Static Public Member Functions
static void	setODEBodyT3D (dBodyID bodyId, const rw::math::Transform3D<> &t3d)
	set the transform of a ode body More...

static void	setODEGeomT3D (dGeomID geoId, const rw::math::Transform3D<> &t3d)

static rw::math::Transform3D	getODEGeomT3D (dGeomID geomId)

static rw::math::Transform3D	getODEBodyT3D (dBodyID bodyId)

static void	toODEVector (const rw::math::Vector3D<> &v, dVector3 dst)

static rw::math::Vector3D< double >	toVector3D (const dReal *v)

static void	toODERotation (const rw::math::Rotation3D<> &rwR, dMatrix3 R)

static void	toODETransform (const rw::math::Transform3D<> &t3d, dVector3 p, dQuaternion q)

static void	setODEBodyMass (dBodyID body, double mass, const rw::math::Vector3D<> &c, const rw::math::InertiaMatrix<> &I)

static double	calcElasticERP (double Kp, double Kd, double dt)
	calculate the ERP to use in an elastic (spring-and-damper system) contact with elastic More...

static double	calcElasticCFM (double Kp, double Kd, double dt)
	calculate the CFM to use in an elastic (spring-and-damper system) contact with elastic More...

static TriMeshData::Ptr	buildTriMesh (rw::core::Ptr< rw::geometry::GeometryData > gdata, bool invert=false)

static std::vector< TriGeomData * >	buildTriGeom (std::vector< rw::core::Ptr< rw::geometry::Geometry >> geoms, dSpaceID spaceid, rw::kinematics::Frame *ref, const rw::kinematics::State &state, bool invert=false)

Member Function Documentation

◆ calcElasticCFM()

static double calcElasticCFM	(	double	Kp,
		double	Kd,
		double	dt
	)

static

calculate the CFM to use in an elastic (spring-and-damper system) contact with elastic

Parameters

static double calcElasticERP	(	double	Kp,
		double	Kd,
		double	dt
	)

static

calculate the ERP to use in an elastic (spring-and-damper system) contact with elastic

Parameters

Note: this needs to be used together with a correctly calculated CFM constant

static

set the transform of a ode body

Parameters

bodyId	[in] the bodyId of the ode body
t3d	[in] the rw transform

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