Public Types | Public Member Functions | Public Attributes | Protected Types | Protected Attributes

OpenTissue::mbd::Body< mbd_types > Class Template Reference

#include <mbd_body.h>

List of all members.

Public Types

typedef mbd_types::math_policy math_policy
typedef
mbd_types::math_policy::real_type 		real_type
typedef
mbd_types::math_policy::vector3_type 		vector3_type
typedef
mbd_types::math_policy::matrix3x3_type 		matrix3x3_type
typedef
mbd_types::math_policy::quaternion_type 		quaternion_type
typedef
mbd_types::math_policy::size_type 		size_type
typedef
mbd_types::math_policy::value_traits 		value_traits
typedef mbd_types::node_traits node_traits
typedef
mbd_types::indirect_joint_iterator 		indirect_joint_iterator
typedef
mbd_types::const_indirect_joint_iterator 		const_indirect_joint_iterator
typedef
mbd_types::indirect_edge_iterator 		indirect_edge_iterator
typedef
mbd_types::indirect_force_iterator 		indirect_force_iterator
typedef
mbd_types::const_indirect_force_iterator 		const_indirect_force_iterator

Public Member Functions

indirect_joint_iterator joint_begin ()
indirect_joint_iterator joint_end ()
const_indirect_joint_iterator joint_begin () const
const_indirect_joint_iterator joint_end () const
indirect_edge_iterator edge_begin ()
indirect_edge_iterator edge_end ()
indirect_force_iterator force_begin ()
indirect_force_iterator force_end ()
const_indirect_force_iterator force_begin () const
const_indirect_force_iterator force_end () const
 Body ()
 ~Body ()
 Body (Body const &body)
void clear ()
void compute_forces_and_torques (vector3_type &F, vector3_type &T) const
void attach (force_type *force)
void detach (force_type *force)
void set_position (vector3_type const &r)
void set_orientation (quaternion_type const &Q)
void set_velocity (vector3_type const &V)
void set_spin (vector3_type const &W)
void set_mass (real_type const &mass)
void set_inertia_bf (matrix3x3_type const &I_BF)
void get_position (vector3_type &r) const
void get_orientation (quaternion_type &Q) const
void get_orientation (matrix3x3_type &R) const
void get_velocity (vector3_type &V) const
void get_spin (vector3_type &W) const
real_type get_inverse_mass () const
real_type get_mass () const
void get_inverse_inertia_bf (matrix3x3_type &invI_BF) const
void get_inverse_inertia_wcs (matrix3x3_type &invI_WCS) const
void get_inertia_wcs (matrix3x3_type &I_WCS) const
bool is_active () const
void set_active (bool const &active)
bool is_sleepy () const
void set_sleepy (bool const &sleepy)
void set_material_idx (size_type const &idx)
size_type get_material_idx () const
bool has_finite_rotation_update () const
void set_finite_rotation_update (bool const &active)
bool has_finite_rotation_axis () const
void get_finite_rotation_axis (vector3_type &r_axis) const
void set_finite_rotation_axis (vector3_type const &r_axis)
bool is_scripted () const
void set_scripted_motion (scripted_motion_type *motion)
void compute_scripted_motion (real_type const &time)
bool is_fixed () const
void set_fixed (bool const &fixed)
real_type compute_kinetic_energy () const
bool has_joints () const
bool has_active_joints () const
bool has_joint_to (body_type const *body) const
void set_geometry (geometry_type *geometry)
geometry_type * get_geometry () const
void compute_collision_aabb (vector3_type const &r, matrix3x3_type const &R, vector3_type &min_coord, vector3_type &max_coord, real_type const &envelope) const

Public Attributes

joint_ptr_container m_joints
 A list containing pointers to all joints this body is part of.
edge_ptr_container m_edges
 A list containing pointers to all incident edges to this body. That is all body pairs this body is part of.
size_type m_tag
 Tag, can be used for anything, for instance traversing bodies...

