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Body Class Reference Class encapsulating a physical body. More... #include <Body.hh> List of all members. Public Member Functions   Body (const World *world, const char *bodyName=NULL, bool dummy=false)   Constructor. virtual  ~Body ()   Destructor. void  UpdateCoM () int  GetNumGeoms () Geom **  GetGeoms () void  Enable (bool enable) GzPose  GetPose (void) const   Get the body pose (global cs). GzVector  GetPosition (void) const   Get the body position (global cs). GzQuatern  GetRotation (void) const   Get the body rotation (global cs). void  SetPose (GzPose pose)   Set the body pose (global cs). void  SetPosition (GzVector pos)   Set the body position (global cs). void  SetRotation (GzQuatern rot)   Set the body rotation (global cs). GzPose  GetCoMPose (void) const GzVector  GetLinearVel (void) const GzQuatern  GetAngularVel (void) const void  SetLinearVel (GzVector vel)   Set the linear velocity (global cs). void  SetAngularVel (GzVector vel)   Set the angular velocity (global cs). dBodyID  GetBodyId () const dSpaceID  GetSpaceId () const void  SetGravityMode (bool enabled)   Enable/disable effect of gravity on this body. int  GetGravityMode () void  SetFiniteRotationAxis (double x, double y, double z) void  SetFiniteRotationMode (int mode) void  SetPickId (GLuint id) GzVector  GetTorque (void) GzVector  GetForce (void)   Get the tota force acting on a body. void  SetForce (GzVector f)   Set the total force acting on a body. void  SetTorque (double x, double y, double z) void  AddForce (double x, double y, double z) void  AddTorque (double x, double y, double z) void  AddRelForce (double x, double y, double z) void  AddRelTorque (double x, double y, double z) void  AddForceAtPos (double x, double y, double z, double pos_x, double pos_y, double pos_z) void  AddForceAtRelPos (double x, double y, double z, double pos_x, double pos_y, double pos_z) Public Attributes char *  bodyName Protected Attributes dWorldID  worldId dBodyID  bodyId GzPose  dummyPose dMass  mass Friends class  Geom class  BaseGeom class  Camera Detailed Description Class encapsulating a physical body. Constructor & Destructor Documentation Body::Body (  const World *  world, const char *  bodyName = NULL, bool  dummy = false )    Constructor. Body::~Body (   )  [virtual]   Destructor. Member Function Documentation void Body::UpdateCoM (   )  int Body::GetNumGeoms (   )  [inline] Geom** Body::GetGeoms (   )  [inline] void Body::Enable (  bool  enable  )  GzPose Body::GetPose (  void   )  const   Get the body pose (global cs). GzVector Body::GetPosition (  void   )  const   Get the body position (global cs). GzQuatern Body::GetRotation (  void   )  const   Get the body rotation (global cs). void Body::SetPose (  GzPose  pose  )    Set the body pose (global cs). void Body::SetPosition (  GzVector  pos  )    Set the body position (global cs). void Body::SetRotation (  GzQuatern  rot  )    Set the body rotation (global cs). GzPose Body::GetCoMPose (  void   )  const GzVector Body::GetLinearVel (  void   )  const GzQuatern Body::GetAngularVel (  void   )  const void Body::SetLinearVel (  GzVector  vel  )    Set the linear velocity (global cs). void Body::SetAngularVel (  GzVector  vel  )    Set the angular velocity (global cs). dBodyID Body::GetBodyId (   )  const dSpaceID Body::GetSpaceId (   )  const void Body::SetGravityMode (  bool  enabled  )    Enable/disable effect of gravity on this body. int Body::GetGravityMode (   )  void Body::SetFiniteRotationAxis (  double  x, double  y, double  z )  void Body::SetFiniteRotationMode (  int  mode  )  void Body::SetPickId (  GLuint  id  )  GzVector Body::GetTorque (  void   )  GzVector Body::GetForce (  void   )    Get the tota force acting on a body. void Body::SetForce (  GzVector  f  )    Set the total force acting on a body. void Body::SetTorque (  double  x, double  y, double  z )  void Body::AddForce (  double  x, double  y, double  z )  void Body::AddTorque (  double  x, double  y, double  z )  void Body::AddRelForce (  double  x, double  y, double  z )  void Body::AddRelTorque (  double  x, double  y, double  z )  void Body::AddForceAtPos (  double  x, double  y, double  z, double  pos_x, double  pos_y, double  pos_z )  void Body::AddForceAtRelPos (  double  x, double  y, double  z, double  pos_x, double  pos_y, double  pos_z )  Friends And Related Function Documentation friend class Geom [friend] friend class BaseGeom [friend] friend class Camera [friend] Member Data Documentation char* Body::bodyName dWorldID Body::worldId [protected] dBodyID Body::bodyId [protected] GzPose Body::dummyPose [protected] dMass Body::mass [protected] The documentation for this class was generated from the following files: Body.hh Body.cc

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Last updated $Date: 2004/12/21 01:49:15 $

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