sofa::filemanager::pml::PMLRigidBody Class Reference

#include <PMLRigidBody.h>

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Public Member Functions

 PMLRigidBody (StructuralComponent *body, GNode *parent)
 ~PMLRigidBody ()
string isTypeOf ()
bool FusionBody (PMLBody *)
 merge the body with current object
Vector3 getDOF (unsigned int index)
GNode * getPointsNode ()
MechanicalObject< RigidTypes > * getRefDOF ()

Data Fields

bool bodyFixed
 is the body totally fixed?

Private Member Functions

void createMechanicalState (StructuralComponent *body)
 creation of the scene graph
void createTopology (StructuralComponent *body)
void createMass (StructuralComponent *body)
void createVisualModel (StructuralComponent *body)
void createForceField ()
void createCollisionModel ()
void initMass (string m)
 initialization of properties
void initInertiaMatrix (string m)
void initPosition (string m)
void initVelocity (string m)

Private Attributes

MechanicalObject< RigidTypes > * refDOF
 mechanical model containing the reference node (gravity center)
BaseMapping * mapping
 mapping between refDof and mesh points
GNode * VisualNode
 GNode containing the visual model.
GNode * CollisionNode
 GNode containing the collision models.
Vector3 bary
 barycenter coordinates of the solid
std::vector< SReal > massList
std::vector< SReal > inertiaMatrix
Vector3 transPos
Quat rotPos
Vector3 transVel
Vector3 rotVel

Detailed Description

Definition at line 70 of file PMLRigidBody.h.

Constructor & Destructor Documentation

sofa::filemanager::pml::PMLRigidBody::PMLRigidBody ( StructuralComponent *  body,
GNode *  parent 
)

Definition at line 69 of file PMLRigidBody.cpp.

References bodyFixed, sofa::filemanager::pml::PMLBody::collisionsON, createCollisionModel(), createMass(), createMechanicalState(), sofa::filemanager::pml::PMLBody::createSolver(), createVisualModel(), initInertiaMatrix(), initMass(), initPosition(), initVelocity(), sofa::filemanager::pml::PMLBody::name, sofa::filemanager::pml::PMLBody::parentNode, and sofa::filemanager::pml::PMLBody::solverName.

sofa::filemanager::pml::PMLRigidBody::~PMLRigidBody (  ) 

Definition at line 96 of file PMLRigidBody.cpp.

References CollisionNode, mapping, sofa::filemanager::pml::PMLBody::mmodel, and VisualNode.

Member Function Documentation

void sofa::filemanager::pml::PMLRigidBody::createCollisionModel (  )  [private, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 405 of file PMLRigidBody.cpp.

References sofa::simulation::tree::GNode::addObject(), sofa::filemanager::pml::PMLBody::collisionsON, sofa::component::collision::TriangleModel::init(), and VisualNode.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::createForceField (  )  [inline, private, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 100 of file PMLRigidBody.h.

void sofa::filemanager::pml::PMLRigidBody::createMass ( StructuralComponent *  body  )  [private, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 302 of file PMLRigidBody.cpp.

References sofa::simulation::tree::GNode::addObject(), bary, inertiaMatrix, sofa::filemanager::pml::PMLBody::mass, massList, sofa::filemanager::pml::PMLBody::name, and sofa::filemanager::pml::PMLBody::parentNode.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::createMechanicalState ( StructuralComponent *  body  )  [private, virtual]

creation of the scene graph

Implements sofa::filemanager::pml::PMLBody.

Definition at line 200 of file PMLRigidBody.cpp.

References sofa::simulation::tree::GNode::addObject(), bary, sofa::filemanager::pml::PMLBody::parentNode, refDOF, rotPos, rotVel, transPos, and transVel.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::createTopology ( StructuralComponent *  body  )  [private, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 215 of file PMLRigidBody.cpp.

References sofa::filemanager::pml::PMLBody::AtomsToDOFsIndexes, and sofa::filemanager::pml::PMLBody::topology.

Referenced by createVisualModel().

void sofa::filemanager::pml::PMLRigidBody::createVisualModel ( StructuralComponent *  body  )  [private, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 262 of file PMLRigidBody.cpp.

References sofa::simulation::tree::GNode::addChild(), sofa::simulation::tree::GNode::addObject(), sofa::filemanager::pml::PMLBody::AtomsToDOFsIndexes, bary, createTopology(), sofa::component::visualmodel::VisualModelImpl::load(), mapping, sofa::filemanager::pml::PMLBody::mmodel, sofa::filemanager::pml::PMLBody::parentNode, refDOF, sofa::core::componentmodel::behavior::BaseMechanicalState::resize(), sofa::component::visualmodel::VisualModelImpl::setColor(), sofa::filemanager::pml::PMLBody::topology, and VisualNode.