Protected Types

typedef mbd_types::geometry_type geometry_type
typedef mbd_types::body_type body_type
typedef mbd_types::joint_type joint_type
typedef mbd_types::edge_type edge_type
typedef mbd_types::force_type force_type
typedef
mbd_types::scripted_motion_type 		scripted_motion_type
typedef
mbd_types::joint_ptr_container 		joint_ptr_container
typedef
mbd_types::edge_ptr_container 		edge_ptr_container
typedef
mbd_types::force_ptr_container 		force_ptr_container
typedef
edge_ptr_container::iterator 		edge_ptr_iterator
typedef
edge_ptr_container::const_iterator 		const_edge_ptr_iterator
typedef
joint_ptr_container::iterator 		joint_ptr_iterator
typedef
joint_ptr_container::const_iterator 		const_joint_ptr_iterator

Protected Attributes

force_ptr_container m_forces
 A list of pointers to all external forces influencing the rigid body.
scripted_motion_type * m_scripted_motion
 A pointer to a scripted motion, if set this body is automatically scripted if null the body is either fixed or free moving.
size_type m_material_idx
 Unique index identifying the material properties of the node.
bool m_active
bool m_sleepy
 Boolean flag indicating wheter the body is sleepy or not.
bool m_fixed
 Boolean flag indicating if the body is fixed or not.
bool m_scripted
 Boolean flag indicating if the body is scripted or not.
bool m_finite_rotation_update
 Finite rotation update flag. To be used during position update.
vector3_type m_r_axis
 Finite rotation axis, can be used during position update.
vector3_type m_r
 The current position of the node in WCS.
quaternion_type m_Q
 The current orientation of the node in WCS.
vector3_type m_P
 Linear momentum on CM in WCS.
vector3_type m_L
 Angular momentum wrt. CM in WCS.
vector3_type m_V
 Linear velocity of CM in WCS .
vector3_type m_W
 Angular velocity around CM in WCS .
matrix3x3_type m_invI_WCS
 Inverse Inertia tensor wrt CM in WCS.
matrix3x3_type m_invI_BF
 Inverse Inertia tensor wrt CM in BF.
matrix3x3_type m_I_WCS
 Inertia tensor wrt CM in WCS.
matrix3x3_type m_I_BF
 Inertia tensor wrt CM in BF.
real_type m_inv_mass
 Inverse mass.
real_type m_mass
 mass.
matrix3x3_type m_R
 Orientation of BF in WCS (as a Matrix).
geometry_type * m_geometry
 The geometry of the rigid body.

