Physsim::ArticulatedBody Class Reference

Abstract class for articulated bodies. More...

#include <ArticulatedBody.h>

Inheritance diagram for Physsim::ArticulatedBody:

List of all members.

Public Member Functions
Matrix3	det_collision_matrix (const Matrix3 &collision_frame, const Vector3 &contact_point, RigidBodyPtr colliding_link)
	Computes the collision matrix K (as described in [Mirtich, 1996], p. 144, for this body only.
virtual void	transform (const Matrix4 &T)
	Transforms all links in the articulated body by the given transform.
virtual void	correct_joint_limit_collisions (Real collision_tolerance)=0
	Abstract method for correcting joint limit collisions.
virtual void	correct_joint_limit_violations ()=0
	Abstract method for correcting joint limit violations.
virtual bool	joint_limit_collision (Real collision_tolerance) const=0
	Abstract method for determining whether or not there is a collision at the joint-limit.
virtual void	apply_impulse (const Vector3 &j, const Vector3 &k, const Vector3 &p, RigidBodyPtr link)=0
	Abstract method for applying an impulse to this articulated body.
virtual VectorN	get_state ()=0
	Abstract method for getting the state of the articulated body.
virtual VectorN	get_state_deriv ()=0
	Abstract method for getting the state derivative of the articulated body.
virtual void	set_state (const VectorN &state)=0
	Abstract method for setting the state of the articulated body.
virtual std::list< RigidBodyPtr >	get_rigid_bodies () const=0
	Virtual method for getting all of the rigid bodies (links) that comprise this articulated body.
virtual std::list< sorted_pair< RigidBodyPtr > >	get_adjacent_links () const=0
	Virtual method for getting each pair of adjacent links in the body.
virtual void	reset_accumulators ()=0
	Method for resetting the force and torque accumulators on all links.
virtual void	compile ()=0
	Method for "compiling" the body (if necessary).
Static Public Member Functions
static Matrix3	det_collision_matrix (const Matrix3 &collision_frame, const Vector3 &contact_point, RigidBodyPtr link1, boost::shared_ptr< RigidBody > link2)

---

Detailed Description

Abstract class for articulated bodies.

---

Member Function Documentation

void ArticulatedBody::transform

(

const Matrix4 &

T

)

[virtual]

Transforms all links in the articulated body by the given transform.

The given transformation is cumulative; the links will not necessarily be set to T.

Implements Physsim::DynamicBody.

virtual void Physsim::ArticulatedBody::apply_impulse	(	const Vector3 &	j,
		const Vector3 &	k,
		const Vector3 &	p,
		RigidBodyPtr	link
	)			[pure virtual]

Abstract method for applying an impulse to this articulated body.

Parameters:

	j	the linear component of an impulse
	k	the angular component of an impulse
	p	the point at which to apply the impulse
	link	link in the articulated body where the impulse is applied

Implemented in Physsim::RCArticulatedBody.

---

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

• /home/drumwrig/Physsim/include/Physsim/ArticulatedBody.h
• /home/drumwrig/Physsim/src/ArticulatedBody.cpp

---