Body Class Reference
[Physics]
#include <Body.hh>
Inheritance diagram for Body:
Detailed Description
Body class.Public Member Functions | |
| Body (Entity *parent, dWorldID worldId) | |
| virtual | ~Body () |
| virtual int | Load (XMLConfigNode *node) |
| virtual int | Init () |
| void | Fini () |
| virtual int | Update (UpdateParams ¶ms) |
| void | AttachGeom (Geom *geom) |
| void | SetPose (const Pose3d &pose) |
| Pose3d | GetPose () const |
| void | SetPosition (const Vector3 &pos) |
| void | SetRotation (const Quatern &rot) |
| Vector3 | GetPosition () const |
| Quatern | GetRotation () const |
| dBodyID | GetId () const |
| void | SetEnabled (bool enable) const |
| void | UpdateCoM () |
| const Pose3d & | GetCoMPose () const |
| void | SetGravityMode (bool mode) |
Constructor & Destructor Documentation
| virtual ~Body | ( | ) | [virtual] |
Destructor
Member Function Documentation
| virtual int Load | ( | XMLConfigNode * | node | ) | [virtual] |
Load the body based on an XMLConfig node
- Parameters:
-
node XMLConfigNode pointer
- Returns:
- Nonzero on error
| virtual int Init | ( | ) | [virtual] |
Initialize the body
- Returns:
- Non-zero on error
| void Fini | ( | ) |
Finalize the body
| virtual int Update | ( | UpdateParams & | params | ) | [virtual] |
Update the body
- Returns:
- Non-zero on error
| void AttachGeom | ( | Geom * | geom | ) |
Attach a geom to this body
- Parameters:
-
geom Geometery to attach to this body
| void SetPose | ( | const Pose3d & | pose | ) |
Set the pose of the body
- Parameters:
-
pose New pose of the body
| void SetPosition | ( | const Vector3 & | pos | ) |
Set the position of the body
- Parameters:
-
pos Vector position
| void SetRotation | ( | const Quatern & | rot | ) |
Set the rotation of the body
- Parameters:
-
rot Quaternion rotation
| Vector3 GetPosition | ( | ) | const |
Return the position of the body
- Returns:
- Position vector
| Quatern GetRotation | ( | ) | const |
Return the rotation
- Returns:
- Rotation quaternion
| dBodyID GetId | ( | ) | const |
| void SetEnabled | ( | bool | enable | ) | const |
Set whether this body is enabled
| void UpdateCoM | ( | ) |
Update the center of mass
| const Pose3d& GetCoMPose | ( | ) | const |
Get the Center of Mass pose
| void SetGravityMode | ( | bool | mode | ) |
Set whether gravity affects this body
The documentation for this class was generated from the following file: