SimTK::Body Class Reference

The Body class represents a reference frame that can be used to describe mass properties and geometry. More...

#include <Body.h>

Inheritance diagram for SimTK::Body:

List of all members.

Classes
class	Ground
	This is a Body representing something immobile, of effectively infinite mass and inertia, that cannot be modified to be anything else. More...
class	Linear
	This is a rigid body in the shape of a line, which is inherently inertialess about its axis. More...
class	Massless
	This is a Body that is constitutively massless (and inertialess); meaning that no amount of fiddling with it will ever give it any mass or inertia. More...
class	Particle
	This kind of body can only represent an inertialess point mass, with mass center at (0,0,0) in the local frame. More...
class	Rigid
	A general rigid body. More...
Public Member Functions
	Body ()
	Default constructor creates an empty Body handle.
	~Body ()
	Destroy the handle and the body if this is the owner.
	Body (const Body &source)
	Copy constructor is a deep copy; the new Body is separate from the source Body.
Body &	operator= (const Body &source)
	Copy assignment is a deep copy; the original object is deleted if this is the owner, then replaced with a copy of the source.
	Body (const MassProperties &massProps)
	This is a default conversion from MassProperties to Body.
Body &	setDefaultRigidBodyMassProperties (const MassProperties &)
	Every type of Body should provide an initial set of rigid body mass properties defined at Topology stage (i.e., in the System rather than the State).
const MassProperties &	getDefaultRigidBodyMassProperties () const
	Get the default (that is, Topology stage) mass properties for this Body.
Body &	addDecoration (const Transform &X_BD, const DecorativeGeometry &)
	Add a piece of decorative geometry fixed at some location on this Body.
int	getNumDecorations () const
	Obtain a count of how many pieces of DecorativeGeometry have been attached to this Body.
const DecorativeGeometry &	getDecoration (int n) const
	Get a read-only reference to the n'th piece of DecorativeGeometry that was added to this Body, with 0 <= n < getNumDecorations().
DecorativeGeometry &	updDecoration (int n)
	Get a writable reference to the n'th piece of DecorativeGeometry that was added to this Body, with 0 <= n < getNumDecorations().
Body &	addContactSurface (const Transform &X_BS, const ContactSurface &shape)
	Create a new contact surface on a body and place it using the indicated Transform.
int	getNumContactSurfaces () const
	Obtain the number of contact surfaces n attached to this Body.
const ContactSurface &	getContactSurface (int n) const
	Get a reference to the n'th contact surface on this body; be sure to get the Transform also.
const Transform &	getContactSurfaceTransform (int n) const
	Get the transform specifying the placement of the n'th contact surface on this Body.
ContactSurface &	updContactSurface (int n)
	Get write access to the unique contact surface owned by this Body.
Transform &	updContactSurfaceTransform (int n)
	Get a writable reference to the transform specifying the placement of the n'th contact surface on this Body.
bool	isOwnerHandle () const
bool	isEmptyHandle () const
	Body (class BodyRep *r)
bool	hasRep () const
const BodyRep &	getRep () const
BodyRep &	updRep () const
void	setRep (BodyRep &r)
Protected Attributes
class BodyRep *	rep

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Detailed Description

The Body class represents a reference frame that can be used to describe mass properties and geometry.

These are in turn used to build MobilizedBodies which combine a body and a specified mobilizer that defines how the reference frame can move with respect to other MobilizedBodies. Attached geometric objects can serve as the basis for a variety of force-generating elements or other algorithms that act on bodies.

Body is an abstract base class handle, with concrete classes defined for each kind of body. There are a set of built-in body types, with Body::Rigid the most common.

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Constructor & Destructor Documentation

SimTK::Body::Body

(

)

[inline]

Default constructor creates an empty Body handle.

SimTK::Body::~Body

(

)

Destroy the handle and the body if this is the owner.

SimTK::Body::Body

(

const Body &

source

)

Copy constructor is a deep copy; the new Body is separate from the source Body.