template<typename mbd_types>
class OpenTissue::mbd::Body< mbd_types >

Member Typedef Documentation

template<typename mbd_types >
typedef mbd_types::body_type OpenTissue::mbd::Body< mbd_types >::body_type [protected]
template<typename mbd_types >
typedef edge_ptr_container::const_iterator OpenTissue::mbd::Body< mbd_types >::const_edge_ptr_iterator [protected]
template<typename mbd_types >
typedef mbd_types::const_indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::const_indirect_force_iterator
template<typename mbd_types >
typedef mbd_types::const_indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::const_indirect_joint_iterator
template<typename mbd_types >
typedef joint_ptr_container::const_iterator OpenTissue::mbd::Body< mbd_types >::const_joint_ptr_iterator [protected]
template<typename mbd_types >
typedef mbd_types::edge_ptr_container OpenTissue::mbd::Body< mbd_types >::edge_ptr_container [protected]
template<typename mbd_types >
typedef edge_ptr_container::iterator OpenTissue::mbd::Body< mbd_types >::edge_ptr_iterator [protected]
template<typename mbd_types >
typedef mbd_types::edge_type OpenTissue::mbd::Body< mbd_types >::edge_type [protected]
template<typename mbd_types >
typedef mbd_types::force_ptr_container OpenTissue::mbd::Body< mbd_types >::force_ptr_container [protected]
template<typename mbd_types >
typedef mbd_types::force_type OpenTissue::mbd::Body< mbd_types >::force_type [protected]
template<typename mbd_types >
typedef mbd_types::geometry_type OpenTissue::mbd::Body< mbd_types >::geometry_type [protected]
template<typename mbd_types >
typedef mbd_types::indirect_edge_iterator OpenTissue::mbd::Body< mbd_types >::indirect_edge_iterator
template<typename mbd_types >
typedef mbd_types::indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::indirect_force_iterator
template<typename mbd_types >
typedef mbd_types::indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::indirect_joint_iterator
template<typename mbd_types >
typedef mbd_types::joint_ptr_container OpenTissue::mbd::Body< mbd_types >::joint_ptr_container [protected]
template<typename mbd_types >
typedef joint_ptr_container::iterator OpenTissue::mbd::Body< mbd_types >::joint_ptr_iterator [protected]
template<typename mbd_types >
typedef mbd_types::joint_type OpenTissue::mbd::Body< mbd_types >::joint_type [protected]
template<typename mbd_types >
typedef mbd_types::math_policy OpenTissue::mbd::Body< mbd_types >::math_policy
template<typename mbd_types >
typedef mbd_types::math_policy::matrix3x3_type OpenTissue::mbd::Body< mbd_types >::matrix3x3_type
template<typename mbd_types >
typedef mbd_types::node_traits OpenTissue::mbd::Body< mbd_types >::node_traits
template<typename mbd_types >
typedef mbd_types::math_policy::quaternion_type OpenTissue::mbd::Body< mbd_types >::quaternion_type
template<typename mbd_types >
typedef mbd_types::math_policy::real_type OpenTissue::mbd::Body< mbd_types >::real_type
template<typename mbd_types >
typedef mbd_types::scripted_motion_type OpenTissue::mbd::Body< mbd_types >::scripted_motion_type [protected]
template<typename mbd_types >
typedef mbd_types::math_policy::size_type OpenTissue::mbd::Body< mbd_types >::size_type
template<typename mbd_types >
typedef mbd_types::math_policy::value_traits OpenTissue::mbd::Body< mbd_types >::value_traits
template<typename mbd_types >
typedef mbd_types::math_policy::vector3_type OpenTissue::mbd::Body< mbd_types >::vector3_type

Constructor & Destructor Documentation

template<typename mbd_types >
OpenTissue::mbd::Body< mbd_types >::Body (  )  [inline]
template<typename mbd_types >
OpenTissue::mbd::Body< mbd_types >::~Body (  )  [inline]
template<typename mbd_types >
OpenTissue::mbd::Body< mbd_types >::Body ( Body< mbd_types > const &  body  )  [inline]

Member Function Documentation

template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::attach ( force_type *  force  )  [inline]

Attach force_type Type. Notice that forces are actually more like a type, than a single instance of force, thus gravity can for instance be shared by all bodies in a configuration.

Parameters:
force A pointer to the force that should be attached to this body. There is no test for multiple attachments.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::clear (  )  [inline]
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::compute_collision_aabb ( vector3_type const &  r,
matrix3x3_type const &  R,
vector3_type &  min_coord,
vector3_type &  max_coord,
real_type const &  envelope 
) const [inline]

Compute AABB box that encloses geometry of Body.

Parameters:
r The body position in WCS.
R The body orientation in WCS.
min_coord Upon return holds the minimum corner of the AABB.
max_coord Upon return holds the maximum corner of the AABB.
envelope The size of the collision envelope.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::compute_forces_and_torques ( vector3_type &  F,
vector3_type &  T 
) const [inline]

Compute External Forces and Torques.

Parameters:
F upon return this parameter holds the total external force acting on the center of mass of the body.
T upon return this parameter holds the total external torque acting around the center of mass of the body.
template<typename mbd_types >
real_type OpenTissue::mbd::Body< mbd_types >::compute_kinetic_energy (  )  const [inline]

Retrieve Total Kinetic Energy of body_type. Note this is re-evaluated on every invocation.

