The rigid body class, combining a geometric model and a frame of reference. More...

#include <RigidBody.h>

Inheritance diagram for agx::RigidBody:

Public Types
enum	MotionControl { STATIC = 1 , KINEMATICS = 2 , DYNAMICS = 3 }
	The MotionControl enumeration indicates what makes a RigidBody move. More...

Public Member Functions
	RigidBody (agxCollide::Geometry *geometry)
	Construct given geometry.

	RigidBody (const agx::Name &name="")
	Construct given name.

bool	add (agxCollide::Geometry *geometry, bool incrementalMassCalculation=false)
	Add a geometry to this rigid body.

bool	add (agxCollide::Geometry *geometry, const agx::AffineMatrix4x4 &localTransform, bool incrementalMassCalculation=false)
	Connect a geometry to this rigid body.

bool	addAttachment (agx::Frame *frame, const agx::String &name)
	Add a named attachment frame to this rigid body.

void	addForce (agx::Real fx, agx::Real fy, agx::Real fz)
	Add the specified force, `fx` `fy` `fz`, given in world coordinate frame, that will be affecting this body in the next solve.

void	addForce (const agx::Vec3 &force)
	Add the specified `force`, given in world coordinate frame, that will be affecting this body in the next solve.

void	addForceAtLocalCmPosition (agx::Real fx, agx::Real fy, agx::Real fz, agx::Real px, agx::Real py, agx::Real pz)
	Add a force given in world coordinate frame, applied at a point specified in the local Center of Mass coordinate frame.

void	addForceAtLocalCmPosition (const agx::Vec3 &force, const agx::Vec3 &position)
	Add a force given in world coordinate frame, applied at a point specified in the local Center of Mass coordinate frame.

void	addForceAtLocalPosition (agx::Real fx, agx::Real fy, agx::Real fz, agx::Real px, agx::Real py, agx::Real pz)
	Add a force given in world coordinate frame, applied at a point specified in local coordinate model frame.

void	addForceAtLocalPosition (const agx::Vec3 &force, const agx::Vec3 &position)
	Add a force, given in the world coordinate frame, applied at a point specified in the local Model coordinate frame.

void	addForceAtPosition (agx::Real fx, agx::Real fy, agx::Real fz, agx::Real px, agx::Real py, agx::Real pz)
	Add a force, given in the world coordinate frame, applied at a point specified in the world coordinate frame.

void	addForceAtPosition (const agx::Vec3 &force, const agx::Vec3 &position)
	Add a force, given in the World coordinate frame, applied at a point specified in world coordinate frame.

void	addLocalTorque (agx::Real tx, agx::Real ty, agx::Real tz)
	Adds the specified torque, given in Center of Mass coordinate frame that will be affecting this body in the next solve.

void	addLocalTorque (const agx::Vec3 &torque)
	Adds the specified `torque`, given in Center of Mass coordinate frame that will be affecting this body in the next solve.

void	addTorque (agx::Real tx, agx::Real ty, agx::Real tz)
	Adds the specified `torque`, given in world coordinate frame, that will be affecting this body in the next solve.

void	addTorque (const agx::Vec3 &torque)
	Adds the specified `torque`, given in world coordinate frame, that will be affecting this body in the next solve.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::RigidBody)

agx::Vec3	calculateCenterOfMassOffset (agx::Real mass=agx::Real()) const
	Calculate the center of mass offset of this rigid body using the volume and density of the added geometries.

agx::Real	calculateMass () const
	Calculate the mass of this rigid body using the volume and density of added geometries.

RigidBody *	clone (bool shallowCopyRenderData=false) const
	Create a clone of the rigid body.

agx::Vec3	getAcceleration () const
	Will always be 0 for KINEMATIC and STATIC bodies.

agx::Vec3	getAngularAcceleration () const
	Will always be 0 for KINEMATIC and STATIC bodies.

agx::Vec3	getAngularMomentum () const

agx::Vec3	getAngularVelocity () const
	Angular velocity in world coordinate frame.

agx::Vec3f	getAngularVelocityDamping () const

agx::Vec3f	getAngularVelocityZeroDamping () const

Frame *	getAttachment (const agx::String &name)
	Access a named attachment frame.

agx::Frame *	getCmFrame ()
	Return the center of mass (CM) frame of this rigid body.

const agx::Frame *	getCmFrame () const
	Return the center of mass (CM) frame of this rigid body.

agx::Vec3	getCmLocalTranslate () const

agx::Vec3	getCmPosition () const

agx::Quat	getCmRotation () const

const agx::AffineMatrix4x4 &	getCmTransform () const
	Convenience methods for center of mass frame.

agx::Referenced *	getCustomData () const

bool	getEnable () const
	Access the state enable flag.

agx::Physics::RigidBodyPtr	getEntity () const
	Internal method.

agx::Vec3	getForce () const

agx::Frame *	getFrame ()
	Returns the model frame containing model the transformation and utilities to manipulate position, rotation etc.

const agx::Frame *	getFrame () const
	Returns the model frame containing model the transformation and utilities to manipulate position, rotation etc.

const agxCollide::GeometryRefVector &	getGeometries () const

agxCollide::Geometry *	getGeometry (const agx::Name &name)
	Find (linear search) the first Geometry in the RigidBody with a matching name.

const agxCollide::Geometry *	getGeometry (const agx::Name &name) const
	Find (linear search) the first Geometry in the RigidBody with a matching name.

bool	getHandleAsParticle () const

agx::UInt32	getId () const
	Internal method.

agx::Vec3	getLastForce () const
	Access the summed force applied to this rigid body last time the system was integrated.

agx::Vec3	getLastTorque () const
	Access the summed torque applied to this rigid body last time the system was integrated.

agx::Vec3	getLinearMomentum () const

agx::Vec3f	getLinearVelocityDamping () const

agx::Vec3f	getLinearVelocityZeroDamping () const

agx::Vec3	getLocalPosition () const

agx::Quat	getLocalRotation () const

const agx::AffineMatrix4x4 &	getLocalTransform () const

agx::MassProperties *	getMassProperties ()

const agx::MassProperties *	getMassProperties () const

agx::Vec3	getModelAcceleration (const agx::Vec3 &relPos=agx::Vec3()) const
	Calculates the linear acceleration at the given point `relPos`.

agx::Vec3	getModelVelocity (const agx::Vec3 &relPos=agx::Vec3()) const
	Calculates the linear velocity at the given point `relPos`.