Referenced by PMLRigidBody().

bool sofa::filemanager::pml::PMLRigidBody::FusionBody ( PMLBody *   )  [virtual]

merge the body with current object

Implements sofa::filemanager::pml::PMLBody.

Definition at line 430 of file PMLRigidBody.cpp.

Vector3 sofa::filemanager::pml::PMLRigidBody::getDOF ( unsigned int  index  )  [virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 194 of file PMLRigidBody.cpp.

References sofa::filemanager::pml::PMLBody::mmodel.

GNode* sofa::filemanager::pml::PMLRigidBody::getPointsNode (  )  [inline, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 85 of file PMLRigidBody.h.

References VisualNode.

MechanicalObject<RigidTypes>* sofa::filemanager::pml::PMLRigidBody::getRefDOF (  )  [inline]

Definition at line 87 of file PMLRigidBody.h.

References refDOF.

void sofa::filemanager::pml::PMLRigidBody::initInertiaMatrix ( string  m  )  [private]

Definition at line 120 of file PMLRigidBody.cpp.

References inertiaMatrix.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::initMass ( string  m  )  [private]

initialization of properties

Definition at line 105 of file PMLRigidBody.cpp.

References massList.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::initPosition ( string  m  )  [private]

Definition at line 135 of file PMLRigidBody.cpp.

References rotPos, and transPos.

Referenced by PMLRigidBody().

void sofa::filemanager::pml::PMLRigidBody::initVelocity ( string  m  )  [private]

Definition at line 168 of file PMLRigidBody.cpp.

References rotVel, and transVel.

Referenced by PMLRigidBody().

string sofa::filemanager::pml::PMLRigidBody::isTypeOf (  )  [inline, virtual]

Implements sofa::filemanager::pml::PMLBody.

Definition at line 78 of file PMLRigidBody.h.

Field Documentation

Vector3 sofa::filemanager::pml::PMLRigidBody::bary [private]

barycenter coordinates of the solid

Definition at line 119 of file PMLRigidBody.h.

Referenced by createMass(), createMechanicalState(), and createVisualModel().

bool sofa::filemanager::pml::PMLRigidBody::bodyFixed

is the body totally fixed?

Definition at line 90 of file PMLRigidBody.h.

Referenced by PMLRigidBody().

GNode* sofa::filemanager::pml::PMLRigidBody::CollisionNode [private]

GNode containing the collision models.

Definition at line 117 of file PMLRigidBody.h.

Referenced by ~PMLRigidBody().

std::vector<SReal> sofa::filemanager::pml::PMLRigidBody::inertiaMatrix [private]

Definition at line 123 of file PMLRigidBody.h.

Referenced by createMass(), and initInertiaMatrix().

BaseMapping* sofa::filemanager::pml::PMLRigidBody::mapping [private]

mapping between refDof and mesh points

Definition at line 113 of file PMLRigidBody.h.

Referenced by createVisualModel(), and ~PMLRigidBody().

std::vector<SReal> sofa::filemanager::pml::PMLRigidBody::massList [private]

Definition at line 122 of file PMLRigidBody.h.

Referenced by createMass(), and initMass().

MechanicalObject<RigidTypes>* sofa::filemanager::pml::PMLRigidBody::refDOF [private]

mechanical model containing the reference node (gravity center)

Definition at line 111 of file PMLRigidBody.h.

Referenced by createMechanicalState(), createVisualModel(), and getRefDOF().

Quat sofa::filemanager::pml::PMLRigidBody::rotPos [private]

Definition at line 127 of file PMLRigidBody.h.

Referenced by createMechanicalState(), and initPosition().

Vector3 sofa::filemanager::pml::PMLRigidBody::rotVel [private]

Definition at line 131 of file PMLRigidBody.h.

Referenced by createMechanicalState(), and initVelocity().

Vector3 sofa::filemanager::pml::PMLRigidBody::transPos [private]

Definition at line 126 of file PMLRigidBody.h.

Referenced by createMechanicalState(), and initPosition().

Vector3 sofa::filemanager::pml::PMLRigidBody::transVel [private]

Definition at line 130 of file PMLRigidBody.h.

Referenced by createMechanicalState(), and initVelocity().

GNode* sofa::filemanager::pml::PMLRigidBody::VisualNode [private]

GNode containing the visual model.

Definition at line 115 of file PMLRigidBody.h.

Referenced by createCollisionModel(), createVisualModel(), getPointsNode(), and ~PMLRigidBody().

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