Returns:
The value of the kinetic energy.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::compute_scripted_motion ( real_type const &  time  )  [inline]

Compute Scripted Motion. If body is scripted, then this method will compute the state of the scripted motion at the specified time and update the body state to the newly computed state.

Parameters:
time The time at which the scripted motion should be computed.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::detach ( force_type *  force  )  [inline]

Detach force_type Type.

Parameters:
force A pointer to the force type that should be removed.
template<typename mbd_types >
indirect_edge_iterator OpenTissue::mbd::Body< mbd_types >::edge_begin (  )  [inline]
template<typename mbd_types >
indirect_edge_iterator OpenTissue::mbd::Body< mbd_types >::edge_end (  )  [inline]
template<typename mbd_types >
const_indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::force_begin (  )  const [inline]
template<typename mbd_types >
indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::force_begin (  )  [inline]
template<typename mbd_types >
indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::force_end (  )  [inline]
template<typename mbd_types >
const_indirect_force_iterator OpenTissue::mbd::Body< mbd_types >::force_end (  )  const [inline]
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_finite_rotation_axis ( vector3_type &  r_axis  )  const [inline]

Retrieve Finite Rotation Axis.

param r_axis Upon return this parameter contains the finite rotaiton axis.

template<typename mbd_types >
geometry_type* OpenTissue::mbd::Body< mbd_types >::get_geometry (  )  const [inline]

Get Geometry Type.

Returns:
A pointer to the base interface of geometry types.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_inertia_wcs ( matrix3x3_type &  I_WCS  )  const [inline]

Get the world frame inertia tensor.

Parameters:
invI_WCS Upon return this argument holds the value of the world frame inertia tensor.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_inverse_inertia_bf ( matrix3x3_type &  invI_BF  )  const [inline]

Get Inverse body_type Frame Inertia Tensor.

Parameters:
invI_BF Upon return this argument holds the value of the inverse body frame inertia tensor.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_inverse_inertia_wcs ( matrix3x3_type &  invI_WCS  )  const [inline]

Get Inverse World Frame Inertia Tensor.

Parameters:
invI_WCS Upon return this argument holds the value of the inverse world frame inertia tensor.
template<typename mbd_types >
real_type OpenTissue::mbd::Body< mbd_types >::get_inverse_mass (  )  const [inline]

Get Inverse total Mass.

Returns:
The value of the total inverse mass.
template<typename mbd_types >
real_type OpenTissue::mbd::Body< mbd_types >::get_mass (  )  const [inline]

Get the total mass.

Returns:
The value of the total mass.
template<typename mbd_types >
size_type OpenTissue::mbd::Body< mbd_types >::get_material_idx (  )  const [inline]

Get material_type Index

Returns:
The material index value of the body.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_orientation ( quaternion_type &  Q  )  const [inline]

Get Orientation.

Parameters:
Q Upon return this argument holds the value of the orientation of the principal axes wrt. the world coordinate system representated as a quaterion.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_orientation ( matrix3x3_type &  R  )  const [inline]

Get Orientation.

Parameters:
R Upon return this argument holds the value of the orientation of the principal axes wrt. the world coordinate system representated as a matrix.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_position ( vector3_type &  r  )  const [inline]

Get Position.

Parameters:
r Upon return this argument holds the value of the position of the center of mass wrt. the world coordinate system.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_spin ( vector3_type &  W  )  const [inline]

Get Spin

Parameters:
W Upon return this argument holds the value of the angular velocity around the center of mass wrt. the world coordinate system.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::get_velocity ( vector3_type &  V  )  const [inline]

Get Velocity.

Parameters:
V Upon return this argument holds the value of the linear velocity of the center of mass wrt. the world coordinate system.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::has_active_joints (  )  const [inline]

Retrieve Active joint_type Status.

Returns:
If body is part of any active joints then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::has_finite_rotation_axis (  )  const [inline]

Has Finite Rotation Axis Query.

Returns:
If a finite rotation axis have been set then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::has_finite_rotation_update (  )  const [inline]

Finite Rotation Update Query.