agx::RigidBody::MotionControl	getMotionControl () const

const agx::Name &	getName () const

agx::UInt16	getNumConstraints () const

agx::Frame *	getParentFrame ()

const agx::Frame *	getParentFrame () const

agx::Vec3	getPosition () const
	Current model frame position, given in world coordinate frame.

agx::PropertyContainer *	getPropertyContainer () const
	Access property container of this rigid body.

agx::Quat	getRotation () const
	Current model frame rotation, given in world coordinate frame.

agx::DynamicsSystem *	getSystem ()

const agx::DynamicsSystem *	getSystem () const

agx::Vec3	getTorque () const

const agx::AffineMatrix4x4 &	getTransform () const
	Current model frame transform, given in world coordinate frame.

agx::Vec3	getVelocity () const
	Velocity of center of mass frame origin, in world coordinate frame.

bool	hasConstraints () const

bool	hasPropertyContainer () const

bool	hasValidEntityIndex () const

bool	isEnabled () const
	Access the state enable flag.

bool	isPowerlineBody () const

void	moveTo (const agx::AffineMatrix4x4 &target, agx::Real t)
	Utility method to calculate and assign linear- and angular velocity given a target transform and the time it should take to get there.

void	moveTo (const agx::Vec3 &targetPosition, const agx::Quat &targetRotation, agx::Real t)
	Utility method to calculate and assign linear- and angular velocity given a target transform and the time it should take to get there.

bool	remove (agxCollide::Geometry *geometry, bool incrementalMassCalculation=false)
	Remove geometry if `geometry` is part of this rigid body.

bool	removeAttachment (const agx::String &name)
	Remove an attachment from the rigid body.

void	setAngularVelocity (agx::Real vx, agx::Real vy, agx::Real vz)
	Set the angular velocity of the center of mass of this rigid body.

void	setAngularVelocity (const agx::Vec3 &angularVelocity)
	Set the angular velocity of the center of mass of this rigid body.

void	setAngularVelocityDamping (const agx::Vec3f &damping)
	Give angular velocity damping in each direction, given in local body coordinate frame.

void	setAngularVelocityDamping (float damping)
	Set angular velocity damping for the body in all directions x, y and z.

void	setAngularVelocityZeroDamping (const agx::Vec3f &dir)
	Specify a vector (in body coordinates) along which no angular velocity damping should occur.

void	setCmLocalTranslate (const agx::Vec3 &translate)
	Sets the local offset of the center of mass position to the model origin (in model frame coordinates).

void	setCmPosition (const agx::Vec3 &p, bool synchronizeModel=true)
	Assign new center of mass position, given in world coordinate frame.

void	setCmRotation (const agx::EulerAngles &e)
	Assign new center of mass rotation, given in world coordinate frame.

void	setCmRotation (const agx::OrthoMatrix3x3 &m)
	Assign new center of mass rotation, given in world coordinate frame.

void	setCmRotation (const agx::Quat &q)
	Assign new center of mass rotation, given in world coordinate frame.

void	setCmTransform (const agx::AffineMatrix4x4 &matrix, bool synchronizeModel=true)
	Assign new center of mass transform, given in world coordinate frame.

void	setCustomData (agx::Referenced *data)
	It's possible to derive from agx::Referenced and implement a reference counted object and associate it to this rigid body via this method.

void	setEnable (bool enable)
	Change state enable of this rigid body.

void	setEntity (agx::Physics::RigidBodyPtr entity)
	Internal method.

void	setForce (agx::Real fx, agx::Real fy, agx::Real fz)
	Explicitly set the force, given in world coordinate frame, that will be affecting this body in the next solve.

void	setForce (const agx::Vec3 &force)
	Explicitly set the force, given in world coordinate frame, that will be affecting this body in the next solve.

void	setHandleAsParticle (bool handleAsParticle)
	Set this, six degrees of freedom, rigid body to be handled as a three degrees of freedom particle (rotational degrees of freedom ignored).

void	setInertiaTensor (const agx::SPDMatrix3x3 &inertiaTensor, const agx::AffineMatrix4x4 &cmLocalTransform=agx::AffineMatrix4x4(), bool autogenerateCmOffset=false, bool autogenerateInertia=false)
	Convenience method for setting the inertia tensor from extern calculations given in local center of mass coordinate frame.

void	setInertiaTensor (const agx::Vec3 &inertiaDiagonal, const agx::AffineMatrix4x4 &cmLocalTransform=agx::AffineMatrix4x4(), bool autogenerateCmOffset=false, bool autogenerateInertia=false)
	Convenience method for setting the inertia tensor from extern calculations, in diagonal form, given in local center of mass coordinate frame.

void	setIsPowerlineBody (bool isHydraulicBody)
	Internal method.

void	setLinearVelocityDamping (const agx::Vec3f &damping)
	Give linear velocity damping in each direction, given in local body coordinate frame.

void	setLinearVelocityDamping (float damping)
	Set linear velocity damping for the body in all directions x, y and z.

void	setLinearVelocityZeroDamping (const agx::Vec3f &dir)
	Specify a vector (in body coordinates) along which no linear velocity damping should occur.

void	setLocalPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the body relative to its model frame's parent frame.

void	setLocalPosition (const agx::Vec3 &p)
	Set the position of the body relative to its model frame's parent frame.

void	setLocalRotation (const agx::EulerAngles &e)
	Set the rotation of the body relative to its model frame's parent frame.

void	setLocalRotation (const agx::Quat &q)
	Set the rotation of the body relative to its model frame's parent frame.

void	setLocalTransform (const agx::AffineMatrix4x4 &matrix)
	Assign the local transformation matrix for this body, ignoring any eventual parent transformation.

void	setMotionControl (agx::RigidBody::MotionControl control)
	Assign new motion control state to this rigid body.

void	setName (const agx::Name &name)
	Assign new name to this rigid body.

bool	setParentFrame (agx::Frame *frame)
	Set the parent frame of this body's model frame.

void	setPosition (agx::Real x, agx::Real y, agx::Real z)
	Set the position of the model frame in world coordinates.

void	setPosition (const agx::Vec3 &p)
	Set the position of the model frame in world coordinates.

void	setPropertyContainer (agx::PropertyContainer *container)
	Assign new property container.

void	setRotation (const agx::EulerAngles &e)
	Set the rotation of the body relative to world frame.

void	setRotation (const agx::OrthoMatrix3x3 &m)
	Set the rotation of the body relative to world frame.

void	setRotation (const agx::Quat &q)
	Set the rotation of the body relative to world frame.

