Klamp't  0.9.0
Public Member Functions | Public Attributes | Static Public Attributes | List of all members
Klampt::ODERigidObject Class Reference

An ODE-simulated rigid object. More...

#include <ODERigidObject.h>

Public Member Functions

 ODERigidObject (RigidObjectModel &obj)
void Create (dWorldID worldID, dSpaceID space, bool useBoundaryLayer=true)
void Clear ()
void SetTransform (const RigidTransform &T)
void GetTransform (RigidTransform &T) const
void SetVelocity (const Vector3 &w, const Vector3 &v)
void GetVelocity (Vector3 &w, Vector3 &v) const
Real GetKineticEnergy () const
bool ReadState (File &f)
bool WriteState (File &f) const
dBodyID body ()
dGeomID geom ()
dSpaceID space ()
ODEGeometrytriMesh ()

Public Attributes


Static Public Attributes

static double defaultPadding
static ODESurfaceProperties defaultSurface

Detailed Description

An ODE-simulated rigid object.

Note: if you manually set the object's velocities, make sure to disable instability correction in the simulator for that time step.

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