Returns:
If this body should be updated with a finite rotation update, then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::has_joint_to ( body_type const *  body  )  const [inline]

Retrieve joint_type Connection Status.

Parameters:
body A pointer to another body.
Returns:
If body has a joint to the specified body then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::has_joints (  )  const [inline]

Retrieve joint_type Status.

Returns:
If body is part of any joints then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::is_active (  )  const [inline]

Retrieve Active Status.

Returns:
If body is active then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::is_fixed (  )  const [inline]

Retrieve Fixed Status.

Returns:
If body is a fixed body then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::is_scripted (  )  const [inline]

Retrieve Scripted Status.

Returns:
If body is a scripted body then the return value is true otherwise it is false.
template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::is_sleepy (  )  const [inline]

Retrieve Sleepy State.

Returns:
If body is sleepy i.e. settling down to rest then the return value is true otherwise it is false.
template<typename mbd_types >
indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::joint_begin (  )  [inline]
template<typename mbd_types >
const_indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::joint_begin (  )  const [inline]
template<typename mbd_types >
const_indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::joint_end (  )  const [inline]
template<typename mbd_types >
indirect_joint_iterator OpenTissue::mbd::Body< mbd_types >::joint_end (  )  [inline]
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_active ( bool const &  active  )  [inline]

Set Active Status.

Parameters:
active The new active status value.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_finite_rotation_axis ( vector3_type const &  r_axis  )  [inline]

Set Finite Rotation Axis. Note setting the rotation axis implies that finite rotation update state is set to be on.

Parameters:
r_axis The new finite rotation axis to be used. If it is zero then the finite rotation axis will be turned off.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_finite_rotation_update ( bool const &  active  )  [inline]

Set Finite Rotation Update.

Parameters:
active Boolean flag indicating whetever finite rotation update is active or not.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_fixed ( bool const &  fixed  )  [inline]

Set fixed body.

Parameters:
fixed Boolean value indicating whetever the body is fixed or not.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_geometry ( geometry_type *  geometry  )  [inline]

Set Geometry.

Parameters:
geometry A pointer to the geometry type of this rigid body.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_inertia_bf ( matrix3x3_type const &  I_BF  )  [inline]

Set body_type Frame Inertia Tensor The world frame inertia tensors are automatically updated, also the angular momentum is affected.

Parameters:
I_BF The new body frame inertia tensor.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_mass ( real_type const &  mass  )  [inline]

Set Total body_type Mass. Automatically computes the inverse mass, and implicitly effects the linear momentum.

Parameters:
mass The new total mass of the body, must be positive.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_material_idx ( size_type const &  idx  )  [inline]

Set material_type Index. material_type properties are defined between two materials, a material is uniquely identified by an index value. So if you want a material like iron dedicate a unique index to mean ``iron'', if you have another object made of say rubber, it will have another unique index. If the iron and rubber objects come into contact, their material indices are used to look up the material properties between iron and rubber.

By default all bodies get material index zero, upon creation.

Parameters:
idx The new material index of the body.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_orientation ( quaternion_type const &  Q  )  [inline]

Set Orientation. Note that this method will update the world coordinate system inertia tensor.

Parameters:
Q The new orientation, that is the rotation of the principal axes wrt. the world coordinate frame.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_position ( vector3_type const &  r  )  [inline]

Set Position.

Parameters:
r The new position of the center of mass of this body.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_scripted_motion ( scripted_motion_type *  motion  )  [inline]

Set Scripted Motion.

Parameters:
motion A pointer to the scripted motion that should be used for the scripted body. If null the body is set to be non-scripted. Thus the end-user can toggle a rigid body to be scripted and non-scripted.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_sleepy ( bool const &  sleepy  )  [inline]

Set Sleepy Status.

Parameters:
sleepy The new sleepy status of the body.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_spin ( vector3_type const &  W  )  [inline]

Set Angular Velocity. This method implicitly effects the angular momemtum.

