iMSTK: imstk::PbdState Class Reference

Provides interface for accessing particles from a 2d array of PbdBody,Particles. More...

Public Member Functions
void	deepCopy (const PbdState &src)

Vec3d &	getPosition (const std::pair< int, int > &bodyParticleId) const

Vec3d &	getVelocity (const std::pair< int, int > &bodyParticleId) const

Quatd &	getOrientation (const std::pair< int, int > &bodyParticleId) const

Vec3d &	getAngularVelocity (const std::pair< int, int > &bodyParticleId) const

double	getInvMass (const std::pair< int, int > &bodyParticleId) const

Mat3d &	getInvInertia (const std::pair< int, int > &bodyParticleId) const

PbdBody::Type	getBodyType (const std::pair< int, int > &bodyParticleId) const

	PbdState (const int numElements)

std::shared_ptr< VecDataArray< double, 3 > >	getAccelerations ()
	Returns the vector of current nodal accelerations.

std::shared_ptr< VecDataArray< double, 3 > >	getPositions ()
	Returns the vector of current nodal positions.

std::shared_ptr< VecDataArray< double, 3 > >	getVelocities ()
	Returns the vector of current nodal velocities.

void	setAccelerations (std::shared_ptr< VecDataArray< double, 3 >> accelerations)
	Set the vector for accelerations.

void	setPositions (std::shared_ptr< VecDataArray< double, 3 >> positions)
	Sets the vector that stores the positions.

void	setVelocities (std::shared_ptr< VecDataArray< double, 3 >> velocities)
	Set the vector for velocities.

void	setState (std::shared_ptr< PbdState > rhs)
	Set the state to a given one, copies vector values by value instead of references.

Public Attributes
std::vector< std::shared_ptr< PbdBody > >	m_bodies

Detailed Description

Provides interface for accessing particles from a 2d array of PbdBody,Particles.

State of the body governed by PBD mathematical model.

Definition at line 229 of file imstkPbdBody.h.

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