Rigid Body Dynamics Library
FixedBody Struct Reference

Keeps the information of a body and how it is attached to another body. More...

Static Public Member Functions

static FixedBody CreateFromBody (const Body &body)
 

Data Fields

double mMass
 The mass of the body. More...
 
Math::Vector3d mCenterOfMass
 The position of the center of mass in body coordinates. More...
 
Math::Matrix3d mInertia
 The spatial inertia that contains both mass and inertia information. More...
 
unsigned int mMovableParent
 Id of the movable body that this fixed body is attached to. More...
 
Math::SpatialTransform mParentTransform
 Transforms spatial quantities expressed for the parent to the. More...
 
Math::SpatialTransform mBaseTransform
 

Detailed Description

Keeps the information of a body and how it is attached to another body.

When using fixed bodies, i.e. a body that is attached to anothe via a fixed joint, the attached body is merged onto its parent. By doing so adding fixed joints do not have an impact on runtime.

Definition at line 189 of file Body.h.

Member Function Documentation

◆ CreateFromBody()

static FixedBody CreateFromBody ( const Body body)
inlinestatic

Field Documentation

◆ mBaseTransform

Math::SpatialTransform mBaseTransform

Definition at line 202 of file Body.h.

◆ mCenterOfMass

Math::Vector3d mCenterOfMass

The position of the center of mass in body coordinates.

Definition at line 193 of file Body.h.

◆ mInertia

Math::Matrix3d mInertia

The spatial inertia that contains both mass and inertia information.

Definition at line 195 of file Body.h.

◆ mMass

double mMass

The mass of the body.

Definition at line 191 of file Body.h.

◆ mMovableParent

unsigned int mMovableParent

Id of the movable body that this fixed body is attached to.

Definition at line 198 of file Body.h.

◆ mParentTransform

Math::SpatialTransform mParentTransform

Transforms spatial quantities expressed for the parent to the.

Definition at line 201 of file Body.h.


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