Body Class Reference
[Physics]
#include <Body.hh>
Inheritance diagram for Body:
Detailed Description
Body class.
Public Member Functions | |
| Body (Entity *parent, dWorldID worldId) | |
| Constructor. | |
| virtual | ~Body () |
| Destructor. | |
| virtual void | Load (XMLConfigNode *node) |
| Load the body based on an XMLConfig node. | |
| virtual void | Save () |
| Save the body based on our XMLConfig node. | |
| virtual void | Init () |
| Initialize the body. | |
| void | Fini () |
| Finalize the body. | |
| virtual void | Update (UpdateParams ¶ms) |
| Update the body. | |
| void | AttachGeom (Geom *geom) |
| Attach a geom to this body. | |
| void | SetPose (const Pose3d &pose) |
| Set the pose of the body. | |
| Pose3d | GetPose () const |
| Return the pose of the body. | |
| void | SetPosition (const Vector3 &pos) |
| Set the position of the body. | |
| void | SetRotation (const Quatern &rot) |
| Set the rotation of the body. | |
| Vector3 | GetPosition () const |
| Return the position of the body. | |
| Quatern | GetRotation () const |
| Return the rotation. | |
| dBodyID | GetId () const |
| Return the ID of this body. | |
| 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. | |
| void | SetLinearVel (const Vector3 &vel) |
| Set the linear velocity of the body. | |
| Vector3 | GetLinearVel () const |
| Get the linear velocity of the body. | |
| void | SetAngularVel (const Vector3 &vel) |
| Set the angular velocity of the body. | |
| Vector3 | GetAngularVel () const |
| Get the angular velocity of the body. | |
| void | SetForce (const Vector3 &force) |
| Set the force applied to the body. | |
| Vector3 | GetForce () const |
| Get the force applied to the body. | |
| void | SetTorque (const Vector3 &force) |
| Set the torque applied to the body. | |
| Vector3 | GetTorque () const |
| Get the torque applied to the body. | |
Member Function Documentation
| virtual void Load | ( | XMLConfigNode * | node | ) | [virtual] |
| 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 |
The documentation for this class was generated from the following file: