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RBD_State Class Reference

#include <RBD_State.h>

+ Inheritance diagram for RBD_State:

Public Member Functions

 GETSET_DATA_FUNCS_M3 (RBD_NAME_ITENSOR, InertialTensor)
 
 GET_DATA_FUNC_M3 (RBD_NAME_ITENSORLOCALINV, InertialTensorLocalInv)
 
 GETSET_DATA_FUNCS_B (RBD_NAME_INHERITVELOCITY, InheritVelocity)
 
 GETSET_DATA_FUNCS_B (RBD_NAME_COMPUTECOM, ComputeCOM)
 
 GETSET_DATA_FUNCS_B (RBD_NAME_COMPUTEMASS, ComputeMass)
 
 GETSET_DATA_FUNCS_B (RBD_NAME_COMPUTEINERTIALTENSOR, ComputeInertialTensor)
 
 GETSET_DATA_FUNCS_I (RBD_NAME_COMPUTEINERTIALTENSORTYPE, ComputeInertialTensorType)
 
 GET_DATA_FUNC_F (RBD_NAME_DENSITY, Density)
 
 GETSET_DATA_FUNCS_F (RBD_NAME_MASS, Mass)
 
 GETSET_DATA_FUNCS_F (RBD_NAME_INERTIALTENSORSTIFFNESS, InertialTensorStiffness)
 
 GETSET_DATA_FUNCS_S (RBD_NAME_GLUEOBJECT, GlueObject)
 
 GETSET_DATA_FUNCS_F (RBD_NAME_GLUETHRESHOLD, GlueThreshold)
 
 GETSET_DATA_FUNCS_F (RBD_NAME_GLUEIMPULSE, GlueImpulse)
 
 GETSET_DATA_FUNCS_F (RBD_NAME_GLUEIMPULSEHALFLIFE, GlueImpulseHalfLife)
 
void updatePhysicalValues (RBD_Object *obj, const GU_SDF *sdf, const SIM_Geometry *geo, bool updatelinearvel)
 
void getNewPosition (const SIM_Object &object, const SIM_Time &time, const SIM_Time &timestep, UT_Vector3 &newpos, UT_Quaternion &neworient) const
 
void getNewVelocity (RBD_Object *object, const SIM_Time &time, const SIM_Time &timestep, UT_Vector3 &newvel, UT_Vector3 &newangvel) const
 
void getNewVelocity (RBD_Object *object, const SIM_Time &time, const SIM_Time &timestep, const UT_Vector3 &com, UT_Vector3 &newvel, UT_Vector3 &newangvel) const
 
const UT_Vector3 getNewVelocity (fpreal impulse, const UT_Vector3 &normal) const
 
const UT_Vector3 getNewAngularVelocity (fpreal impulse, const UT_Vector3 &pos, const UT_Vector3 &normal) const
 
void constrainPosition (SIM_Object &object, const SIM_Time &time, const SIM_Time &timestep, UT_Vector3 &pos, UT_Quaternion &orient) const
 
void constrainAccordingToPositions (const UT_Vector3Array &hard_objpos, const UT_Vector3Array &hard_goalpos, const UT_Matrix3 &hard_filter, UT_Vector3 &pos, UT_Quaternion &orient) const
 
void constrainVelocity (SIM_Object &object, const SIM_ObjectArray &solvingobjects, const SIM_Time &time, const SIM_Time &timestep, UT_Vector3 &vel, UT_Vector3 &angvel) const
 
UT_Vector3 solveForImpulse (const UT_Vector3 &pos, const UT_Vector3 &relvel) const
 
void changePosition (RBD_Object *obj, const UT_Vector3 &pos, const UT_Quaternion &orient)
 
void changeVelocity (RBD_Object *obj, const UT_Vector3 &vel, const UT_Vector3 &angvel)
 
void changePivot (const UT_Vector3 &pivot, bool updatetensor, bool updatelinearvel=true)
 
void accumulateGlueImpulse (fpreal impulse)
 
void decayGlueImpulse (SIM_Time timestep)
 
- Public Member Functions inherited from SIM_Motion
 GETSET_DATA_FUNCS_V3 (SIM_NAME_VELOCITY, Velocity)
 Control the linear velocity attribute of this data. More...
 