void	setTorque (agx::Real tx, agx::Real ty, agx::Real tz)
	Explicitly set the torque, given in world coordinate frame, that will be affecting this body in the next solve.

void	setTorque (const agx::Vec3 &torque)
	Explicitly set the torque, given in world coordinate frame, that will be affecting this body in the next solve.

void	setTransform (const agx::AffineMatrix4x4 &matrix)
	Set the transform of the body.

void	setVelocity (agx::Real vx, agx::Real vy, agx::Real vz)
	Set the linear velocity of the center of mass of this rigid body.

void	setVelocity (const agx::Vec3 &velocity)
	Set the linear velocity of the center of mass of this rigid body.

void	setVelocityDamping (float damping)
	Set both linear- and angular velocity damping in all directions.

void	transfer (agxData::EntityStorage *storage)
	Internal method.

void	updateMassProperties ()
	Method to explicitly update mass properties.

void	updateMassProperties (agx::UInt32 mask)
	Method to explicitly update mass properties.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

static bool	shouldIgnoreGravity (agx::RigidBodyState state)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	RigidBody (const agx::Name &name, agx::Physics::RigidBodyPtr entity)

	RigidBody (const agx::RigidBody &)

virtual	~RigidBody ()

void	incrementalMassPropertyUpdate (agx::UInt32 mask, int sign, const agxCollide::Geometry *geometry)
	Will calculate new mass properties for this rigid body as the previously calculated one +/- the specified `geometry`.

RigidBody &	operator= (const agx::RigidBody &)

void	setId (agx::UInt32 id)
	Assign dynamics system unique id to this rigid body.

void	setSystem (agx::DynamicsSystem *system)
	Assign dynamics system where this body belongs to.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

The rigid body class, combining a geometric model and a frame of reference.

Definition at line 51 of file RigidBody.h.

Member Enumeration Documentation

◆ MotionControl

enum agx::RigidBody::MotionControl

The MotionControl enumeration indicates what makes a RigidBody move.

There are three forms of motion allowed:

STATIC means no motion whatsoever;
KINEMATICS means that motion is scripted;
DYNAMICS means that motion results from forces;

Enumerator

STATIC

This body will never move.

KINEMATICS

This body's motion is scripted.

(Position/velocity set by the user)

DYNAMICS

This body moves from the influence of forces.

(Position/velocity updated by the system)

Definition at line 62 of file RigidBody.h.

Constructor & Destructor Documentation

◆ RigidBody() [1/4]

agx::RigidBody::RigidBody ( const agx::Name & name = "" )

Construct given name.

Default: mass = 1, inertia diagonal = (1, 1, 1), geometries = 0, position = (0, 0, 0), linear velocity = (0, 0, 0), angular velocity = (0, 0, 0), enable = true, motion control = DYNAMICS.

Parameters

name	- name of this rigid body (default: "")

◆ RigidBody() [2/4]

agx::RigidBody::RigidBody ( agxCollide::Geometry * geometry )

Construct given geometry.

Mass properties will be updated given geometry.

Parameters

geometry - first geometry to add to this rigid body

◆ ~RigidBody()

virtual agx::RigidBody::~RigidBody ( )

protectedvirtual

◆ RigidBody() [3/4]

agx::RigidBody::RigidBody ( const agx::RigidBody & )

protected

◆ RigidBody() [4/4]

agx::RigidBody::RigidBody	(	const agx::Name &	name,
		agx::Physics::RigidBodyPtr	entity
	)

protected

Member Function Documentation

◆ add() [1/2]

bool agx::RigidBody::add	(	agxCollide::Geometry *	geometry,
		bool	incrementalMassCalculation = `false`
	)

Add a geometry to this rigid body.

The frame of the geometry will be attached as a child to the model frame of this rigid body. The inertia, mass, and center of mass offset will be automatically recalculated using the material and volume of the geometry. However, any parameter explicitly set in the MassProperties (with auto generation flag disabled) will not be recalculated/updated. The local transformation in the geometry (geometry->getLocalTransform()) will be used to transform the geometry relative to the RigidBody.

Note: If the Geometry explicitly has to be added to the Simulation, adding it to a RigidBody (part of a simulation) will NOT add the geometry to the same simulation.; Regarding incrementalMassCalculation: Incremental mass properties calculation is computationally less expensive but may cause numerical drift if this method is used many times. If false, the current set of geometries will be used to calculate the mass properties, which in some extreme cases can be more computationally expensive (or cause general overhead).; Currently, automatic mass property calculation (incremental or not) assumes all geometries and shapes to be disjoint (non-overlapping). If they overlap, the effect of this assumption is that the overlapping volume will be counted twice into mass and inertia computation. It is recommended to set the mass properties manually in this case.

Parameters

geometry	- the geometry to add
incrementalMassCalculation	- false for full recalculation of mass properties, true for incremental calculation (see note)

Returns: false if the given geometry already has a body associated to it and override is set to false.

◆ add() [2/2]

bool agx::RigidBody::add	(	agxCollide::Geometry *	geometry,
		const agx::AffineMatrix4x4 &	localTransform,
		bool	incrementalMassCalculation = `false`
	)

Connect a geometry to this rigid body.

The frame of the geometry will be attached as a child to the model frame of the rigid body. The inertia, mass, and center of mass offset will be automatically recalculated using the material and volume of the geometry. However, any parameter explicitly set in the MassProperties (with auto generation flag disabled) will not be recalculated/updated.

Note: If the Geometry explicitly has to be added to the Simulation, adding it to a RigidBody (part of a simulation) will NOT add the geometry to the same simulation.; Regarding incrementalMassCalculation: Incremental mass properties calculation is computationally less expensive but may cause numerical drift if this method is used many times. If false, the current set of geometries will be used to calculate the mass properties, which in some extreme cases can be more computationally expensive (or cause general overhead).

Parameters

geometry	- the geometry to add
localTransform	- the relative transform to where the geometry should be placed relative model coordinate frame of this rigid body
incrementalMassCalculation	- false for full recalculation of mass properties, true for incremental calculation (see note)

Returns: true if successful - false if not added (0, geometry is part of another rigid body or already added)

Referenced by agxVehicle::utils::createGeometryBox().

◆ addAttachment()

bool agx::RigidBody::addAttachment	(	agx::Frame *	frame,
		const agx::String &	name
	)

Add a named attachment frame to this rigid body.

Returns: false if the name is non-unique, true if successfully added

◆ addForce() [1/2]

void agx::RigidBody::addForce	(	agx::Real	fx,
		agx::Real	fy,
		agx::Real	fz
	)

inline

Add the specified force, fx fy fz, given in world coordinate frame, that will be affecting this body in the next solve.

The force will be applied to the Center of Mass.

Parameters

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

Definition at line 1286 of file RigidBody.h.

◆ addForce() [2/2]

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

Add the specified force, given in world coordinate frame, that will be affecting this body in the next solve.

The force will be applied to the Center of Mass.

Parameters

force - the force, given in world coordinate frame

◆ addForceAtLocalCmPosition() [1/2]

void agx::RigidBody::addForceAtLocalCmPosition	(	agx::Real	fx,
		agx::Real	fy,
		agx::Real	fz,
		agx::Real	px,
		agx::Real	py,
		agx::Real	pz
	)

inline

Add a force given in world coordinate frame, applied at a point specified in the local Center of Mass coordinate frame.

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

Parameters

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

Definition at line 1301 of file RigidBody.h.

◆ addForceAtLocalCmPosition() [2/2]

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

Add a force given in world coordinate frame, applied at a point specified in the local Center of Mass coordinate frame.

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

Parameters

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

◆ addForceAtLocalPosition() [1/2]

void agx::RigidBody::addForceAtLocalPosition	(	agx::Real	fx,
		agx::Real	fy,
		agx::Real	fz,
		agx::Real	px,
		agx::Real	py,
		agx::Real	pz
	)

inline

Add a force given in world coordinate frame, applied at a point specified in local coordinate model frame.

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 frame, to be added to the already previously added forces
px,py,pz	- the position given in local coordinate frame where the force should be applied

Definition at line 1296 of file RigidBody.h.

◆ addForceAtLocalPosition() [2/2]

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

Add a force, given in the world coordinate frame, applied at a point specified in the local Model coordinate frame.

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

◆ addForceAtPosition() [1/2]

void agx::RigidBody::addForceAtPosition	(	agx::Real	fx,
		agx::Real	fy,
		agx::Real	fz,
		agx::Real	px,
		agx::Real	py,
		agx::Real	pz
	)

inline

Add a force, given in the world coordinate frame, applied at a point specified in the world coordinate frame.

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

Definition at line 1291 of file RigidBody.h.

◆ addForceAtPosition() [2/2]

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

Add a force, given in the World coordinate frame, applied at a point specified in world coordinate frame.

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

◆ addLocalTorque() [1/2]

void agx::RigidBody::addLocalTorque	(	agx::Real	tx,
		agx::Real	ty,
		agx::Real	tz
	)

inline

Adds the specified torque, given in Center of Mass coordinate frame that will be affecting this body in the next solve.

Parameters

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

Definition at line 1311 of file RigidBody.h.

◆ addLocalTorque() [2/2]

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

Adds the specified torque, given in Center of Mass coordinate frame that will be affecting this body in the next solve.

Parameters

torque - the torque

◆ addTorque() [1/2]

void agx::RigidBody::addTorque	(	agx::Real	tx,
		agx::Real	ty,
		agx::Real	tz
	)

inline

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

Parameters

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

Definition at line 1306 of file RigidBody.h.

◆ addTorque() [2/2]

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

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

Parameters

torque - the torque, given in world coordinate frame

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::RigidBody::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::RigidBody )

◆ calculateCenterOfMassOffset()

agx::Vec3 agx::RigidBody::calculateCenterOfMassOffset ( agx::Real mass = agx::Real() ) const

Calculate the center of mass offset of this rigid body using the volume and density of the added geometries.

Parameters

mass	- if 0, the mass will be recalculated given the added geometries density and volume

Returns: the center of mass offset given in local model coordinate frame

◆ calculateMass()

agx::Real agx::RigidBody::calculateMass ( ) const

Calculate the mass of this rigid body using the volume and density of added geometries.

Note: This calculated mass isn't necessary the same as getMassProperties()->getMass() since the mass in mass properties could be assigned (i.e., explicit).

Returns: the total mass of this rigid body, calculated given volume and density of added geometries

◆ clone()

RigidBody * agx::RigidBody::clone ( bool shallowCopyRenderData = false ) const

Create a clone of the rigid body.

◆ create()

static agxStream::Serializable * agx::RigidBody::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 1047 of file RigidBody.h.

◆ getAcceleration()

Vec3 agx::RigidBody::getAcceleration ( ) 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

Definition at line 1231 of file RigidBody.h.

◆ getAngularAcceleration()

Vec3 agx::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

Definition at line 1236 of file RigidBody.h.

◆ getAngularMomentum()

agx::Vec3 agx::RigidBody::getAngularMomentum ( ) const

Returns: the angular momentum for this body

◆ getAngularVelocity()

Vec3 agx::RigidBody::getAngularVelocity ( ) const

Angular velocity in world coordinate frame.

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 frame

Definition at line 1196 of file RigidBody.h.

Referenced by agxCollide::GeometryContact::calculateRelativeVelocity().

◆ getAngularVelocityDamping()

agx::Vec3f agx::RigidBody::getAngularVelocityDamping ( ) const

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

◆ getAngularVelocityZeroDamping()

agx::Vec3f agx::RigidBody::getAngularVelocityZeroDamping ( ) const

Returns: the zero damping vector (in local body coordinate frame) which points out the direction in which no angular velocity damping should be applied

◆ getAttachment()

Frame * agx::RigidBody::getAttachment ( const agx::String & name )

Access a named attachment frame.

Parameters

name	- name of the attachment

Returns: the attachment frame with name if it exist - otherwise null

◆ getCmFrame() [1/2]

Frame * agx::RigidBody::getCmFrame ( )

Return the center of mass (CM) frame of this rigid body.

The CM frame is a child frame of the model frame. The center of mass offset is automatically calculated as geometries are added/removed, but this can be disabled in the mass properties of the rigid body.

Returns: the center of mass frame of this rigid body

Definition at line 1176 of file RigidBody.h.

◆ getCmFrame() [2/2]

const Frame * agx::RigidBody::getCmFrame ( ) const

Return the center of mass (CM) frame of this rigid body.

The CM frame is a child frame of the model frame. The center of mass offset is automatically calculated as geometries are added/removed, but this can be disabled in the mass properties of the rigid body.

Returns: the center of mass frame of this rigid body

Definition at line 1181 of file RigidBody.h.

◆ getCmLocalTranslate()

Vec3 agx::RigidBody::getCmLocalTranslate ( ) const

Returns: the local offset of the center of mass position to the model origin (in model frame coordinates).

Definition at line 1201 of file RigidBody.h.

◆ getCmPosition()

Vec3 agx::RigidBody::getCmPosition ( ) const

Returns: the center of mass position in world coordinate frame

Definition at line 1206 of file RigidBody.h.

Referenced by agxCollide::GeometryContact::calculateRelativeVelocity().

◆ getCmRotation()

Quat agx::RigidBody::getCmRotation ( ) const

Returns: the center of mass rotation in world coordinate frame

Definition at line 1211 of file RigidBody.h.

References agx::QuatT< T >::getRotate().

◆ getCmTransform()

const AffineMatrix4x4 & agx::RigidBody::getCmTransform ( ) const

Convenience methods for center of mass frame.

The bool flag of the mutator(set) methods indicates if the update should sync back to the model frame (i.e. the model is updated using the relative change in center of mass while the local center of mass values are unchanged), or if the update only affects the local center of mass frame (which is analogous to the normal frame interface).

Returns: the center of mass transform in world coordinate frame

Definition at line 1186 of file RigidBody.h.

Referenced by agxOSG::ContainerShapeBatchRenderer< ContainerType, TransformType >::findTransform().

◆ getCustomData()

Referenced * agx::RigidBody::getCustomData ( ) const

See also: setCustomData

Returns: user data, if assigned

Definition at line 1251 of file RigidBody.h.

◆ getEnable()

bool agx::RigidBody::getEnable ( ) const

Access the state enable flag.

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

Definition at line 1129 of file RigidBody.h.

Referenced by agxCollide::Space::canCollide().

◆ getEntity()

Physics::RigidBodyPtr agx::RigidBody::getEntity ( ) const

inline

Internal method.

Data access.

Returns: the rigid body entity

Definition at line 1156 of file RigidBody.h.

Referenced by agx::MergedBody::isRoot().

◆ getForce()

agx::Vec3 agx::RigidBody::getForce ( ) const

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

◆ getFrame() [1/2]

Frame * agx::RigidBody::getFrame ( )

Returns the model frame containing model the transformation and utilities to manipulate position, rotation etc.

Returns: model frame of this rigid body

Definition at line 1166 of file RigidBody.h.

Referenced by agxModel::NodeAttachment::createFromWorld().

◆ getFrame() [2/2]

const Frame * agx::RigidBody::getFrame ( ) const

Returns the model frame containing model the transformation and utilities to manipulate position, rotation etc.

Returns: model frame of this rigid body

Definition at line 1171 of file RigidBody.h.

◆ getGeometries()

const agxCollide::GeometryRefVector & agx::RigidBody::getGeometries ( ) const

Returns: container with all geometries that is part of this rigid body

◆ getGeometry() [1/2]

agxCollide::Geometry * agx::RigidBody::getGeometry ( const agx::Name & name )

Find (linear search) the first Geometry in the RigidBody with a matching name.

Parameters

name	- name of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getGeometry() [2/2]

const agxCollide::Geometry * agx::RigidBody::getGeometry ( const agx::Name & name ) const

Find (linear search) the first Geometry in the RigidBody with a matching name.

Parameters

name	- name of geometry to search for

Returns: a pointer to the found Geometry, null if not found.

◆ getHandleAsParticle()

bool agx::RigidBody::getHandleAsParticle ( ) const

Returns: true if this rigid body is handled like a particle (i.e., rotational degrees of freedom ignored)

Definition at line 1226 of file RigidBody.h.

◆ getId()

UInt32 agx::RigidBody::getId ( ) const

Internal method.

The id this rigid body has in a system. This value may change when any other body is removed from a system.

See also: getUniqueID

Returns: id to this rigid body in a system

Definition at line 1161 of file RigidBody.h.

◆ getLastForce()

agx::Vec3 agx::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()

agx::Vec3 agx::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.

◆ getLinearMomentum()

agx::Vec3 agx::RigidBody::getLinearMomentum ( ) const

Returns: the linear momentum for this body

◆ getLinearVelocityDamping()

agx::Vec3f agx::RigidBody::getLinearVelocityDamping ( ) const

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

◆ getLinearVelocityZeroDamping()

agx::Vec3f agx::RigidBody::getLinearVelocityZeroDamping ( ) const

Returns: the zero damping vector (in local body coordinate frame) which points out the direction in which no linear velocity damping should be applied

◆ getLocalPosition()

agx::Vec3 agx::RigidBody::getLocalPosition ( ) const

Returns: - the relative translate to the parent frame of the body's model frame.

◆ getLocalRotation()

agx::Quat agx::RigidBody::getLocalRotation ( ) const

Returns: - the body's rotation relative to its model frame's parent frame.

◆ getLocalTransform()

const agx::AffineMatrix4x4 & agx::RigidBody::getLocalTransform ( ) const

Returns: - the local transformation matrix of the body's model frame, relative to the parent.

◆ getMassProperties() [1/2]

MassProperties * agx::RigidBody::getMassProperties ( )

Returns: mass related properties of this rigid body

Definition at line 1216 of file RigidBody.h.

◆ getMassProperties() [2/2]

const MassProperties * agx::RigidBody::getMassProperties ( ) const

Returns: mass related properties of this rigid body

Definition at line 1221 of file RigidBody.h.

◆ getModelAcceleration()

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

Calculates the linear acceleration at the given point relPos.

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

See also: getAcceleration, getModelVelocity

Parameters

relPos - relative position given in model frame coordinates

Returns: linear acceleration in world frame of the point relPos

◆ getModelVelocity()

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

Calculates the linear velocity at the given point relPos.

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

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 agx::RigidBody::getMotionControl ( ) const

Returns: the motion control state of this rigid body

Definition at line 1139 of file RigidBody.h.

◆ getName()

const agx::Name & agx::RigidBody::getName ( ) const

Returns: the name of this rigid body

◆ getNumConstraints()

UInt16 agx::RigidBody::getNumConstraints ( ) const

Note: The number of constraints value is updated when the interaction graph is created during the solve process. This means that there are a one time step delay on this value.

Returns: the number of constraints (contacts excluded) connected to this rigid body, the last time step

Definition at line 1246 of file RigidBody.h.

◆ getParentFrame() [1/2]

agx::Frame * agx::RigidBody::getParentFrame ( )

Returns: - the parent frame of the body's model frame, or 0 if this frame has no parent

◆ getParentFrame() [2/2]

const agx::Frame * agx::RigidBody::getParentFrame ( ) const

Returns: - the parent frame of the body's model frame, or 0 if this frame has no parent

◆ getPosition()

agx::Vec3 agx::RigidBody::getPosition ( ) const

Current model frame position, given in world coordinate frame.

Returns: the current model frame position, given in world coordinate frame

Definition at line 1261 of file RigidBody.h.

◆ getPropertyContainer()

agx::PropertyContainer * agx::RigidBody::getPropertyContainer ( ) const

Access property container of this rigid body.

This method will create a new property container object if one hasn't been assigned before. Hence it is recommended to use hasPropertyContainer before calling this method.

Note: This method will create a new property container object if one hasn't been assigned earlier.

See also: hasPropertyContainer

Returns: a reference to the property container

Definition at line 1149 of file RigidBody.h.

◆ getRotation()

agx::Quat agx::RigidBody::getRotation ( ) const

Current model frame rotation, given in world coordinate frame.

Returns: the current model frame rotation, given in world coordinate frame

Definition at line 1266 of file RigidBody.h.

References agx::QuatT< T >::getRotate().

◆ getSystem() [1/2]

agx::DynamicsSystem * agx::RigidBody::getSystem ( )

Returns: a pointer to the DynamicsSystem this rigid body belongs to

◆ getSystem() [2/2]

const agx::DynamicsSystem * agx::RigidBody::getSystem ( ) const

Returns: a pointer to the DynamicsSystem this rigid body belongs to

◆ getTorque()

agx::Vec3 agx::RigidBody::getTorque ( ) const

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

◆ getTransform()

const agx::AffineMatrix4x4 & agx::RigidBody::getTransform ( ) const

Current model frame transform, given in world coordinate frame.

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

Definition at line 1256 of file RigidBody.h.

Referenced by agxVehicle::Wheel::attachConstraint(), agxModel::NodeAttachment::createFromWorld(), and agxCable::SegmentAttachment::createFromWorld().

◆ getVelocity()

Vec3 agx::RigidBody::getVelocity ( ) const

Velocity of center of mass frame origin, in world coordinate frame.

See also: getModelVelocity

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

Definition at line 1191 of file RigidBody.h.

Referenced by agxCollide::GeometryContact::calculateRelativeVelocity().

◆ hasConstraints()

bool agx::RigidBody::hasConstraints ( ) const

Note: The number of constraints value is updated when the interaction graph is created during the solve process. This means that there are a one time step delay on this value.

Returns: true if the number of constraints (contacts excluded) was larger than zero, the last time step

Definition at line 1241 of file RigidBody.h.

◆ hasPropertyContainer()

bool agx::RigidBody::hasPropertyContainer ( ) const

Returns: true if it has an initialized property container

Definition at line 1144 of file RigidBody.h.

◆ hasValidEntityIndex()

bool agx::RigidBody::hasValidEntityIndex ( ) const

◆ incrementalMassPropertyUpdate()

void agx::RigidBody::incrementalMassPropertyUpdate	(	agx::UInt32	mask,
		int	sign,
		const agxCollide::Geometry *	geometry
	)

protected

Will calculate new mass properties for this rigid body as the previously calculated one +/- the specified geometry.

Parameters

mask	- Specifies what will be updated
sign	- 1 means adding, -1 means removing the geometry.
geometry	- The geometry for which the mass properties will be added/removed

References agx::init().

◆ isEnabled()

bool agx::RigidBody::isEnabled ( ) const

Access the state enable flag.

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

Definition at line 1134 of file RigidBody.h.

◆ isPowerlineBody()

bool agx::RigidBody::isPowerlineBody ( ) const

inline

Returns: true if body was created by an agxModel::PHysicalDimension.

Definition at line 1326 of file RigidBody.h.

Referenced by agxUtil::CollectBodiesAndWiresVisitor::visit().

◆ moveTo() [1/2]

void agx::RigidBody::moveTo	(	const agx::AffineMatrix4x4 &	target,
		agx::Real	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 rigid body will coincide with the target transform given global model frame transform.; This rigid body will not stop at target transform after time t.

Parameters

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

◆ moveTo() [2/2]

void agx::RigidBody::moveTo	(	const agx::Vec3 &	targetPosition,
		const agx::Quat &	targetRotation,
		agx::Real	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 rigid body will coincide with the target transform given global model frame transform.; This rigid body will not stop at target transform after time t.

Parameters

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

◆ operator=()

RigidBody & agx::RigidBody::operator= ( const agx::RigidBody & )

inlineprotected

Definition at line 1061 of file RigidBody.h.

◆ remove()

bool agx::RigidBody::remove	(	agxCollide::Geometry *	geometry,
		bool	incrementalMassCalculation = `false`
	)

Remove geometry if geometry is part of this rigid body.

Note: Regarding incrementalMassCalculation: Incremental mass properties calculation is computationally less expensive but may cause numerical drift if this method is used many times. If false, the current set of geometries will be used to calculate the mass properties, which in some extreme cases can be more computationally expensive (or cause general overhead).

Parameters

geometry	- geometry to remove
incrementalMassCalculation	- false for full recalculation of mass properties, true for incremental calculation (see note)

Returns: true if geometry removed - otherwise false (e.g., geometry not part of this rigid body)

◆ removeAttachment()

bool agx::RigidBody::removeAttachment ( const agx::String & name )

Remove an attachment from the rigid body.

Returns: false if the named attachment could not be found, true if successfully removed

◆ setAngularVelocity() [1/2]

void agx::RigidBody::setAngularVelocity	(	agx::Real	vx,
		agx::Real	vy,
		agx::Real	vz
	)

inline

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 frame

Definition at line 1281 of file RigidBody.h.

◆ setAngularVelocity() [2/2]

void agx::RigidBody::setAngularVelocity ( const agx::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 frame

◆ setAngularVelocityDamping() [1/2]

void agx::RigidBody::setAngularVelocityDamping ( const agx::Vec3f & damping )

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

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

Parameters

damping - the damping

◆ setAngularVelocityDamping() [2/2]

void agx::RigidBody::setAngularVelocityDamping ( float 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

◆ setAngularVelocityZeroDamping()

void agx::RigidBody::setAngularVelocityZeroDamping ( const agx::Vec3f & dir )

Specify a vector (in body coordinates) along which no angular velocity damping should occur.