SimTK::Body::Body

(

const MassProperties &

massProps

)

This is a default conversion from MassProperties to Body.

It will result in a rigid body (concrete class Body::Rigid) being created using these as its default MassProperties. This is what allows you to provide MassProperties instead of a Body in the MobilizedBody constructors.

SimTK::Body::Body

(

class BodyRep *

r

)

[inline, explicit]

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Member Function Documentation

Body& SimTK::Body::operator=

(

const Body &

source

)

Copy assignment is a deep copy; the original object is deleted if this is the owner, then replaced with a copy of the source.

Body& SimTK::Body::setDefaultRigidBodyMassProperties

(

const MassProperties &

)

Every type of Body should provide an initial set of rigid body mass properties defined at Topology stage (i.e., in the System rather than the State).

This is thus a Topology-stage change which will require a new realizeTopology() before use.

Reimplemented in SimTK::Body::Rigid, SimTK::Body::Linear, and SimTK::Body::Particle.

const MassProperties& SimTK::Body::getDefaultRigidBodyMassProperties

(

)

const

Get the default (that is, Topology stage) mass properties for this Body.

This may be overridden in a State if this Body has variable mass properties.

Body& SimTK::Body::addDecoration	(	const Transform &	X_BD,
		const DecorativeGeometry &
	)

Add a piece of decorative geometry fixed at some location on this Body.

This can be used for visualization of the Body's motion. Returns a reference to the Body so these can be chained like assignment operators.

Reimplemented in SimTK::Body::Rigid, SimTK::Body::Linear, SimTK::Body::Particle, SimTK::Body::Massless, and SimTK::Body::Ground.

int SimTK::Body::getNumDecorations

(

)

const

Obtain a count of how many pieces of DecorativeGeometry have been attached to this Body.

const DecorativeGeometry& SimTK::Body::getDecoration

(

int

n

)

const

Get a read-only reference to the n'th piece of DecorativeGeometry that was added to this Body, with 0 <= n < getNumDecorations().

DecorativeGeometry& SimTK::Body::updDecoration

(

int

n

)

Get a writable reference to the n'th piece of DecorativeGeometry that was added to this Body, with 0 <= n < getNumDecorations().

Body& SimTK::Body::addContactSurface	(	const Transform &	X_BS,
		const ContactSurface &	shape
	)

Create a new contact surface on a body and place it using the indicated Transform.

int SimTK::Body::getNumContactSurfaces

(

)

const

Obtain the number of contact surfaces n attached to this Body.

The valid body-local BodyContactSurfaceIndex values will be from 0 to n-1.

const ContactSurface& SimTK::Body::getContactSurface

(

int

n

)

const

Get a reference to the n'th contact surface on this body; be sure to get the Transform also.

const Transform& SimTK::Body::getContactSurfaceTransform

(

int

n

)

const

Get the transform specifying the placement of the n'th contact surface on this Body.

ContactSurface& SimTK::Body::updContactSurface

(

int

n

)

Get write access to the unique contact surface owned by this Body.

This is a Topology-stage change that will require a new realizeTopology() call if this Body is part of a System.

Transform& SimTK::Body::updContactSurfaceTransform

(

int

n

)

Get a writable reference to the transform specifying the placement of the n'th contact surface on this Body.

This is a Topology-stage change that will require a new realizeTopology() call if this Body is part of a System.

bool SimTK::Body::isOwnerHandle

(

)

const

bool SimTK::Body::isEmptyHandle

(

)

const

bool SimTK::Body::hasRep

(

)

const [inline]

const BodyRep& SimTK::Body::getRep

(

)

const [inline]

BodyRep& SimTK::Body::updRep

(

)

const [inline]

void SimTK::Body::setRep

(

BodyRep &

r

)

[inline]

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Member Data Documentation

class BodyRep* SimTK::Body::rep [protected]

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

• Body.h