 GETSET_DATA_FUNCS_V3 (SIM_NAME_ANGVELOCITY, AngularVelocityDegrees)
 
void setAngularVelocity (const UT_Vector3 &value)
 
const UT_Vector3 getAngularVelocity () const
 
const UT_Vector3 getVelocityAtPosition (const UT_Vector3 &pos, fpreal integrateovertime=0.0) const
 Gets the motion of a point that is offset from our centre of motion. More...
 
const UT_Vector3 getMaximumVelocity (fpreal radius) const
 
- Public Member Functions inherited from SIM_PositionSimple
 GETSET_DATA_FUNCS_V3 (SIM_NAME_POSITION, Position)
 Control the translation attribute of the position. More...
 
 GETSET_DATA_FUNCS_V3 (SIM_NAME_PIVOT, Pivot)
 Control the pivot point which the orientation is applied to. More...
 
 GETSET_DATA_FUNCS_Q (SIM_NAME_ORIENTATION, Orientation)
 Control the orientation attribute of the position. More...
 
- Public Member Functions inherited from SIM_Position
void getTransform (UT_DMatrix4 &xform) const
 
void getInverseTransform (UT_DMatrix4 &xform) const
 
void getOrientation (UT_Quaternion &q) const
 
void getPosition (UT_Vector3 &t) const
 
void getPivot (UT_Vector3 &p) const
 
UT_Vector3 selfToWorld (const UT_Vector3 &p) const
 
UT_Vector3 worldToSelf (const UT_Vector3 &p) const
 
UT_Vector3 selfToWorldVector (const UT_Vector3 &p) const
 
UT_Vector3 worldToSelfVector (const UT_Vector3 &p) const
 
- Public Member Functions inherited from SIM_Data
const UT_StringgetDataType () const
 
void initialize (const SIM_SubdataBehavior &subdatabehavior)
 
void makeEqual (const SIM_Data *source, const SIM_SubdataBehavior &subdatabehavior)
 
void setParameters (const SIM_Options &parms)
 
void interpolate (const SIM_Data *source1, const SIM_Data *source2, fpreal interp)
 
int64 getMemorySize () const
 
bool getIsAlternateRepresentation () const
 
bool saveToFile (const char *filename, UT_CompressionType compressionType) const
 
bool saveToStream (std::ostream &os, UT_CompressionType compressionType) const
 
bool loadFromFile (const char *filename)
 
bool loadFromStream (UT_IStream &is, bool skiptype=false)
 
bool getIsOfType (const char *datatype) const
 
const voidgetConstPointerToType (const char *datatype) const
 
voidgetPointerToType (const char *datatype)
 
int getNumSubData () const
 Get the number of sub-data items attached to this data. More...
 
const char * getSubDataName (int index) const
 Get the name of the sub-data at a particular index location. More...
 
int getSubDataIndex (const SIM_Data *subdata) const
 
bool buildSubDataPath (const SIM_Data *subdata, UT_String &pathto) const
 
const SIM_QuerygetQueryObject () const
 
long getGuideParmVersion () const
 
void addGuideDep (DEP_MicroNode &src) const
 
virtual bool getGuideGeometryList (const SIM_RootData &root, const char *datapath, const SIM_Time &t, UT_Array< GU_ConstDetailHandle > &detailArray, UT_Array< UT_DMatrix4 > &xformArray) const
 
GU_ConstDetailHandle getGuideGeometry (const SIM_RootData &root, const char *datapath, UT_DMatrix4 &xform, const SIM_Time &t) const
 
void buildGuideOptions (SIM_Options &options, const SIM_Time &time) const
 
SIM_DatagetSubData (int index)
 
const SIM_DatagetConstSubData (int index) const
 
SIM_DatagetNamedSubData (const char *dataname)
 
const SIM_DatagetConstNamedSubData (const char *dataname) const
 
void filterSubData (SIM_DataArray &ncdp, UT_StringArray *names, const SIM_DataFilter &ncfilter, const char *startfrom, const SIM_DataFilter &recursefilter)
 
void filterConstSubData (SIM_ConstDataArray &dp, UT_StringArray *names, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
SIM_DatagetNthSubData (UT_String *name, const SIM_DataFilter &filter, int n, const char *startfrom, const SIM_DataFilter &recurseFilter)
 
const SIM_DatagetNthConstSubData (UT_String *name, const SIM_DataFilter &filter, int n, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
void forEachSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter)
 
void forEachConstSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const
 
SIM_DatacreateNamedSubData (const char *dataname, const char *datatype, int creationflags, UT_String *newdatanameptr=NULL)
 