Parameters:
W The angular velocity around the center of mass wrt. the world coordinate system.
template<typename mbd_types >
void OpenTissue::mbd::Body< mbd_types >::set_velocity ( vector3_type const &  V  )  [inline]

Set Velocity. This method implicitly effects the linear momemtum.

Parameters:
V The new linear velocity of the center of mass wrt. the world coordinate system.

Member Data Documentation

template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::m_active [protected]

Boolean flag indicating whatever this node is active in the configuration.

template<typename mbd_types >
edge_ptr_container OpenTissue::mbd::Body< mbd_types >::m_edges

A list containing pointers to all incident edges to this body. That is all body pairs this body is part of.

template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::m_finite_rotation_update [protected]

Finite rotation update flag. To be used during position update.

template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::m_fixed [protected]

Boolean flag indicating if the body is fixed or not.

template<typename mbd_types >
force_ptr_container OpenTissue::mbd::Body< mbd_types >::m_forces [protected]

A list of pointers to all external forces influencing the rigid body.

template<typename mbd_types >
geometry_type* OpenTissue::mbd::Body< mbd_types >::m_geometry [protected]

The geometry of the rigid body.

template<typename mbd_types >
matrix3x3_type OpenTissue::mbd::Body< mbd_types >::m_I_BF [protected]

Inertia tensor wrt CM in BF.

template<typename mbd_types >
matrix3x3_type OpenTissue::mbd::Body< mbd_types >::m_I_WCS [protected]

Inertia tensor wrt CM in WCS.

template<typename mbd_types >
real_type OpenTissue::mbd::Body< mbd_types >::m_inv_mass [protected]

Inverse mass.

template<typename mbd_types >
matrix3x3_type OpenTissue::mbd::Body< mbd_types >::m_invI_BF [protected]

Inverse Inertia tensor wrt CM in BF.

template<typename mbd_types >
matrix3x3_type OpenTissue::mbd::Body< mbd_types >::m_invI_WCS [protected]

Inverse Inertia tensor wrt CM in WCS.

template<typename mbd_types >
joint_ptr_container OpenTissue::mbd::Body< mbd_types >::m_joints

A list containing pointers to all joints this body is part of.

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_L [protected]

Angular momentum wrt. CM in WCS.

template<typename mbd_types >
real_type OpenTissue::mbd::Body< mbd_types >::m_mass [protected]

mass.

template<typename mbd_types >
size_type OpenTissue::mbd::Body< mbd_types >::m_material_idx [protected]

Unique index identifying the material properties of the node.

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_P [protected]

Linear momentum on CM in WCS.

template<typename mbd_types >
quaternion_type OpenTissue::mbd::Body< mbd_types >::m_Q [protected]

The current orientation of the node in WCS.

template<typename mbd_types >
matrix3x3_type OpenTissue::mbd::Body< mbd_types >::m_R [protected]

Orientation of BF in WCS (as a Matrix).

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_r [protected]

The current position of the node in WCS.

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_r_axis [protected]

Finite rotation axis, can be used during position update.

template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::m_scripted [protected]

Boolean flag indicating if the body is scripted or not.

template<typename mbd_types >
scripted_motion_type* OpenTissue::mbd::Body< mbd_types >::m_scripted_motion [protected]

A pointer to a scripted motion, if set this body is automatically scripted if null the body is either fixed or free moving.

template<typename mbd_types >
bool OpenTissue::mbd::Body< mbd_types >::m_sleepy [protected]

Boolean flag indicating wheter the body is sleepy or not.

template<typename mbd_types >
size_type OpenTissue::mbd::Body< mbd_types >::m_tag

Tag, can be used for anything, for instance traversing bodies...

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_V [protected]

Linear velocity of CM in WCS .

template<typename mbd_types >
vector3_type OpenTissue::mbd::Body< mbd_types >::m_W [protected]

Angular velocity around CM in WCS .

The documentation for this class was generated from the following file:
Generated on Thu Dec 1 2011 12:56:27 for HUMIM Tracker by  doxygen 1.7.1