SimTK::Body::Rigid Class Reference

A general rigid body. More...

#include <Body.h>

Inheritance diagram for SimTK::Body::Rigid:

List of all members.

Public Member Functions
	Rigid ()
	Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1))
	Rigid (const MassProperties &)
	Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body.
Rigid &	setDefaultRigidBodyMassProperties (const MassProperties &m)
	Every type of Body should provide an initial set of rigid body mass properties defined at Topology stage (i.e., in the System rather than the State).
	SimTK_PIMPL_DOWNCAST (Rigid, Body)

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Detailed Description

A general rigid body.

This can represent a body with mass properties that are full, linear, inertialess (e.g. a point), or massless.

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Constructor & Destructor Documentation

SimTK::Body::Rigid::Rigid

(

)

Construct a rigid body with default mass properties which are (1,Vec3(0),Inertia(1,1,1))

SimTK::Body::Rigid::Rigid

(

const MassProperties &

)

[explicit]

Construct a rigid body with the given mass properties; any set of mass properties is allowed since this is a general rigid body.

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Member Function Documentation

Rigid& SimTK::Body::Rigid::setDefaultRigidBodyMassProperties

(

const MassProperties &

)

[inline]

Every type of Body should provide an initial set of rigid body mass properties defined at Topology stage (i.e., in the System rather than the State).

This is thus a Topology-stage change which will require a new realizeTopology() before use.

Reimplemented from SimTK::Body.

SimTK::Body::Rigid::SimTK_PIMPL_DOWNCAST	(	Rigid	,
		Body
	)

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

• Body.h