A class for simulating a rigid body. Uses Euler integration. More...

Public Member Functions
void	SetInertiaMatrix (const Matrix3 &H)

void	SetInertiaMatrix (const Vector3 &Hdiag)

void	ZeroForces ()

void	AddForce (const Vector3 &f)

void	AddMoment (const Vector3 &m)

void	AddForceAtPoint (const Vector3 &f, const Vector3 &p)

void	AddLocalForceAtPoint (const Vector3 &fLocal, const Vector3 &pLocal)

void	Advance (Real dt)

Vector3	Accel () const

Vector3	AngularAccel () const

void	AccelJacobian (const Vector3 &forcePt, Matrix3 &J) const

void	AngularAccelJacobian (const Vector3 &forcePt, Matrix3 &J) const

Vector3	Momentum () const

Vector3	AngularMomentum () const

Matrix3	WorldInertia () const

Real	KineticEnergy () const

Public Attributes
Real	m
	Mass.

Matrix3	H
	Local inertia matrix and inertia inverse.

Matrix3	Hinv

RigidTransform	T
	Transform about the COM.

Vector3	v
	World space velocity and angular velocity.

Vector3	w

Vector3	faccum

Vector3	maccum

Detailed Description

A class for simulating a rigid body. Uses Euler integration.

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

Public Member Functions