1 #ifndef SimTK_SIMBODY_BODY_H_ 2 #define SimTK_SIMBODY_BODY_H_ 40 class DecorativeGeometry;
96 {
return addDecoration(
Transform(), geometry); }
101 int getNumDecorations()
const;
120 int addContactSurface(
const Transform& X_BS,
126 {
return addContactSurface(
Transform(), shape); }
130 int getNumContactSurfaces()
const;
136 const Transform& getContactSurfaceTransform(
int i)
const;
144 Transform& updContactSurfaceTransform(
int i);
154 bool isOwnerHandle()
const;
155 bool isEmptyHandle()
const;
159 explicit Body(
class BodyRep*
r) : rep(r) { }
161 const BodyRep&
getRep()
const {assert(rep);
return *rep;}
162 BodyRep&
updRep()
const {assert(rep);
return *rep;}
194 const RigidRep& getRep()
const;
220 const LinearRep& getRep()
const;
235 explicit Particle(
const Real& mass);
245 ParticleRep& updRep();
246 const ParticleRep& getRep()
const;
264 MasslessRep& updRep();
265 const MasslessRep& getRep()
const;
283 const GroundRep& getRep()
const;
288 #endif // SimTK_SIMBODY_BODY_H_ #define SimTK_PIMPL_DOWNCAST(Derived, Parent)
Similar to the above but for private implementation abstract classes, that is, abstract class hierarc...
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:580
Apache License January AND DISTRIBUTION Definitions License shall mean the terms and conditions for and distribution as defined by Sections through of this document Licensor shall mean the copyright owner or entity authorized by the copyright owner that is granting the License Legal Entity shall mean the union of the acting entity and all other entities that control are controlled by or are under common control with that entity For the purposes of this definition control direct or to cause the direction or management of such whether by contract or including but not limited to software source documentation source
Definition: LICENSE.txt:26
Body()
Default constructor creates an empty Body handle.
Definition: Body.h:58
This is a Body representing something immobile, of effectively infinite mass and inertia, that cannot be modified to be anything else.
Definition: Body.h:275
The Body class represents a reference frame that can be used to describe mass properties and geometry...
Definition: Body.h:55
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
A general rigid body.
Definition: Body.h:176
const BodyRep & getRep() const
Definition: Body.h:161
Linear & setDefaultRigidBodyMassProperties(const MassProperties &m)
Definition: Body.h:211
Every Simbody header and source file should include this header before any other Simbody header...
This class contains the mass, center of mass, and unit inertia matrix of a rigid body B...
Definition: MassProperties.h:85
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:593
class BodyRep * rep
Definition: Body.h:166
m
Definition: CMakeCache.txt:469
Body(class BodyRep *r)
Definition: Body.h:159
Includes internal headers providing declarations for the basic SimTK Core classes, including Simmatrix.
int addContactSurface(const ContactSurface &shape)
Convenience method for when the contact surface is to be placed at the body frame.
Definition: Body.h:125
This is a Body that is constitutively massless (and inertialess); meaning that no amount of fiddling ...
Definition: Body.h:257
bool hasRep() const
Definition: Body.h:160
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Definition: Simmatrix.doc:7
int addDecoration(const DecorativeGeometry &geometry)
Convenience method for when the decorative geometry is to be placed at the body frame.
Definition: Body.h:95
This is a rigid body in the shape of a line, which is inherently inertialess about its axis...
Definition: Body.h:206
Body & setDefaultRigidBodyMassProperties(const MassProperties &)
Every type of Body should provide an initial set of rigid body mass properties defined at Topology st...
This is the client-side interface to an implementation-independent representation of "Decorations" su...
Definition: DecorativeGeometry.h:86
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:72
void setRep(BodyRep &r)
Definition: Body.h:163
Rigid & setDefaultRigidBodyMassProperties(const MassProperties &m)
Definition: Body.h:185
BodyRep & updRep() const
Definition: Body.h:162
Transform_< Real > Transform
Definition: Transform.h:44