Physsim::DynamicBody Class Reference

Superclass for both unarticulated and articulated rigid bodies. More...

#include <DynamicBody.h>

Inheritance diagram for Physsim::DynamicBody:

List of all members.

Public Member Functions
	DynamicBody (const DynamicBody *d)
virtual void	calc_fwd_dyn ()=0
	Forces a recalculation of forward dynamics.
virtual VectorN	get_state ()=0
	Gets the state vector for the dynamic body.
virtual VectorN	get_state_deriv ()=0
	Gets the state-derivative vector for the dynamic body.
virtual void	set_state (const VectorN &state)=0
	Sets the state for the dynamic body.
virtual void	reset_accumulators ()=0
	Resets the force and torque accumulators on the dynamic body.
virtual void	transform (const Matrix4 &T)=0
	Transforms the dynamic body by the given transform.

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Detailed Description

Superclass for both unarticulated and articulated rigid bodies.

This class allows both unarticulated and articulated rigid bodies to be treated abstractly. In particular, both must implement four functions (set_state(), get_state(), get_state_deriv(), and reset_accumulators()) used for integrating the body state in the simulation.

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

• /home/drumwrig/Physsim/include/Physsim/DynamicBody.h

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