Class StaticRigidBody¶

Defined in File StaticRigidBody.h

Inheritance Relationships¶

Base Type¶

public SPH::RigidBodyObject (Class RigidBodyObject)

Class Documentation¶

class SPH::StaticRigidBody : public SPH::RigidBodyObject ¶

This class stores the information of a static rigid body which is not part of a rigid body simulation.

Public Functions

StaticRigidBody()¶

bool isDynamic() const¶

Real const getMass() const¶

Vector3r const &getPosition() const¶

void setPosition(const Vector3r &x)¶

Vector3r getWorldSpacePosition() const¶

Vector3r const &getVelocity() const¶

void setVelocity(const Vector3r &v)¶

Matrix3r const &getRotation() const¶

void setRotation(const Matrix3r &r)¶

Matrix3r getWorldSpaceRotation() const¶

Vector3r const &getAngularVelocity() const¶

void setAngularVelocity(const Vector3r &v)¶

void addForce(const Vector3r &f)¶

void addTorque(const Vector3r &t)¶

const std::vector<Vector3r> &getVertices() const¶

const std::vector<Vector3r> &getVertexNormals() const¶

const std::vector<unsigned int> &getFaces() const¶

void setWorldSpacePosition(const Vector3r &x)¶

void setWorldSpaceRotation(const Matrix3r &r)¶

TriangleMesh &getGeometry()¶

Protected Attributes

Vector3r m_x¶

Vector3r m_x_world¶

Vector3r m_zero¶

Matrix3r m_R¶

Matrix3r m_R_world¶

TriangleMesh m_geometry¶