Only available in simulation mode

◆ addForceAtLocalPosition() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtLocalPosition	(	const Vec3 &	force,
		const Vec3 &	position
	)

Add a force, given in world coordinate system, applied at a position given in local rigid body coordinate system.

If the position is different from the center of mass, a torque will be calculated and added as well.

Parameters

force	- the force, given in world coordinate system, to be added to the already previously added forces
position	- the position given in local coordinate system where the force should be applied

Only available in simulation mode

◆ addForceAtLocalPosition() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtLocalPosition	(	double	fx,
		double	fy,
		double	fz,
		double	px,
		double	py,
		double	pz
	)

Add a force, given in world coordinate system, applied at a position given in local rigid body coordinate system.

If the position is different from the center of mass, a torque will be calculated and added as well.

Parameters

fx,fy,fz	- the force, given in world coordinate system, to be added to the already previously added forces
px,py,pz	- the position given in local coordinate system where the force should be applied

Only available in simulation mode

◆ addForceAtPosition() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtPosition	(	const Vec3 &	force,
		const Vec3 &	position
	)

Add a force, given in world coordinate system, applied at a position given in world coordinate system.

If the position is different from the center of mass, a torque will be calculated and added as well.

Parameters

force	- the force, given in world coordinate system, to be added to the already previously added forces
position	- the position given in world coordinate system where the force should be applied

Only available in simulation mode

◆ addForceAtPosition() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::addForceAtPosition	(	double	fx,
		double	fy,
		double	fz,
		double	px,
		double	py,
		double	pz
	)

Add a force, given in world coordinate system, applied at a position given in world coordinate system.

If the position is different from the center of mass, a torque will be calculated and added as well.

Parameters

fx,fy,fz	- the force, given in world coordinate system, to be added to the already previously added forces
px,py,pz	- the position given in world coordinate system where the force should be applied

Only available in simulation mode

◆ addLocalTorque() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::addLocalTorque ( const Vec3 & torque )

Adds the torque, given in local coordinate system, that will be affecting this body in the next solve.

Parameters

torque - the torque

Only available in simulation mode

◆ addLocalTorque() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::addLocalTorque	(	double	tx,
		double	ty,
		double	tz
	)

Adds the torque, given in local coordinate system, that will be affecting this body in the next solve.

Parameters

tx,ty,tz - the torque, given in local coordinate system

Only available in simulation mode

◆ addTorque() [1/2]

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

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

Parameters

torque - the torque, given in world coordinate system

Only available in simulation mode

◆ addTorque() [2/2]

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

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

Parameters

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

Only available in simulation mode

◆ body()

agx::RigidBody * MOMENTUM_NAMESPACE::RigidBody::body ( ) const

Returns: the agx::RigidBody body instance in the model.

◆ getAngularAcceleration()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getAngularAcceleration ( ) const

Will always be 0 for KINEMATIC and STATIC bodies.

Returns: the angular acceleration as the difference in linear velocity between this and the previous time step

◆ getAngularMomentum()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getAngularMomentum ( ) const

Returns: the angular momentum for this body

◆ getAngularVelocity()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getAngularVelocity ( ) const

Angular velocity in world coordinate system.

Note: Angular velocity is independent of the point it is measured in. I.e., methods like getModelAngularVelocity are redundant.

Returns: angular velocity in world coordinate system

◆ getAngularVelocityDamping()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getAngularVelocityDamping ( ) const

Returns: the linear velocity damping, given in local body coordinate system

◆ getCmLocalTranslate()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getCmLocalTranslate ( ) const

Returns: the local offset of the center of mass position to the rigid body origin (in the local rigid body coordinate system).

◆ getCmPosition()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getCmPosition ( ) const

Returns: the center of mass position in world coordinate system

◆ getCmTransform()

AffineMatrix4x4 MOMENTUM_NAMESPACE::RigidBody::getCmTransform ( ) const

Returns: the center of mass transform in world coordinate system

◆ getContacts()

ContactPointVector MOMENTUM_NAMESPACE::RigidBody::getContacts ( ) const

Get all contacts in which this rigid body is involved.

Returns: vector with all contacts involving this rigid body

◆ getEnable()

bool MOMENTUM_NAMESPACE::RigidBody::getEnable ( ) const

Access the state enable flag.

Returns: true if the body is enabled (default) - otherwise false

◆ getForce()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getForce ( ) const

Returns: the current external force applied to the body using the method(s) add/setForce

◆ getGeometries()

GeometryVector MOMENTUM_NAMESPACE::RigidBody::getGeometries ( ) const

Get all geometries of the rigid body.

Returns: a list of all geometries under the rigid body

◆ getInertia()

Matrix3x3 MOMENTUM_NAMESPACE::RigidBody::getInertia ( )

Get the inertia of the rigid body in the specified coordinate system.

Parameters

frame the frame in which to read the inertia

Returns: the inertia of the body

◆ getLastForce()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLastForce ( ) const

Access the summed force applied to this rigid body last time the system was integrated.

See also: addForce, addForceAtPosition

Note: Forces applied by constraints and/or contacts are NOT included in this value.

◆ getLastTorque()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLastTorque ( ) const

Access the summed torque applied to this rigid body last time the system was integrated.

See also: addTorque

Note: Torques applied by constraints and/or contacts are NOT included in this value.

◆ getLinearAcceleration()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLinearAcceleration ( ) const

Will always be 0 for KINEMATIC and STATIC bodies.

Returns: the linear acceleration as the difference in linear velocity between this and the previous time step

◆ getLinearMomentum()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLinearMomentum ( ) const

Returns: the linear momentum for this body

◆ getLinearVelocity()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLinearVelocity ( ) const

Velocity of center of mass in world coordinate system.

See also: getModelVelocity

Returns: linear velocity of the center of mass frame origin, in world coordinate system

◆ getLinearVelocityDamping()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getLinearVelocityDamping ( ) const

Returns: the linear velocity damping, given in local body coordinate system

◆ getMass()

double MOMENTUM_NAMESPACE::RigidBody::getMass ( )

Get the mass of the rigid body in kilograms.

Returns: the mass of the body

◆ getModelAcceleration()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getModelAcceleration ( const Vec3 & relPos = Vec3() ) const

Calculates the linear acceleration at the given point relPos.

The point relPos must be given in model coordinate system. The resulting linear acceleration is given in world coordinate system.

See also: getAcceleration, getModelVelocity

Parameters

relPos - relative position given in model frame coordinates

Returns: linear acceleration in world frame of the point relPos

◆ getModelVelocity()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getModelVelocity ( const Vec3 & relPos = Vec3() ) const

Calculates the linear velocity at the given point relPos.

The point relPos must be given in model coordinate system. The resulting linear velocity is given in world coordinate system.

See also: getModelAcceleration, getVelocity

Parameters

relPos - relative position given in model frame coordinates

Returns: linear velocity in world frame of the point relPos

◆ getMotionControl()

RigidBody::MotionControl MOMENTUM_NAMESPACE::RigidBody::getMotionControl ( ) const

Returns: the motion control state of this rigid body

◆ getName()

std::string MOMENTUM_NAMESPACE::RigidBody::getName ( ) const

Returns: the name of this rigid body

◆ getNumConstraints()

size_t MOMENTUM_NAMESPACE::RigidBody::getNumConstraints ( ) const

Returns: the number of constraints (contacts excluded) connected to this rigid body

◆ getPosition()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getPosition ( ) const

Current rigid body position, given in world coordinate system.

Returns: the current rigid body frame position, given in world coordinate system

◆ getRotation()

Quat MOMENTUM_NAMESPACE::RigidBody::getRotation ( ) const

Current rigid body rotation, given in world coordinate system.

Returns: the current rigid body rotation, given in world coordinate system

◆ getRotationalEnergy()

double MOMENTUM_NAMESPACE::RigidBody::getRotationalEnergy ( ) const

Returns: the rotational energy for this body

◆ getTorque()

Vec3 MOMENTUM_NAMESPACE::RigidBody::getTorque ( ) const

Returns: the current external torque applied to the body using the method(s) add/setTorque

◆ getTotalEnergy()

double MOMENTUM_NAMESPACE::RigidBody::getTotalEnergy ( ) const

Returns: the total energy for this body

◆ getTransform()

AffineMatrix4x4 MOMENTUM_NAMESPACE::RigidBody::getTransform ( ) const

Current rigid body transformation, given in world coordinate system.

Returns: the current transformation of this rigid body, given in world coordinate system

◆ getTranslationalEnergy()

double MOMENTUM_NAMESPACE::RigidBody::getTranslationalEnergy ( ) const

Returns: the translational energy for this body

◆ is()

bool MOMENTUM_NAMESPACE::RigidBody::is ( agx::RigidBody * body ) const

Check if this a representation of the specified agx::RigidBody.

Parameters

body	the body to check

Returns: true if this is a wrapper for body

◆ isEmittedBody()

bool MOMENTUM_NAMESPACE::RigidBody::isEmittedBody ( ) const

Returns: true if the rigid body has been created from an emitter, false otherwise.

◆ moveTo() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::moveTo	(	const AffineMatrix4x4 &	target,
		double	t
	)

Utility method to calculate and assign linear- and angular velocity given a target transform and the time it should take to get there.

This is basically only valid if motion control is set to KINEMATICS.

Note: This method only calculates a velocity required to reach the target transform with time t. The rigid body will not stop at target transform after time t.

Parameters

target	- target transform given in world coordinate system
t	- time this rigid body has to reach the target

Only available in simulation mode

◆ moveTo() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::moveTo	(	const Vec3 &	targetPosition,
		const Quat &	targetRotation,
		double	dt
	)

Utility method to calculate and assign linear- and angular velocity given a target transform and the time it should take to get there.

This is basically only valid if motion control is set to KINEMATICS.

Note: This method only calculates a velocity required to reach the target transform with time t. The rigid body will not stop at target transform after time t.

Parameters

targetPosition	- target position given in world coordinate system
targetRotation	- target rotation given in world coordinate system
t	- time this rigid body has to reach the target

Only available in simulation mode

◆ operator==()

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

◆ setAngularVelocity() [1/2]

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

Set the angular velocity of the center of mass of this rigid body.

This is the preferred way of moving KINEMATIC rigid bodies (a more convenient way is using moveTo(...)). The use for DYNAMIC is discouraged except for setting an initial angular velocity. If motion control is set to STATIC then the angular velocity will be set to zero - independent of the value of angularVelocity. This method is seen as an instantaneous change in angular velocity (infinite acceleration), and will therefore not be represented by getAngularAcceleration().

Parameters

angularVelocity - angular velocity given in world coordinate system

Only available in simulation mode

◆ setAngularVelocity() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::setAngularVelocity	(	double	vx,
		double	vy,
		double	vz
	)

Set the angular velocity of the center of mass of this rigid body.

This is the preferred way of moving KINEMATIC rigid bodies (a more convenient way is using moveTo(...)). The use for DYNAMIC is discouraged except for setting an initial angular velocity. If motion control is set to STATIC then the angular velocity will be set to zero - independent of the value of angularVelocity. This method is seen as an instantaneous change in angular velocity (infinite acceleration), and will therefore not be represented by getAngularAcceleration().

Parameters

vx,vy,vz - angular velocity given in world coordinate system

Only available in simulation mode

◆ setAngularVelocityDamping() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::setAngularVelocityDamping ( const Vec3 & damping )

Give angular velocity damping in each direction, given in local body coordinate system.

The unit of this damping is mass over time. Default: (0, 0, 0) (no damping).

Parameters

damping - the damping

Only available in simulation mode

◆ setAngularVelocityDamping() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::setAngularVelocityDamping ( double damping )

Set angular velocity damping for the body in all directions x, y and z.

The unit of this damping is mass over time. Default: 0 (no damping)

Parameters

damping - the damping

Only available in simulation mode

◆ setCmAndInertiaInObserver()

bool MOMENTUM_NAMESPACE::RigidBody::setCmAndInertiaInObserver	(	const Observer &	observer,
		const Matrix3x3 &	inertia
	)

Assign a new center of mass and inertia tensor using an observer.

The center of mass is set to the location of the Observer, and the inertia is specified in the frame of the Observer.