Default: (0, 0, 0)

Parameters

dir	- direction, given in local body coordinate frame, in which the angular damping should be zero

◆ setCmLocalTranslate()

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

Sets the local offset of the center of mass position to the model origin (in model frame coordinates).

Parameters

translate The new offset.

◆ setCmPosition()

void agx::RigidBody::setCmPosition	(	const agx::Vec3 &	p,
		bool	synchronizeModel = `true`
	)

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

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

Parameters

p	- new center of mass position given in world coordinate frame
synchronizeModel	- default true, if false the model frame will not be updated with this new position

◆ setCmRotation() [1/3]

void agx::RigidBody::setCmRotation ( const agx::EulerAngles & e )

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

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.

Parameters

e	- new center of mass rotation (Euler angles)

◆ setCmRotation() [2/3]

void agx::RigidBody::setCmRotation ( const agx::OrthoMatrix3x3 & m )

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

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.

Parameters

m	- new center of mass rotation (Orthonormal matrix)

◆ setCmRotation() [3/3]

void agx::RigidBody::setCmRotation ( const agx::Quat & q )

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

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.

Parameters

q	- new center of mass rotation (quaternion)

◆ setCmTransform()

void agx::RigidBody::setCmTransform	(	const agx::AffineMatrix4x4 &	matrix,
		bool	synchronizeModel = `true`
	)

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 frame
synchronizeModel	- default true, if false the model frame will not be updated with this new transform.

◆ setCustomData()

void agx::RigidBody::setCustomData ( agx::Referenced * data )

It's possible to derive from agx::Referenced and implement a reference counted object and associate it to this rigid body via this method.

If this rigid body is the only one holding a reference to the data, the data will be deleted when this rigid body is deleted.

See also: getCustomData

Parameters

data	- custom data

◆ setEnable()

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

Change state enable of this rigid body.

Default: true.

Parameters

enable - true to enable, false to disable

◆ setEntity()

void agx::RigidBody::setEntity ( agx::Physics::RigidBodyPtr entity )

Internal method.

Data access.

Parameters

entity - new rigid body entity

◆ setForce() [1/2]

void agx::RigidBody::setForce	(	agx::Real	fx,
		agx::Real	fy,
		agx::Real	fz
	)

inline

Explicitly set the force, given in world coordinate frame, 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

Definition at line 1316 of file RigidBody.h.

◆ setForce() [2/2]

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

Explicitly set the force, given in world coordinate frame, 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

◆ setHandleAsParticle()

void agx::RigidBody::setHandleAsParticle ( bool handleAsParticle )

Set this, six degrees of freedom, rigid body to be handled as a three degrees of freedom particle (rotational degrees of freedom ignored).

Default: false

Parameters

handleAsParticle - if true this rigid body will be handled as a particle

◆ setId()

void agx::RigidBody::setId ( agx::UInt32 id )

protected

Assign dynamics system unique id to this rigid body.

Parameters

id	- index to this rigid body in dynamics system

◆ setInertiaTensor() [1/2]

void agx::RigidBody::setInertiaTensor	(	const agx::SPDMatrix3x3 &	inertiaTensor,
		const agx::AffineMatrix4x4 &	cmLocalTransform = `agx::AffineMatrix4x4()`,
		bool	autogenerateCmOffset = `false`,
		bool	autogenerateInertia = `false`
	)

Convenience method for setting the inertia tensor from extern calculations given in local center of mass coordinate frame.

Parameters

inertiaTensor	- the externally computed inertia tensor given in local center of mass frame
cmLocalTransform	- the frame in which the inertia tensor is given (optional, default: Identity)
autogenerateCmOffset	- if true, the center of mass offset will be recalculated when the geometry configuration of the body changes (optional, default: false)
autogenerateInertia	- if set to true, the inertia tensor will be recalculated when the geometry configuration of the body changes (optional, default: false)

◆ setInertiaTensor() [2/2]

void agx::RigidBody::setInertiaTensor	(	const agx::Vec3 &	inertiaDiagonal,
		const agx::AffineMatrix4x4 &	cmLocalTransform = `agx::AffineMatrix4x4()`,
		bool	autogenerateCmOffset = `false`,
		bool	autogenerateInertia = `false`
	)

Convenience method for setting the inertia tensor from extern calculations, in diagonal form, given in local center of mass coordinate frame.

Parameters

inertiaDiagonal	- the externally computed inertia tensor in diagonal form given in local center of mass coordinate frame defined by `cmLocalTransform`
cmLocalTransform	- the frame in which the inertia tensor is given (optional, default: Identity)
autogenerateCmOffset	- if true, the center of mass offset will be recalculated when the geometry configuration of the body changes (optional, default: false)
autogenerateInertia	- if set to true, the inertia tensor will be recalculated when the geometry configuration of the body changes (optional, default: false)

◆ setIsPowerlineBody()

void agx::RigidBody::setIsPowerlineBody ( bool isHydraulicBody )

inline

Internal method.

Definition at line 1331 of file RigidBody.h.

◆ setLinearVelocityDamping() [1/2]

void agx::RigidBody::setLinearVelocityDamping ( const agx::Vec3f & damping )

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

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

Parameters

damping - the damping

◆ setLinearVelocityDamping() [2/2]

void agx::RigidBody::setLinearVelocityDamping ( float 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

◆ setLinearVelocityZeroDamping()

void agx::RigidBody::setLinearVelocityZeroDamping ( const agx::Vec3f & dir )

Specify a vector (in body coordinates) along which no linear velocity damping should occur.

Default: (0, 0, 0)

Parameters

dir	- direction, given in local body coordinate frame, in which the linear damping should be zero

◆ setLocalPosition() [1/2]

void agx::RigidBody::setLocalPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the body relative to its model frame's parent frame.

Parameters

x	- local x translate
y	- local y translate
z	- local z translate

◆ setLocalPosition() [2/2]

void agx::RigidBody::setLocalPosition ( const agx::Vec3 & p )

Set the position of the body relative to its model frame's parent frame.

Parameters

p	- local translate of body as a 3D vector

◆ setLocalRotation() [1/2]

void agx::RigidBody::setLocalRotation ( const agx::EulerAngles & e )

Set the rotation of the body relative to its model frame's parent frame.

Parameters

e	- rotation given as Euler angles

◆ setLocalRotation() [2/2]

void agx::RigidBody::setLocalRotation ( const agx::Quat & q )

Set the rotation of the body relative to its model frame's parent frame.

