iMSTK: imstk::RigidBody Struct Reference

Serves as a handle to the body. More...

Public Member Functions
const Vec3d &	getPosition () const

const Quatd &	getOrientation () const

const Vec3d &	getVelocity () const

const Vec3d &	getAngularVelocity () const

const Vec3d &	getForce () const

const Vec3d &	getTorque () const

const double	getMass () const

void	setMass (const double mass)

const Mat3d &	getIntertiaTensor () const

void	setInertiaTensor (const Mat3d &inertiaTensor)

const Vec3d &	getInitPos () const

void	setInitPos (const Vec3d &pos)

const Quatd &	getInitOrientation () const

void	setInitOrientation (const Quatd &orientation)

const Vec3d &	getInitVelocity () const

void	setInitVelocity (const Vec3d &velocity)

const Vec3d &	getInitAngularVelocity () const

void	setInitAngularVelocity (const Vec3d &angularVelocity)

const Vec3d &	getInitForce () const

void	setInitForce (const Vec3d &force)

const Vec3d &	getInitTorque () const

void	setInitTorque (const Vec3d &torque)

void	setInertiaFromPointSet (std::shared_ptr< PointSet > pointset, const double scale=1.0, const bool useBoundingBoxOrigin=true)
	Convience function to set the inertia tensor based off provided geometry assuming uniform mass at each point.

Public Attributes
double	m_mass = 1.0

Mat3d	m_intertiaTensor = Mat3d::Identity()

Vec3d	m_initPos = Vec3d(0.0, 0.0, 0.0)

Quatd	m_initOrientation = Quatd(1.0, 0.0, 0.0, 0.0)

Vec3d	m_initVelocity = Vec3d(0.0, 0.0, 0.0)

Vec3d	m_initAngularVelocity = Vec3d(0.0, 0.0, 0.0)

Vec3d	m_initForce = Vec3d(0.0, 0.0, 0.0)

Vec3d	m_initTorque = Vec3d(0.0, 0.0, 0.0)

bool	m_isStatic = false

Vec3d	m_prevForce = Vec3d(0.0, 0.0, 0.0)

Vec3d *	m_pos = nullptr

Quatd *	m_orientation = nullptr

Vec3d *	m_velocity = nullptr

Vec3d *	m_angularVelocity = nullptr

Vec3d *	m_force = nullptr

Vec3d *	m_torque = nullptr

Detailed Description

Serves as a handle to the body.

Definition at line 20 of file imstkRbdConstraint.h.

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