Parameters

observer	the observer to set the cm to and base the inertia on
inertia	the new inertia of the body in the frame of the observer

Only availible in simulation mode

◆ setCmLocalTranslate()

void MOMENTUM_NAMESPACE::RigidBody::setCmLocalTranslate ( const Vec3 & translate )

Sets the local offset of the center of mass position to the model origin (in the local rigid body coordinate system).

Parameters

translate The new offset.

Only available in simulation mode

◆ setCmPosition()

void MOMENTUM_NAMESPACE::RigidBody::setCmPosition ( const Vec3 & p )

Assign new center of mass position, given in world coordinate frame.

By default the rigid body position will be updated as well (synchronizeModel).

Parameters

matrix	- new center of mass position given in world coordinate system
synchronizeModel	- default true, if false the rigid body positition will not be updated with this new position

Only available in simulation mode

◆ setCmTransform()

void MOMENTUM_NAMESPACE::RigidBody::setCmTransform ( const AffineMatrix4x4 & matrix )

Assign new center of mass transform, given in world coordinate frame.

By default the model frame will be updated as well (synchronizeModel).

Note: The center of mass frame MUST, by definition, have the same orientation as the model frame. I.e., it is not defined to call this method with synchronizeModel = false and matrix having a different rotation than the model frame matrix.

Parameters

matrix	- new matrix transform given in world coordinate system
synchronizeModel	- default true, if false the model frame will not be updated with this new transform.

Only available in simulation mode

◆ setEnable()

void MOMENTUM_NAMESPACE::RigidBody::setEnable ( bool enable )

Change state enable of this rigid body.

Default: true.

Parameters

enable - true to enable, false to disable

Only available in simulation mode

◆ setForce() [1/2]

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

Explicitly set the force, given in world coordinate system, that will be affecting this body 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::RigidBody::setForce	(	double	fx,
		double	fy,
		double	fz
	)

Explicitly set the force, given in world coordinate system, that will be affecting this body 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

◆ setInertia()

bool MOMENTUM_NAMESPACE::RigidBody::setInertia ( Matrix3x3 inertia )

Set the inertia of the rigid body in the specified coordinate system.

Parameters

inertia	the inertia matrix to set.
frame	the frame in which to write the inertia

Returns: true if valid inertia, otherwise false

◆ setLinearVelocity() [1/2]

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

Set the linear velocity of the center of mass of this rigid body.

This is the preferred way of moving KINEMATIC rigid bodies (a more convenient way is using moveTo(...)). The use for DYNAMIC is discouraged except for setting an initial velocity. If motion control is set to STATIC then the linear velocity will be set to zero - independent of the value of velocity. This method is seen as an instantaneous change in velocity (infinite acceleration), and will therefore not be represented by getAcceleration().

Parameters

velocity - velocity given in world coordinate system

Only available in simulation mode

◆ setLinearVelocity() [2/2]

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

Set the linear velocity of the center of mass of this rigid body.

This is the preferred way of moving KINEMATIC rigid bodies (a more convenient way is using moveTo(...)). The use for DYNAMIC is discouraged except for setting an initial velocity. If motion control is set to STATIC then the linear velocity will be set to zero - independent of the value of velocity. This method is seen as an instantaneous change in velocity (infinite acceleration), and will therefore not be represented by getAcceleration().

Parameters

vx,vy,vz - velocity given in world coordinate system

Only available in simulation mode

◆ setLinearVelocityDamping() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::setLinearVelocityDamping ( const Vec3 & damping )

Give linear velocity damping in each direction, given in local body coordinate system.

The unit of this damping is mass over time. Default: (0, 0, 0) (no damping).

Parameters

damping - the damping

Only available in simulation mode

◆ setLinearVelocityDamping() [2/2]

void MOMENTUM_NAMESPACE::RigidBody::setLinearVelocityDamping ( double damping )

Set linear velocity damping for the body in all directions x, y and z.

The unit of this damping is mass over time. Default: 0 (no damping)

Parameters

damping - the damping

Only available in simulation mode

◆ setMass()

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

Set the mass of the rigid body in kilograms.

Parameters

mass	the new mass

Only available in simulation mode

◆ setMotionControl()

void MOMENTUM_NAMESPACE::RigidBody::setMotionControl ( RigidBody::MotionControl control )

Assign new motion control state to this rigid body.

