A general rigid body. More...

#include <Body.h>

Inheritance diagram for SimTK::Body::Rigid:

Public Member Functions
	Rigid ()
	Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1))
	Rigid (const MassProperties &)
	Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body.
Rigid &	addDecoration (const Transform &X_BD, const DecorativeGeometry &g)
	Add a piece of decorative geometry fixed at some location on this Body.
Rigid &	setDefaultRigidBodyMassProperties (const MassProperties &m)
	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).
	SimTK_PIMPL_DOWNCAST (Rigid, Body)

Detailed Description

A general rigid body.

This can represent a body with mass properties that are full, linear, inertialess (e.g. a point), or massless.

Constructor & Destructor Documentation

SimTK::Body::Rigid::Rigid ( )

Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1))

SimTK::Body::Rigid::Rigid ( const MassProperties & ) [explicit]

Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body.

Rigid& SimTK::Body::Rigid::addDecoration	(	const Transform &	X_BD,
		const DecorativeGeometry &
	)		`[inline]`

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 from SimTK::Body.

Rigid& SimTK::Body::Rigid::setDefaultRigidBodyMassProperties ( const MassProperties & ) [inline]

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 from SimTK::Body.

SimTK::Body::Rigid::SimTK_PIMPL_DOWNCAST	(	Rigid	,
		Body
	)

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