Rigid Body Dynamics Library

Keeps the information of a body and how it is attached to another body. More...
#include <Body.h>
Static Public Member Functions  
static FixedBody  CreateFromBody (const Body &body) 
Data Fields  
Math::Scalar  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 
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 223 of file Body.h.
References Body::mCenterOfMass, FixedBody::mCenterOfMass, Body::mInertia, FixedBody::mInertia, Body::mMass, and FixedBody::mMass.
Math::SpatialTransform mBaseTransform 
Math::Vector3d mCenterOfMass 
Math::Matrix3d mInertia 
Math::Scalar mMass 
unsigned int mMovableParent 
Math::SpatialTransform mParentTransform 