|
Simbody
3.3
|
|
Simbody
3.3
|
This kind of body can only represent an inertialess point mass, with mass center at (0,0,0) in the local frame. More...
#include <Body.h>
Inheritance diagram for SimTK::Body::Particle:Public Member Functions | |
| Particle () | |
| Particle (const Real &mass) | |
| Particle & | setDefaultRigidBodyMassProperties (const MassProperties &m) |
| SimTK_PIMPL_DOWNCAST (Particle, Body) | |
| Public Member Functions inherited from SimTK::Body | |
| Body () | |
| Default constructor creates an empty Body handle. More... | |
| ~Body () | |
| Destroy the handle and the body if this is the owner. More... | |
| Body (const Body &source) | |
| Copy constructor is a deep copy; the new Body is separate from the source Body. More... | |
| 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. More... | |
| Body (const MassProperties &massProps) | |
| This is a default conversion from MassProperties to Body. More... | |
| 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). More... | |
| const MassProperties & | getDefaultRigidBodyMassProperties () const |
| Get the default (that is, Topology stage) mass properties for this Body. More... | |
| int | addDecoration (const Transform &X_BD, const DecorativeGeometry &geometry) |
| Add a piece of decorative geometry fixed at some pose on this Body. More... | |
| int | addDecoration (const DecorativeGeometry &geometry) |
| Convenience method for when the decorative geometry is to be placed at the body frame. More... | |
| int | getNumDecorations () const |
| Obtain a count nd of how many pieces of DecorativeGeometry have been attached to this Body. More... | |
| const DecorativeGeometry & | getDecoration (int i) const |
| Get a read-only reference to the i'th piece of DecorativeGeometry that was added to this Body, with 0 <= i < getNumDecorations(). More... | |
| DecorativeGeometry & | updDecoration (int i) const |
| Get a writable reference to the i'th piece of DecorativeGeometry that was added to this Body, with 0 <= i < getNumDecorations(). More... | |
| int | addContactSurface (const Transform &X_BS, const ContactSurface &shape) |
| Create a new contact surface on a body and place it using the indicated Transform. More... | |
| int | addContactSurface (const ContactSurface &shape) |
| Convenience method for when the contact surface is to be placed at the body frame. More... | |
| int | getNumContactSurfaces () const |
| Obtain the number of contact surfaces ns attached to this Body. More... | |
| const ContactSurface & | getContactSurface (int i) const |
| Get a reference to the i'th contact surface on this body; be sure to get the Transform also. More... | |
| const Transform & | getContactSurfaceTransform (int i) const |
| Get the transform specifying the placement of the i'th contact surface on this Body. More... | |
| ContactSurface & | updContactSurface (int i) |
| Get write access to the i'th unique contact surface owned by this Body. More... | |
| Transform & | updContactSurfaceTransform (int i) |
| Get a writable reference to the transform specifying the placement of the i'th contact surface on this Body. More... | |
| bool | isOwnerHandle () const |
| bool | isEmptyHandle () const |
| Body (class BodyRep *r) | |
| bool | hasRep () const |
| const BodyRep & | getRep () const |
| BodyRep & | updRep () const |
| void | setRep (BodyRep &r) |
Additional Inherited Members | |
| Protected Attributes inherited from SimTK::Body | |
| class BodyRep * | rep |
This kind of body can only represent an inertialess point mass, with mass center at (0,0,0) in the local frame.
You can change mass later (even to make it massless) but you can't move the mass center or add any inertia.
|
explicit |
|
inline |
1.8.6 