SIM_DatagetOrCreateAlternateRepresentation (const char *dataname, const char *datatype) const
 
void interpolateSubData (const SIM_Data &source1, const SIM_Data &source2, fpreal interp, const SIM_DataFilter &interpdata, const SIM_DataFilter &recurse)
 
void setNamedSubData (const char *dataname, const SIM_Data *data, int setflags)
 
void createUniqueSubDataName (const SIM_Data *subdata, UT_String &dataname) const
 
void removeNamedSubData (const char *dataname)
 Remove some existing sub-data by name. More...
 
void removeSubData (int index)
 Remove some existing sub-data by index. More...
 
void moveNamedSubData (const char *oldname, const char *newname)
 
const UT_GuidgetUniqueId () const
 
long getReferenceCount () const
 
int getCreatorId () const
 Get the ID of the node that created this data. More...
 
OP_NodegetCreatorNode () const
 Use the creator ID to look up the OP_Node that created this data. More...
 
OP_NodegetOwnerNetwork () const
 Look up the owner node of our engine to get the DOP Network pointer. More...
 
const SIM_EnginegetEngine () const
 Get the engine that created us (from our data factory). More...
 
int getCreatorIndex () const
 Get the output index of the creator node that generated this data. More...
 
const SIM_TimegetCreationTime () const
 Get the creation time for this data. More...
 
bool getIsSelected () const
 Get the selected flag for this data. More...
 
void setIsSelected (bool selected) const
 
bool getSelectionRepresentsObject () const
 
void copyCreationInfoFrom (const SIM_Data *source)
 
OP_NodegetNodePathsRelativeTo () const
 
OP_NodegetOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
OBJ_NodegetOBJNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return an OBJ_Node. More...
 
SOP_NodegetSOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a SOP_Node. More...
 
POP_NodegetPOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a POP_Node. More...
 
DOP_NodegetDOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a DOP_Node. More...
 
COP2_NodegetCOP2Node (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a COP2_Node. More...
 
CHOP_NodegetCHOPNode (const char *path, bool addinterest) const
 Given a path relative to our creator node, return a CHOP_Node. More...
 
void addOPInterest (OP_Node *node) const
 Adds an interest in the specified node to our engine's owner node. More...
 
void addError (const SIM_RootData *root, int errorcode, const char *errorparm, UT_ErrorSeverity severity) const
 Adds an error to our SIM_Engine. More...
 
- Public Member Functions inherited from SIM_OptionsUser
 SIM_OptionsUser (SIM_Data *owner)
 
virtual ~SIM_OptionsUser ()
 
void optionChanged (const char *name)
 
const SIM_OptionsgetOptions () const
 

Static Public Member Functions

static void projectRigidMotion (UT_Vector3 &vel, UT_Vector3 &angvel, const UT_Vector3 &com, const UT_Vector3Array &posarray, const UT_Vector3Array &velarray)
 
- Static Public Member Functions inherited from SIM_Motion
static UT_Vector3 getVelocityAtPosition (const UT_Vector3 &location, const UT_Vector3 &velocity, const UT_Vector3 &angvel, const UT_Vector3 &position, const UT_Vector3 &pivot, fpreal integrateovertime=0.0)
 
- Static Public Member Functions inherited from SIM_Data
static bool getDataTypeFromFile (const char *filename, UT_String &datatype)
 
static bool getDataTypeFromStream (UT_IStream &is, UT_String &datatype)
 
static const voidcastConstPointerToType (const SIM_Data *data, const char *datatype)
 
static voidcastPointerToType (SIM_Data *data, const char *datatype)
 

Protected Types

enum  constrainType { CON_NONE, CON_SINGLEPOINT, CON_AXIS, CON_FULL }
 

Protected Member Functions

 RBD_State (const SIM_DataFactory *factory)
 
virtual ~RBD_State ()
 
virtual void optionChangedSubclass (const char *name)
 
constrainType findConstraintType (const UT_Vector3Array &geo, const UT_Vector3Array &anchor, UT_Vector3 &objpos, UT_Vector3 &goalpos, UT_Vector3 &objaxis, UT_Vector3 &goalaxis, UT_Quaternion &orient) const
 
- Protected Member Functions inherited from SIM_Motion
 SIM_Motion (const SIM_DataFactory *factory)
 
virtual ~SIM_Motion ()
 
- Protected Member Functions inherited from SIM_PositionSimple
 SIM_PositionSimple (const SIM_DataFactory *factory)
 
virtual ~SIM_PositionSimple ()
 
virtual void getTransformSubclass (UT_DMatrix4 &xform) const
 Gets a transform matrix from our position and rotation data. More...
 
virtual void getInverseTransformSubclass (UT_DMatrix4 &xform) const
 
virtual void getOrientationSubclass (UT_Quaternion &q) const
 Gets a rotation matrix from our position data. More...
 
virtual void getPositionSubclass (UT_Vector3 &t) const
 Gets a translation vector from our position data. More...
 
virtual void getPivotSubclass (UT_Vector3 &p) const
 Gets pivot info from our position data. More...
 
virtual UT_Vector3 selfToWorldSubclass (const UT_Vector3 &p) const
 
virtual UT_Vector3 worldToSelfSubclass (const UT_Vector3 &p) const
 
virtual UT_Vector3 selfToWorldVectorSubclass (const UT_Vector3 &p) const
 
virtual UT_Vector3 worldToSelfVectorSubclass (const UT_Vector3 &p) const
 
virtual void interpolateSubclass (const SIM_Data *source1, const SIM_Data *source2, fpreal interp)
 
- Protected Member Functions inherited from SIM_Position
 SIM_Position (const SIM_DataFactory *factory)
 
virtual ~SIM_Position ()
 
- Protected Member Functions inherited from SIM_Data
 SIM_Data (const SIM_DataFactory *factory)
 
virtual ~SIM_Data ()
 
void handleModification (int code=-1)
 
void setNeedsToRecalculateMemorySize () const
 
void deleteQueryObjectIfNotBuilding () const
 Deletes the query object for this data, if there is one. More...
 
void deleteGuideObjectIfNotBuilding () const
 Delete the guide geometry for this data, if it exists. More...
 
void initAlternateRepresentation () const
 
void setNeedsInitialization (bool needsinit) const
 Flags an alternate representation subdata as requiring initialization. More...
 
bool getNeedsInitialization () const
 Tests whether an alternate representation requires initialization. More...
 
bool saveOptionPacket (std::ostream &os, const char *name, const SIM_Options *opts) const
 
bool loadOptionPacket (UT_IStream &is, const char *name, SIM_Options *opts) const
 
bool getIsDoingSimplifiedSaveLoad () const
 
void initializeFromParmDefaults ()
 
void setSelectionRepresentsObject (bool representsobject)
 
virtual void setNeedsInitializationSubclass (bool needsinit) const
 
virtual void initializeSubclass ()
 
virtual void makeEqualSubclass (const SIM_Data *source)
 
virtual void saveSubclass (std::ostream &os) const
 
virtual void saveIOSubclass (std::ostream &os, SIM_DataThreadedIO *io) const
 
virtual bool loadSubclass (UT_IStream &is)
 
virtual bool loadIOSubclass (UT_IStream &is, SIM_DataThreadedIO *io)
 
virtual SIM_QuerycreateQueryObjectSubclass () const
 
virtual long getGuideParmVersionSubclass () const
 
virtual SIM_GuidecreateGuideObjectSubclass () const
 
virtual void buildGuideGeometrySubclass (const SIM_RootData &root, const SIM_Options &options, const GU_DetailHandle &gdh, UT_DMatrix4 *xform, const SIM_Time &t) const
 
virtual void setParametersSubclass (const SIM_Options &parms)
 
virtual void setNamedSubDataSubclass (const char *dataname, const SIM_Data *data)
 
virtual void removeNamedSubDataSubclass (const char *dataname)
 
virtual int64 getMemorySizeSubclass () const
 
virtual void handleModificationSubclass (int code)
 
virtual bool getIsAlternateRepresentationSubclass () const
 
virtual void initAlternateRepresentationSubclass (const SIM_Data &)
 
virtual voidgetCastToType (const char *datatype) const
 
virtual const UT_StringgetDataTypeSubclass () const
 
const SIM_DatagetAlternateRepresentationOf () const
 
- Protected Member Functions inherited from SIM_OptionsUser
SIM_OptionsgetOptions ()
 

Additional Inherited Members

- Static Protected Member Functions inherited from SIM_Data
static const PRM_TemplategetEmptyTemplateList ()
 
static const SIM_DopDescriptiongetEmptyDopDescription ()
 A DOP description that says not to create an automatic DOP. More...
 
static void getDataTypeSuperclasses (UT_StringArray &)
 

Detailed Description

Definition at line 28 of file RBD_State.h.

