#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_StringHolder &	getDataType () 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 compression_type) const

bool	saveToStream (std::ostream &os, UT_CompressionType compression_type) const

void	appendFullDataPath (const SIM_Data *subdata, bool useobjectid, UT_String &datapath) const

bool	loadFromFile (const char *filename)

bool	loadFromStream (UT_IStream &is, bool skiptype=false)

bool	getIsOfType (const UT_StringRef &datatype) const

const void *	getConstPointerToType (const UT_StringRef &datatype) const

void *	getPointerToType (const UT_StringRef &datatype)

int	getNumSubData () const
	Get the number of sub-data items attached to this data. More...

const UT_StringHolder &	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_Query &	getQueryObject () const

SIM_Options *	getUserOptions ()

const SIM_Options *	getConstUserOptions () 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 > &detail_array, UT_Array< UT_DMatrix4 > &xform_array) 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_Data *	getSubData (int index)

const SIM_Data *	getConstSubData (int index) const

SIM_Data *	getNamedSubData (const char *dataname)

const SIM_Data *	getConstNamedSubData (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 &recurse_filter) const

SIM_Data *	getNthSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurse_filter)

const SIM_Data *	getNthConstSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurse_filter) const

void	forEachSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurse_filter)

void	forEachConstSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurse_filter) const

SIM_Data *	createNamedSubData (const char dataname, const char datatype, int creationflags, UT_String *newdatanameptr=NULL)

SIM_Data *	getOrCreateAlternateRepresentation (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_Guid &	getUniqueId () const

long	getReferenceCount () const

int	getCreatorId () const
	Get the ID of the node that created this data. More...

OP_Node *	getCreatorNode () const
	Use the creator ID to look up the OP_Node that created this data. More...

OP_Node *	getOwnerNetwork () const
	Look up the owner node of our engine to get the DOP Network pointer. More...

const SIM_Engine &	getEngine () 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_Time &	getCreationTime () 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_Node &	getNodePathsRelativeTo () const

OP_Node *	getOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

OBJ_Node *	getOBJNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

SOP_Node *	getSOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a SOP_Node. More...

DOP_Node *	getDOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a DOP_Node. More...

COP2_Node *	getCOP2Node (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a COP2_Node. More...

CHOP_Node *	getCHOPNode (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...

void	makeMemberDataUnique ()

virtual void	makeMemberDataUniqueSubclass ()

Public Member Functions inherited from SIM_OptionsUser
	SIM_OptionsUser (SIM_Data *owner)

virtual	~SIM_OptionsUser ()

void	optionChanged (const char *name)

const SIM_Options &	getOptions () 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 void *	castConstPointerToType (const SIM_Data *data, const UT_StringRef &datatype)

static void *	castPointerToType (SIM_Data *data, const UT_StringRef &datatype)

Protected Types
enum	constrainType { CON_NONE, CON_SINGLEPOINT, CON_AXIS, CON_FULL }

Protected Member Functions
	RBD_State (const SIM_DataFactory *factory)

	~RBD_State () override

void	optionChangedSubclass (const char *name) override

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)

	~SIM_Motion () override

Protected Member Functions inherited from SIM_PositionSimple
	SIM_PositionSimple (const SIM_DataFactory *factory)

	~SIM_PositionSimple () override

void	optionChangedSubclass (const char *name) override

void	getTransformSubclass (UT_DMatrix4 &xform) const override
	Gets a transform matrix from our position and rotation data. More...

void	getInverseTransformSubclass (UT_DMatrix4 &xform) const override

void	getOrientationSubclass (UT_Quaternion &q) const override
	Gets a rotation matrix from our position data. More...

void	getPositionSubclass (UT_Vector3 &t) const override
	Gets a translation vector from our position data. More...

void	getPivotSubclass (UT_Vector3 &p) const override
	Gets pivot info from our position data. More...

UT_Vector3	selfToWorldSubclass (const UT_Vector3 &p) const override

UT_Vector3	worldToSelfSubclass (const UT_Vector3 &p) const override

UT_Vector3	selfToWorldVectorSubclass (const UT_Vector3 &p) const override

UT_Vector3	worldToSelfVectorSubclass (const UT_Vector3 &p) const override

void	interpolateSubclass (const SIM_Data source1, const SIM_Data source2, fpreal interp) override

Protected Member Functions inherited from SIM_Position
	SIM_Position (const SIM_DataFactory *factory)

	~SIM_Position () override

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_Query *	createQueryObjectSubclass () const

virtual long	getGuideParmVersionSubclass () const

virtual SIM_Guide *	createGuideObjectSubclass () 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 void *	getCastToType (const UT_StringRef &datatype) const

virtual const UT_StringHolder &	getDataTypeSubclass () const

const SIM_Data *	getAlternateRepresentationOf () const

Protected Member Functions inherited from SIM_OptionsUser
SIM_Options &	getOptions ()

Additional Inherited Members
Static Protected Member Functions inherited from SIM_Data
static const PRM_Template *	getEmptyTemplateList ()

static const SIM_DopDescription *	getEmptyDopDescription ()
	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

RBD_State::~RBD_State ( )

overrideprotected

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
	)

void RBD_State::optionChangedSubclass ( const char * name )

overrideprotectedvirtual

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

Reimplemented from SIM_OptionsUser.

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:

RBD/RBD_State.h

Public Member Functions

Static Public Member Functions

Protected Types

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation