vpBody Class Reference

Rigid body. More...

#include <vpBody.h>

List of all members.

Public Member Functions

void SetJoint (vpJoint *J, const SE3 &T=SE3(0))

void ApplyGlobalForce (const dse3 &F, const Vec3 &p)

void ApplyLocalForce (const dse3 &F, const Vec3 &p)

void ResetForce (void)

void SetInertia (const Inertia &)

const Inertia & GetInertia (void) const

void SetJointFrame (vpJoint *J, const SE3 &T)

const SE3 & GetJointFrame (const vpJoint *) const

void SetFrame (const SE3 &)

const SE3 & GetFrame (void) const

void SetGenVelocity (const se3 &)

void SetGenVelocityLocal (const se3 &)

void SetGenAcceleration (const se3 &)

void SetGenAccelerationLocal (const se3 &)

se3 GetGenVelocity (void) const

const se3 & GetGenVelocityLocal (void) const

Vec3 GetLinVelocity (const Vec3 &p) const

Vec3 GetAngVelocity (void) const

se3 GetGenAcceleration (void) const

const se3 & GetGenAccelerationLocal (void) const

bool IsCollidable (void) const

bool IsGround (void) const

void SetCollidable (bool)

void AddGeometry (vpGeom *pGeom, const SE3 &T=SE3(0))

scalar GetBoundingSphereRadius (void) const

void SetMaterial (const vpMaterial *)

const vpMaterial * GetMaterial (void) const

const Vec3 & GetCenterOfMass (void) const

void GenerateDisplayList (bool)

dse3 GetForce (void) const

const dse3 & GetNetForce (void) const

dse3 GetGravityForce (void) const

bool IsSetInertia (void) const

int GetNumGeometry (void) const

const vpGeom * GetGeometry (int) const

int GetID (void) const

void SetGround (bool=true)

void ApplyGravity (bool flag=true)

bool IsApplyingGravity (void) const

const vpWorld * GetWorld (void) const

bool DetectCollisionApprox (const vpBody *pBody) const

Detailed Description

vpBody is a class to model rigid bodies Typically vpBody consists of several geometries and can be connected to another body with joints.

Examples:: pendulum.cpp.

Member Function Documentation

void vpBody::SetJoint	(	vpJoint *	J,
		const SE3 &	T = `SE3(0)`
	)

set up a joint to the body.

Parameters:

	J	a joint that you want to connect to the body
	T	transformation of the joint frame represented in a body frame.

Examples:: pendulum.cpp.

VP_INLINE void vpBody::ApplyGlobalForce	(	const dse3 &	F,
		const Vec3 &	p
	)

apply a force to the body. The force will accumulated during the simulation time period. After each simulation step, all the applied forces will be set to be zero. If you do not want accumulating the force, then you should call ResetForce() explicitly, before calling Apply*Force().

Parameters:

	F	a force that you want to apply to the body. F is represented in a global frame
	p	an appyling position of the force represented in a body frame.

VP_INLINE void vpBody::ApplyLocalForce	(	const dse3 &	F,
		const Vec3 &	p
	)

apply a force to the body.

Parameters:

	F	a force that you want to apply to the body. F is represented in a body frame
	p	an appyling position of the force represented in a body frame.

VP_INLINE void vpBody::ResetForce ( void )

release the force from the body.

void vpBody::SetInertia ( const Inertia & )

set an inertia tensor tothe body. Evenif you do not choose an inertia for the body, the inertia will be generated automatically from the geometries consisting the body. However you can override or ignore the generated inertia using this method.

VP_INLINE const Inertia & vpBody::GetInertia ( void ) const

get an inertia tensor of the body.

void vpBody::SetJointFrame	(	vpJoint *	J,
		const SE3 &	T
	)

set a transformation of the joint frame.

Parameters:

J

the joint should be set to the body previously using SetJoint() method.

const SE3& vpBody::GetJointFrame ( const vpJoint * ) const

get a transformation of the joint frame.

VP_INLINE void vpBody::SetFrame ( const SE3 & T )

set a transformation of the body frame w.r.t a global frame.

See also:: vpWorld::SetGlobalFrame

VP_INLINE const SE3 & vpBody::GetFrame ( void ) const

get a transformation of the body frame w.r.t a global frame.

VP_INLINE void vpBody::SetGenVelocity ( const se3 & v )

set a generalized velocity of the body. The velocity is reprenseted in a global frame. Note that it depends on the current frame. Hence it should be called before SetFrame().

VP_INLINE void vpBody::SetGenVelocityLocal ( const se3 & v )

set a generalized velocity of the body. The velocity is reprenseted in a local frame.

VP_INLINE void vpBody::SetGenAcceleration ( const se3 & dv )

set a generalized acceleration of the body. The acceleration is reprenseted in a global frame. Note that it depends on the current frame. Hence it should be called before SetFrame().

VP_INLINE void vpBody::SetGenAccelerationLocal ( const se3 & dv )

set a generalized acceleration of the body. The acceleration is reprenseted in a local frame.

VP_INLINE se3 vpBody::GetGenVelocity ( void ) const

get a generalized velocity of the body. The velocity is reprenseted in a global frame.

VP_INLINE const se3 & vpBody::GetGenVelocityLocal ( void ) const

get a generalized velocity of the body. The velocity is reprenseted in a local frame.

VP_INLINE Vec3 vpBody::GetLinVelocity ( const Vec3 & p ) const

get a linear velocity of a given point in the body. The velocity is reprenseted in a global frame.