Member Enumeration Documentation

enum RBD_State::constrainType
protected

Determines what sort of freedom of movement is available if the given constraints hold. The obj list is the world coordinates of points on the geometry The goal list is the world coordinates of where those points should be. This sets the objpos to where an impulse should be given. goalpos is where objpos should be. Axis is the only axis of rotation allowed. neworient specifies the required change of orientation (in world space) for the FULL case.

Enumerator
CON_NONE 
CON_SINGLEPOINT 
CON_AXIS 
CON_FULL 

Definition at line 209 of file RBD_State.h.

Constructor & Destructor Documentation

RBD_State::RBD_State ( const SIM_DataFactory factory)
explicitprotected
virtual RBD_State::~RBD_State ( )
protectedvirtual

Member Function Documentation

void RBD_State::accumulateGlueImpulse ( fpreal  impulse)

These alert the frozen object to impulses, causing it to break off if they become large enough.

void RBD_State::changePivot ( const UT_Vector3 pivot,
bool  updatetensor,
bool  updatelinearvel = true 
)

This changes the pivot point of the object to the new value. The new value is given in object cooridinates! This will adjust both Position and Pivot so the object's position doesn't change as a result. This also changes the inertial tensor to account for the new "center of mass". Changing the inertial tensor in this fashion is NOT invertible! updatelinearvel controls whether the linear velocity should be updated taking into account the angular velocity

void RBD_State::changePosition ( RBD_Object obj,
const UT_Vector3 pos,
const UT_Quaternion orient 
)

These act as setPosition, setOrientation and setVelocity, setAngularVelocity. The main difference is that they will properly propagate to frozen sub objects.

void RBD_State::changeVelocity ( RBD_Object obj,
const UT_Vector3 vel,
const UT_Vector3 angvel 
)
void RBD_State::constrainAccordingToPositions ( const UT_Vector3Array hard_objpos,
const UT_Vector3Array hard_goalpos,
const UT_Matrix3 hard_filter,
UT_Vector3 pos,
UT_Quaternion orient 
) const

Determines the new pos and orient that best satisfies the set of constraints. hard_objpos and hard_goal pos are both in world coordinates. The new pos and orient should be such that the change will map hard_objpos onto hard_goalpos.

void RBD_State::constrainPosition ( SIM_Object object,
const SIM_Time time,
const SIM_Time timestep,
UT_Vector3 pos,
UT_Quaternion orient 
) const

Iterate over all hard constraints and constrain the pos and orient to those constraints. The new values are output in pos & orient. Note you likely want to constrain with time' = (time + timestep) if you solved with time.

void RBD_State::constrainVelocity ( SIM_Object object,
const SIM_ObjectArray solvingobjects,
const SIM_Time time,
const SIM_Time timestep,
UT_Vector3 vel,
UT_Vector3 angvel 
) const

Iterate over all the hard constraints and constraint the velocity according to those constraints. The new values are output in pos & orient. Note you likely want to constrain with time' = (time + timestep) if you solved with time. This only resolves nail constraints. Pin constraints are handled at the RBD_Solver level as they can affect other objects.

void RBD_State::decayGlueImpulse ( SIM_Time  timestep)

This decays the frozen impulse according to the given timestep.

constrainType RBD_State::findConstraintType ( const UT_Vector3Array geo,
const UT_Vector3Array anchor,
UT_Vector3 objpos,
UT_Vector3 goalpos,
UT_Vector3 objaxis,
UT_Vector3 goalaxis,
UT_Quaternion orient 
) const
protected
RBD_State::GET_DATA_FUNC_F ( RBD_NAME_DENSITY  ,
Density   
)
RBD_State::GET_DATA_FUNC_M3 ( RBD_NAME_ITENSORLOCALINV  ,
InertialTensorLocalInv   
)
const UT_Vector3 RBD_State::getNewAngularVelocity ( fpreal  impulse,
const UT_Vector3 pos,
const UT_Vector3 normal 
) const
void RBD_State::getNewPosition ( const SIM_Object object,
const SIM_Time time,
const SIM_Time timestep,
UT_Vector3 newpos,
UT_Quaternion neworient 
) const