If new state is STATIC - linear- and angular velocity will be set to zero. Default: DYNAMICS

Parameters

control - new motion control

Only available in simulation mode

◆ setPosition() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::setPosition ( const Vec3 & p )

Set the position of the model frame in world coordinate system.

Parameters

p	- desired position in world coordinate system.

Only available in simulation mode

◆ setPosition() [2/2]

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

Set the position of the model frame in world coordinate system.

Parameters

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

Only available in simulation mode

◆ setRotation() [1/2]

void MOMENTUM_NAMESPACE::RigidBody::setRotation ( const EulerAngles * e )

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

Parameters

e	- rotation given as Euler angles

Only available in simulation mode

◆ setRotation() [2/2]

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

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

Parameters

q	- rotation given as a quaternion

Only available in simulation mode

◆ setTorque() [1/2]

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

Explicitly set the torque, given in world coordinate system, that will be affecting this body 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::RigidBody::setTorque	(	double	tx,
		double	ty,
		double	tz
	)

Explicitly set the torque, given in world coordinate system, that will be affecting this body 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

◆ setTransform()

void MOMENTUM_NAMESPACE::RigidBody::setTransform ( const AffineMatrix4x4 & matrix )

Set the transformation of the body in world coordinate system.

Parameters

matrix - desired transform for the model frame in world coordinates.

Only available in simulation mode

◆ setVelocityDamping()

void MOMENTUM_NAMESPACE::RigidBody::setVelocityDamping ( double damping )

Set both linear- and angular velocity damping in all directions.

See also: setLinearVelocityDamping, setAngularVelocityDamping

Parameters

damping - the damping

Only available in simulation mode

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ MotionControl

Member Function Documentation

◆ addForce() [1/2]

◆ addForce() [2/2]

◆ addForceAtLocalCmPosition() [1/2]

◆ addForceAtLocalCmPosition() [2/2]

◆ addForceAtLocalPosition() [1/2]

◆ addForceAtLocalPosition() [2/2]

◆ addForceAtPosition() [1/2]

◆ addForceAtPosition() [2/2]

◆ addLocalTorque() [1/2]

◆ addLocalTorque() [2/2]

◆ addTorque() [1/2]

◆ addTorque() [2/2]

◆ body()

◆ getAngularAcceleration()

◆ getAngularMomentum()

◆ getAngularVelocity()

◆ getAngularVelocityDamping()

◆ getCmLocalTranslate()

◆ getCmPosition()

◆ getCmTransform()

◆ getContacts()

◆ getEnable()

◆ getForce()

◆ getGeometries()

◆ getInertia()

◆ getLastForce()

◆ getLastTorque()

◆ getLinearAcceleration()

◆ getLinearMomentum()

◆ getLinearVelocity()

◆ getLinearVelocityDamping()

◆ getMass()

◆ getModelAcceleration()

◆ getModelVelocity()

◆ getMotionControl()

◆ getName()

◆ getNumConstraints()

◆ getPosition()

◆ getRotation()

◆ getRotationalEnergy()

◆ getTorque()

◆ getTotalEnergy()

◆ getTransform()

◆ getTranslationalEnergy()

◆ is()

◆ isEmittedBody()

◆ moveTo() [1/2]

◆ moveTo() [2/2]

◆ operator==()

◆ setAngularVelocity() [1/2]

◆ setAngularVelocity() [2/2]

◆ setAngularVelocityDamping() [1/2]

◆ setAngularVelocityDamping() [2/2]

◆ setCmAndInertiaInObserver()

◆ setCmLocalTranslate()

◆ setCmPosition()

◆ setCmTransform()

◆ setEnable()

◆ setForce() [1/2]

◆ setForce() [2/2]

◆ setInertia()

◆ setLinearVelocity() [1/2]

◆ setLinearVelocity() [2/2]

◆ setLinearVelocityDamping() [1/2]

◆ setLinearVelocityDamping() [2/2]

◆ setMass()

◆ setMotionControl()

◆ setPosition() [1/2]

◆ setPosition() [2/2]

◆ setRotation() [1/2]

◆ setRotation() [2/2]

◆ setTorque() [1/2]

◆ setTorque() [2/2]

◆ setTransform()