sc::RigidBody Class Reference

Simple rigid body class for testing. More...

#include <RigidBody.h>

Public Member Functions
	RigidBody ()
virtual	~RigidBody ()
void	integrate (double dt)
	Move forward in time. More...
void	resetForces ()
void	getDirectionalDerivative (Vec3 &outSpatial, Vec3 &outRotational, Vec3 &position, const Vec3 &spatialDirection, const Vec3 &rotationalDirection)
void	saveState ()
void	restoreState ()
void	setLocalInertiaAsBox (double mass, const Vec3 &halfExtents)
void	updateWorldInertia ()

Public Attributes
Mat3	m_invInertiaWorld
Vec3	m_position
Vec3	m_velocity
Vec3	m_angularVelocity
Vec3	m_force
Vec3	m_torque
Vec3	m_gravity
double	m_invMass
Vec3	m_invInertia
Quat	m_quaternion
Vec3	m_position2
Vec3	m_velocity2
Vec3	m_force2
Vec3	m_torque2
Vec3	m_angularVelocity2
Quat	m_quaternion2
Vec3	m_gravity2
double	m_invMass2
Vec3	m_invInertia2
Mat3	m_invInertiaWorld2

Detailed Description

Simple rigid body class for testing.

Constructor & Destructor Documentation

RigidBody::RigidBody

(

)

RigidBody::~RigidBody ( )

virtual

Member Function Documentation

void RigidBody::getDirectionalDerivative	(	Vec3 &	outSpatial,
		Vec3 &	outRotational,
		Vec3 &	position,
		const Vec3 &	spatialDirection,
		const Vec3 &	rotationalDirection
	)

void RigidBody::integrate

(

double

dt

)

Move forward in time.

void RigidBody::resetForces

(

)

void RigidBody::restoreState

(

)

void RigidBody::saveState

(

)

void RigidBody::setLocalInertiaAsBox	(	double	mass,
		const Vec3 &	halfExtents
	)

void RigidBody::updateWorldInertia

(

)

Member Data Documentation

Vec3 sc::RigidBody::m_angularVelocity

Vec3 sc::RigidBody::m_angularVelocity2

Vec3 sc::RigidBody::m_force

Vec3 sc::RigidBody::m_force2

Vec3 sc::RigidBody::m_gravity

Vec3 sc::RigidBody::m_gravity2

Vec3 sc::RigidBody::m_invInertia

Vec3 sc::RigidBody::m_invInertia2

Mat3 sc::RigidBody::m_invInertiaWorld

Mat3 sc::RigidBody::m_invInertiaWorld2

double sc::RigidBody::m_invMass

double sc::RigidBody::m_invMass2

Vec3 sc::RigidBody::m_position

Vec3 sc::RigidBody::m_position2

Quat sc::RigidBody::m_quaternion

Quat sc::RigidBody::m_quaternion2

Vec3 sc::RigidBody::m_torque

Vec3 sc::RigidBody::m_torque2

Vec3 sc::RigidBody::m_velocity

Vec3 sc::RigidBody::m_velocity2

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

• strong-coupling-core/test/RigidBody.h
• strong-coupling-core/test/RigidBody.cpp