Parameters

q	- rotation given as a quaternion

◆ setLocalTransform()

void agx::RigidBody::setLocalTransform ( const agx::AffineMatrix4x4 & matrix )

Assign the local transformation matrix for this body, ignoring any eventual parent transformation.

Parameters

matrix - transformation matrix relative to parent transform for the body's model frame

◆ setMotionControl()

void agx::RigidBody::setMotionControl ( agx::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

◆ setName()

void agx::RigidBody::setName ( const agx::Name & name )

Assign new name to this rigid body.

Default: ""

◆ setParentFrame()

bool agx::RigidBody::setParentFrame ( agx::Frame * frame )

Set the parent frame of this body's model frame.

Note: This method is not supposed to be used in general. It can result in a bad/erratic behaviour. Only for internal use.

This means that getLocalTranslate, getLocalRotate, getLocalTransform will be given in the parents coordinate frame. I.e., this frame's transformation will be concatenated with the parents.

Parameters

frame - new parent frame, 0 to remove parent

Returns: true if parent is changed (not the same as before) - otherwise false

◆ setPosition() [1/2]

void agx::RigidBody::setPosition	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set the position of the model frame in world coordinates.

Parameters

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

◆ setPosition() [2/2]

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

Set the position of the model frame in world coordinates.

Parameters

p	- desired position in world coordinates.

◆ setPropertyContainer()

void agx::RigidBody::setPropertyContainer ( agx::PropertyContainer * container )

Assign new property container.

Parameters

container - property container

◆ setRotation() [1/3]

void agx::RigidBody::setRotation ( const agx::EulerAngles & e )

Set the rotation of the body relative to world frame.

Parameters

e	- rotation given as Euler angles

◆ setRotation() [2/3]

void agx::RigidBody::setRotation ( const agx::OrthoMatrix3x3 & m )

Set the rotation of the body relative to world frame.

Parameters

m	- rotation given as an orthogonal transformation matrix

◆ setRotation() [3/3]

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

Set the rotation of the body relative to world frame.

Parameters

q	- rotation given as a quaternion

◆ setSystem()

void agx::RigidBody::setSystem ( agx::DynamicsSystem * system )

protected

Assign dynamics system where this body belongs to.

Parameters

system - dynamics system this body belongs to

◆ setTorque() [1/2]

void agx::RigidBody::setTorque	(	agx::Real	tx,
		agx::Real	ty,
		agx::Real	tz
	)

inline

Explicitly set the torque, given in world coordinate frame, 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

Definition at line 1321 of file RigidBody.h.

◆ setTorque() [2/2]

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

Explicitly set the torque, given in world coordinate frame, 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

◆ setTransform()

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

Set the transform of the body.

The model frame will move to the specified transform, which is given in world coordinate frame.

Parameters

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

◆ setVelocity() [1/2]

void agx::RigidBody::setVelocity	(	agx::Real	vx,
		agx::Real	vy,
		agx::Real	vz
	)

inline

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 frame

Definition at line 1276 of file RigidBody.h.

◆ setVelocity() [2/2]

void agx::RigidBody::setVelocity ( const agx::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 frame

◆ setVelocityDamping()

void agx::RigidBody::setVelocityDamping ( float damping )

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

See also: setLinearVelocityDamping, setAngularVelocityDamping

Parameters

damping - the damping

◆ shouldIgnoreGravity()

static bool agx::RigidBody::shouldIgnoreGravity ( agx::RigidBodyState state )

inlinestatic

Returns: true if the specified body state should not be affected by a gravity field.

Definition at line 1037 of file RigidBody.h.

References DYNAMICS.

◆ transfer()

void agx::RigidBody::transfer ( agxData::EntityStorage * storage )

Internal method.

Transfer data from one storage to another.

Parameters

storage - new storage

◆ updateMassProperties() [1/2]

void agx::RigidBody::updateMassProperties ( )

Method to explicitly update mass properties.

E.g., when the density is changed on a material which this rigid body depends on. This method uses the current mass property update mask. I.e., if this rigid body has an explicitly assigned mass, mass will not be updated during this call.

◆ updateMassProperties() [2/2]

void agx::RigidBody::updateMassProperties ( agx::UInt32 mask )

Method to explicitly update mass properties.

E.g., when the density is changed on a material which this rigid body depends on. This method takes the mass property update mask as argument. I.e., if this rigid body has an explicitly assigned mass, and mask contains agx::MassProperties::MASS, a new mass will be calculated and assigned.

Note: The mask passed to this method will not be stored. I.e., the mass property update state is the same before and after calling this method.

Parameters

mask	- bit mask of agx::MassProperties::AutoGenerateFlags which mass properties that should be updated

The documentation for this class was generated from the following file:

RigidBody.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ MotionControl

Constructor & Destructor Documentation

◆ RigidBody() [1/4]

◆ RigidBody() [2/4]

◆ ~RigidBody()

◆ RigidBody() [3/4]

◆ RigidBody() [4/4]

Member Function Documentation

◆ add() [1/2]

◆ add() [2/2]

◆ addAttachment()

◆ 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]

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ calculateCenterOfMassOffset()

◆ calculateMass()

◆ clone()

◆ create()

◆ getAcceleration()

◆ getAngularAcceleration()

◆ getAngularMomentum()

◆ getAngularVelocity()

◆ getAngularVelocityDamping()

◆ getAngularVelocityZeroDamping()

◆ getAttachment()

◆ getCmFrame() [1/2]

◆ getCmFrame() [2/2]

◆ getCmLocalTranslate()

◆ getCmPosition()

◆ getCmRotation()

◆ getCmTransform()

◆ getCustomData()

◆ getEnable()

◆ getEntity()

◆ getForce()

◆ getFrame() [1/2]

◆ getFrame() [2/2]

◆ getGeometries()

◆ getGeometry() [1/2]

◆ getGeometry() [2/2]

◆ getHandleAsParticle()

◆ getId()

◆ getLastForce()

◆ getLastTorque()

◆ getLinearMomentum()

◆ getLinearVelocityDamping()

◆ getLinearVelocityZeroDamping()

◆ getLocalPosition()

◆ getLocalRotation()

◆ getLocalTransform()

◆ getMassProperties() [1/2]

◆ getMassProperties() [2/2]

◆ getModelAcceleration()

◆ getModelVelocity()

◆ getMotionControl()

◆ getName()

◆ getNumConstraints()

◆ getParentFrame() [1/2]

◆ getParentFrame() [2/2]

◆ getPosition()

◆ getPropertyContainer()

◆ getRotation()

◆ getSystem() [1/2]