agxWire::NodeFrame Class Reference

Node coordinate frame in another frame. More...

#include <Node.h>

Public Types
enum	Elements { ORG_TRANSLATE , TRANSLATE , REL_BODY_TRANSLATE , ENUM_SIZE }

Public Member Functions
	NodeFrame ()
	Default constructor.
	~NodeFrame ()
	Destructor.
agx::Vec3	calculateCmOffset (const agx::RigidBody *rb) const
	Manly for writing Jacobian data to the solver.
agx::Vec3 &	getElement (Elements element)
	Data access.
const agx::Vec3 &	getElement (Elements element) const
	Data access.
agx::RigidBody *	getRigidBody () const
const agx::Vec3 &	getTranslate () const
const agx::Vec3 &	getWorldPosition () const
void	setRigidBody (agx::RigidBody *body)
	Set rigid body.
void	setTranslate (agx::Real x, agx::Real y, agx::Real z)
	Set original translate (world frame if this node frame doesn't have a rigid body).
void	setTranslate (const agx::Vec3 &translate)
	Set original translate (world frame if this node frame doesn't have a rigid body).
void	transform ()
	Recalculates TRANSLATE and REL_BODY_TRANSLATE.

Protected Attributes
agx::Vec3	m_data [ENUM_SIZE]
agx::RigidBodyRef	m_rb

Detailed Description

Node coordinate frame in another frame.

Holds data for original local translate, current world (transformed) translate and relative (transformed) translate.

Definition at line 88 of file agxWire/Node.h.

Member Enumeration Documentation

Elements

enum agxWire::NodeFrame::Elements

Enumerator
ORG_TRANSLATE	Original translate.
TRANSLATE	Current transformed translate.
REL_BODY_TRANSLATE	Current transformed relative.
ENUM_SIZE

Definition at line 91 of file agxWire/Node.h.

Constructor & Destructor Documentation

NodeFrame()

agxWire::NodeFrame::NodeFrame

(

)

Default constructor.

~NodeFrame()

agxWire::NodeFrame::~NodeFrame

(

)

Destructor.

Member Function Documentation

calculateCmOffset()

agx::Vec3 agxWire::NodeFrame::calculateCmOffset

(

const agx::RigidBody *

rb

)

const

Manly for writing Jacobian data to the solver.

Calculates the vector from center of mass of the rigid body (world origin if rigid body is null) to this node.

Note

Assumes 'transform' has been called, i.e., all data is up to date.

Parameters

rb	- rigid body from which the vector starts, world if null

Returns

the vector from center of mass to the node

getElement() [1/2]

agx::Vec3 & agxWire::NodeFrame::getElement

(

Elements

element

)

Data access.

Parameters

element

- index (see Elements)

Returns

data for current index

getElement() [2/2]

const agx::Vec3 & agxWire::NodeFrame::getElement

(

Elements

element

)

const

Data access.

Parameters

element

- index (see Elements)

Returns

data for current index

getRigidBody()

agx::RigidBody * agxWire::NodeFrame::getRigidBody

(

)

const

Returns

rigid body of this frame

Definition at line 2061 of file agxWire/Node.h.

getTranslate()

const agx::Vec3 & agxWire::NodeFrame::getTranslate

(

)

const

Returns

original translate in parent frame (world or body)

getWorldPosition()

const agx::Vec3 & agxWire::NodeFrame::getWorldPosition

(

)

const

Returns

the world position

Definition at line 2056 of file agxWire/Node.h.

Referenced by agxWire::findPointOnWire().

setRigidBody()

void agxWire::NodeFrame::setRigidBody

(

agx::RigidBody *

body

)

Set rigid body.

setTranslate() [1/2]

void agxWire::NodeFrame::setTranslate	(	agx::Real	x,
		agx::Real	y,
		agx::Real	z
	)

Set original translate (world frame if this node frame doesn't have a rigid body).

Parameters

x	- x position in parent frame (world or body)
y	- y position in parent frame (world or body)
z	- z position in parent frame (world or body)

setTranslate() [2/2]

void agxWire::NodeFrame::setTranslate

(

const agx::Vec3 &

translate

)

Set original translate (world frame if this node frame doesn't have a rigid body).

Parameters

translate

- position in parent frame (world or body)

transform()

void agxWire::NodeFrame::transform

(

)

Recalculates TRANSLATE and REL_BODY_TRANSLATE.

Member Data Documentation

m_data

agx::Vec3 agxWire::NodeFrame::m_data[ENUM_SIZE]

protected

Definition at line 175 of file agxWire/Node.h.

m_rb

agx::RigidBodyRef agxWire::NodeFrame::m_rb

protected

Definition at line 174 of file agxWire/Node.h.

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

• agxWire/Node.h