RigidBody Class Reference
[Physical bodies]

Rigid body. More...

#include <rigidbody.h>

Inheritance diagram for RigidBody:

List of all members.

Public Member Functions
	RigidBody (Vector2d position=Vector2d(0), double angle=0, Vector2d velocity=Vector2d(0), double angularVelocity=0, double mass=1, double inertia=1)
const Vector2d &	position () const
void	setPosition (const Vector2d &position)
double	angle () const
void	setAngle (double angle)
const Vector2d &	velocity () const
void	setVelocity (const Vector2d &velocity)
double	angularVelocity () const
void	setAngularVelocity (double angularVelocity)
const Vector2d &	force () const
void	setForce (const Vector2d &force)
double	torque () const
void	setTorque (double torque)
void	applyForce (Vector2d force, Vector2d position)
void	applyTorque (double torque)
double	mass () const
void	setMass (double mass)
double	inertia () const
void	setInertia (double inertia)
Vector2d	pointLocalToWorld (const Vector2d &p)
Vector2d	pointWorldToLocal (const Vector2d &p)
int	variablesCount ()
void	resetDerivatives ()
void	getDerivatives (double *array)
void	getVariables (double *array)
void	setVariables (const double *array)
virtual void	worldItemRemoved (Item *item)
virtual void	setWorld (World *world)
World *	world () const
const QString &	name () const
void	setName (const QString &name)

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Detailed Description

Rigid body.

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Constructor & Destructor Documentation

RigidBody	(	Vector2d	position = Vector2d(0),
		double	angle = 0,
		Vector2d	velocity = Vector2d(0),
		double	angularVelocity = 0,
		double	mass = 1,
		double	inertia = 1
	)

Constructs RigidBody

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Member Function Documentation

const Vector2d& position

(

)

const [inline]

Get position of the center of mass of the body

void setPosition

(

const Vector2d &

position

)

[inline]

Set position of the center of mass of the body

double angle

(

)

const [inline]

Get angle of the body

void setAngle

(

double

angle

)

[inline]

Set angle of the body

const Vector2d& velocity

(

)

const [inline]

Get velocity of the center of mass of the body

void setVelocity

(

const Vector2d &

velocity

)

[inline]

Set velocity of the particle

double angularVelocity

(

)

const [inline]

Get angular velocity of the body

void setAngularVelocity

(

double

angularVelocity

)

[inline]

Set angular velocity of the body

const Vector2d& force

(

)

const [inline]

Get force that acts upon the body

void setForce

(

const Vector2d &

force

)

[inline]

Set force that acts upon the body

double torque

(

)

const [inline]

Get torque that acts upon the body

void setTorque

(

double

torque

)

[inline]

Set torque that acts upon the body

void applyForce	(	Vector2d	force,
		Vector2d	position
	)

Apply force to the body at given position (in World coordinates)

void applyTorque

(

double

torque

)

Apply torque to the body

double mass

(

)

const [inline]

Get mass of the body

void setMass

(

double

mass

)

[inline]

Set mass of the body

double inertia

(

)

const [inline]

Get inertia "tensor" of the body

void setInertia

(

double

inertia

)

[inline]

Set inertia "tensor" of the body

Vector2d pointLocalToWorld

(

const Vector2d &

p

)

Translate local coordinates on body to world coordinates

Vector2d pointWorldToLocal

(

const Vector2d &

p

)

Translate world coordinates to local coordinates on body

int variablesCount

(

)

[inline, virtual]

Get count of dynamic variables

Implements Body.

void resetDerivatives

(

)

[virtual]

Resets derivatives of dynamic variables to zero

Implements Body.

void getDerivatives

(

double *

array

)

[virtual]

Copies derivatives of dynamic variables to array

Implements Body.

void getVariables

(

double *

array

)

[virtual]

Copies dynamic variables to array

Implements Body.

void setVariables

(

const double *

array

)

[virtual]

Set dynamic variables using values in array

Implements Body.

virtual void worldItemRemoved

(

Item *

item

)

[inline, virtual, inherited]

Called by the World when any item is removed from the world

Parameters:

item

Pointer to removed item

Todo:

XXX rename

Reimplemented in Spring.

virtual void setWorld

(

World *

world

)

[inline, virtual, inherited]

Set/change pointer to World in which this object lives

Reimplemented in Spring.

World* world

(

)

const [inline, inherited]

Get pointer to World in which this object lives

Returns:

Pointer to the World or NULL

const QString& name

(

)

const [inline, inherited]

Returns name of the object

void setName

(

const QString &

name

)

[inline, inherited]

Set name of the object

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

• rigidbody.h
• rigidbody.cc

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