Package org.robwork.sdurwsim

Class Body

java.lang.Object

org.robwork.sdurwsim.Body

Direct Known Subclasses:

FixedBody, KinematicBody, RigidBody

public class Body
extends java.lang.Object

Constructor Summary

Constructors

Constructor	Description
Body(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	addForce(Vector3D force, State state)
void	addForceToPos(Vector3D force, Vector3D pos, State state)
void	addForceW(Vector3D force, State state)
void	addForceWToPosW(Vector3D force, Vector3D pos, State state)
void	addTorque(Vector3D t, State state)
void	addTorqueW(Vector3D t, State state)
double	calcEnergy(State state)
void	delete()
Frame	getBodyFrame()
static long	getCPtr(Body obj)
Vector3D	getForce(State state)
Vector3D	getForceW(State state)
FrameVector	getFrames()
InertiaMatrixd	getInertia()
BodyInfo	getInfo()
java.lang.String	getMaterialID()
java.lang.String	getName()
Frame	getParentFrame(State state)
Vector3D	getPointVelW(Vector3D p, State state)	interface functions
Vector3D	getTorque(State state)
Vector3D	getTorqueW(State state)
Transform3D	getTransformW(State state)
Transform3D	place(CollisionDetectorPtr coldect, State state)
Transform3D	place(CollisionDetectorPtr coldect, State state, Vector3D dir)
Transform3D	pTbf(State state)
Transform3D	pTcom(State state)
void	reset(State state)
void	setForce(Vector3D f, State state)
void	setForceW(Vector3D f, State state)
void	setMass(double m)
void	setMass(double m, InertiaMatrixd inertia)
void	setMass(double m, InertiaMatrixd inertia, Vector3D com)
void	setTorque(Vector3D t, State state)
void	setTorqueW(Vector3D t, State state)
Transform3D	wTbf(State state)
Transform3D	wTcom(State state)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

Body

public Body(long cPtr,
            boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(Body obj)

delete

public void delete()

getBodyFrame

public Frame getBodyFrame()

getFrames

public FrameVector getFrames()

getInfo

public BodyInfo getInfo()

getName

public java.lang.String getName()

getMaterialID

public java.lang.String getMaterialID()

getInertia

public InertiaMatrixd getInertia()

setMass

public void setMass(double m)

setMass

public void setMass(double m,
                    InertiaMatrixd inertia)

setMass

public void setMass(double m,
                    InertiaMatrixd inertia,
                    Vector3D com)

getPointVelW

public Vector3D getPointVelW(Vector3D p,
                             State state)

interface functions

reset

public void reset(State state)

calcEnergy

public double calcEnergy(State state)

setForce

public void setForce(Vector3D f,
                     State state)

getForce

public Vector3D getForce(State state)

addForce

public void addForce(Vector3D force,
                     State state)

setTorque

public void setTorque(Vector3D t,
                      State state)

addTorque

public void addTorque(Vector3D t,
                      State state)

getTorque

public Vector3D getTorque(State state)

getParentFrame

public Frame getParentFrame(State state)

setForceW

public void setForceW(Vector3D f,
                      State state)

getForceW

public Vector3D getForceW(State state)

addForceW

public void addForceW(Vector3D force,
                      State state)

addForceToPos

public void addForceToPos(Vector3D force,
                          Vector3D pos,
                          State state)

addForceWToPosW

public void addForceWToPosW(Vector3D force,
                            Vector3D pos,
                            State state)

setTorqueW

public void setTorqueW(Vector3D t,
                       State state)

addTorqueW

public void addTorqueW(Vector3D t,
                       State state)

getTorqueW

public Vector3D getTorqueW(State state)

getTransformW

public Transform3D getTransformW(State state)

pTbf

public Transform3D pTbf(State state)

pTcom

public Transform3D pTcom(State state)

wTbf

public Transform3D wTbf(State state)

wTcom

public Transform3D wTcom(State state)

place

public Transform3D place(CollisionDetectorPtr coldect,
                         State state,
                         Vector3D dir)

place

public Transform3D place(CollisionDetectorPtr coldect,
                         State state)