Parameters:

p

position of the point in the body. It is represented in the body frame.

VP_INLINE Vec3 vpBody::GetAngVelocity ( void ) const

get an angular velocity of the body. The velocity is reprenseted in a global frame.

VP_INLINE se3 vpBody::GetGenAcceleration ( void ) const

get a generalized acceleration of the body. The velocity is reprenseted in a global frame.

VP_INLINE const se3 & vpBody::GetGenAccelerationLocal ( void ) const

get a generalized acceleration of the body. The velocity is reprenseted in a local frame.

VP_INLINE bool vpBody::IsCollidable ( void ) const

query whether the body can collide with other bodies.

VP_INLINE bool vpBody::IsGround ( void ) const

query whether the body is desclared as a ground.

VP_INLINE void vpBody::SetCollidable ( bool state )

set a collidability of the body.

void vpBody::AddGeometry	(	vpGeom *	pGeom,
		const SE3 &	T = `SE3(0)`
	)

Add a primitive geometry to the body

Parameters:

	pGeom	a pointer to a primitive geometry
	T	a location of the geometry represented in the body frame.

Examples:: pendulum.cpp.

VP_INLINE scalar vpBody::GetBoundingSphereRadius ( void ) const

get a radius of a bounding sphere including the body, where the center is located at the center of body frame

VP_INLINE void vpBody::SetMaterial ( const vpMaterial * pMaterial )

set a material for the body. If you do not set up a material, default material properties will be applied.

See also:: vpMaterial::GetDefaultMaterial()

VP_INLINE const vpMaterial * vpBody::GetMaterial ( void ) const

get a meterial applied to the body.

See also:: vpBody::SetMaterial()

VP_INLINE const Vec3 & vpBody::GetCenterOfMass ( void ) const

get a center of mass

void vpBody::GenerateDisplayList ( bool )

generate a display list

dse3 vpBody::GetForce ( void ) const

get a sum of all forces applied to the body including gravity

const dse3& vpBody::GetNetForce ( void ) const

get a sum of all forces applied to the body excluding gravity

dse3 vpBody::GetGravityForce ( void ) const

get a force applied to the body due to the gravity

VP_INLINE bool vpBody::IsSetInertia ( void ) const

return whether the inertia of the body is assigend by user

See also:: vpBody::SetInertia

VP_INLINE int vpBody::GetNumGeometry ( void ) const

get a number of geometries attached to the body

See also:: vpBody::GetGeometry()

VP_INLINE const vpGeom * vpBody::GetGeometry ( int i ) const

get a pointer to the ith geometry

int vpBody::GetID ( void ) const

get a unique identifying integer value which is assigned by VirtualPhysics

VP_INLINE void vpBody::SetGround ( bool flag = true )

set the body as a ground. Bodies set as a ground don't move under any external forces.

Examples:: pendulum.cpp.

void vpBody::ApplyGravity ( bool flag = true )

Apply gravity for the body.

See also:: vpWorld::SetGravity

bool vpBody::IsApplyingGravity ( void ) const

return wheter the gravity is applied to the body

See also:: vpBody::ApplyGravity

VP_INLINE const vpWorld * vpBody::GetWorld ( void ) const

return the world including with the body

See also:: vpWorld::AddBody

VP_INLINE bool vpBody::DetectCollisionApprox ( const vpBody * pBody ) const

return whether the body is collided with pBody approximated with bounding sphere


Public Member Functions
void	SetJoint (vpJoint *J, const SE3 &T=SE3(0))
void	ApplyGlobalForce (const dse3 &F, const Vec3 &p)
void	ApplyLocalForce (const dse3 &F, const Vec3 &p)
void	ResetForce (void)
void	SetInertia (const Inertia &)
const Inertia &	GetInertia (void) const
void	SetJointFrame (vpJoint *J, const SE3 &T)
const SE3 &	GetJointFrame (const vpJoint *) const
void	SetFrame (const SE3 &)
const SE3 &	GetFrame (void) const
void	SetGenVelocity (const se3 &)
void	SetGenVelocityLocal (const se3 &)
void	SetGenAcceleration (const se3 &)
void	SetGenAccelerationLocal (const se3 &)
se3	GetGenVelocity (void) const
const se3 &	GetGenVelocityLocal (void) const
Vec3	GetLinVelocity (const Vec3 &p) const
Vec3	GetAngVelocity (void) const
se3	GetGenAcceleration (void) const
const se3 &	GetGenAccelerationLocal (void) const
bool	IsCollidable (void) const
bool	IsGround (void) const
void	SetCollidable (bool)
void	AddGeometry (vpGeom *pGeom, const SE3 &T=SE3(0))
scalar	GetBoundingSphereRadius (void) const
void	SetMaterial (const vpMaterial *)
const vpMaterial *	GetMaterial (void) const
const Vec3 &	GetCenterOfMass (void) const
void	GenerateDisplayList (bool)
dse3	GetForce (void) const
const dse3 &	GetNetForce (void) const
dse3	GetGravityForce (void) const
bool	IsSetInertia (void) const
int	GetNumGeometry (void) const
const vpGeom *	GetGeometry (int) const
int	GetID (void) const
void	SetGround (bool=true)
void	ApplyGravity (bool flag=true)
bool	IsApplyingGravity (void) const
const vpWorld *	GetWorld (void) const
bool	DetectCollisionApprox (const vpBody *pBody) const