Integrates the position of this object forward by a timestep. The current velocity is treated as constant.

void RBD_State::getNewVelocity ( RBD_Object object,
const SIM_Time time,
const SIM_Time timestep,
UT_Vector3 newvel,
UT_Vector3 newangvel 
) const

Integrates velocity forward by one timestep. This will iterate over all forces and soft constraints to construct the required acceleration & apply it.

void RBD_State::getNewVelocity ( RBD_Object object,
const SIM_Time time,
const SIM_Time timestep,
const UT_Vector3 com,
UT_Vector3 newvel,
UT_Vector3 newangvel 
) const

Integrates velocity forward by one timestep. This uses the specified center of mass for sampling the force function rather than the objects pivot.

const UT_Vector3 RBD_State::getNewVelocity ( fpreal  impulse,
const UT_Vector3 normal 
) const

Applies an impulse to this object. This results in an instantaneous change in velocity.

RBD_State::GETSET_DATA_FUNCS_B ( RBD_NAME_INHERITVELOCITY  ,
InheritVelocity   
)
RBD_State::GETSET_DATA_FUNCS_B ( RBD_NAME_COMPUTECOM  ,
ComputeCOM   
)
RBD_State::GETSET_DATA_FUNCS_B ( RBD_NAME_COMPUTEMASS  ,
ComputeMass   
)
RBD_State::GETSET_DATA_FUNCS_B ( RBD_NAME_COMPUTEINERTIALTENSOR  ,
ComputeInertialTensor   
)
RBD_State::GETSET_DATA_FUNCS_F ( RBD_NAME_MASS  ,
Mass   
)
RBD_State::GETSET_DATA_FUNCS_F ( RBD_NAME_INERTIALTENSORSTIFFNESS  ,
InertialTensorStiffness   
)
RBD_State::GETSET_DATA_FUNCS_F ( RBD_NAME_GLUETHRESHOLD  ,
GlueThreshold   
)
RBD_State::GETSET_DATA_FUNCS_F ( RBD_NAME_GLUEIMPULSE  ,
GlueImpulse   
)
RBD_State::GETSET_DATA_FUNCS_F ( RBD_NAME_GLUEIMPULSEHALFLIFE  ,
GlueImpulseHalfLife   
)
RBD_State::GETSET_DATA_FUNCS_I ( RBD_NAME_COMPUTEINERTIALTENSORTYPE  ,
ComputeInertialTensorType   
)
RBD_State::GETSET_DATA_FUNCS_M3 ( RBD_NAME_ITENSOR  ,
InertialTensor   
)
RBD_State::GETSET_DATA_FUNCS_S ( RBD_NAME_GLUEOBJECT  ,
GlueObject   
)
virtual void RBD_State::optionChangedSubclass ( const char *  name)
protectedvirtual

Override setOrientation because we need to update our local inertial tensor when we do this.

Reimplemented from SIM_PositionSimple.

static void RBD_State::projectRigidMotion ( UT_Vector3 vel,
UT_Vector3 angvel,
const UT_Vector3 com,
const UT_Vector3Array posarray,
const UT_Vector3Array velarray 
)
static

Takes an array of points in space with associated velocities. Computes the angular velocity and velocity that best matches the given values. Each point/velocity pair is treated as equally important. Note that center of mass is only needed to compute the linear component.

UT_Vector3 RBD_State::solveForImpulse ( const UT_Vector3 pos,
const UT_Vector3 relvel 
) const

This utility method solves for the impulse required to create induce the given relative velocity at the given point. This does not take the current velocity into consideration! If the returned impulse is applied, the new velocity at the point would change by relative velocity.

void RBD_State::updatePhysicalValues ( RBD_Object obj,
const GU_SDF sdf,
const SIM_Geometry geo,
bool  updatelinearvel 
)

Updates our values based on a given SDF or Geometry. If SDF is null, will use the geometry and assume a thin plate model. This will update the mass, COM, and ITensor provided the relevant compute flags are true. It will also recalculate your linear & angular velocity from the underlying geometry if inherit is turned on. updatelinearvel controls whether the linear velocity should be updated when computing the COM. It has no effect on calculations for inheriting vel


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