A Gestalt is a Body with a Shape. More...

#include <C:/Trend/Development/Trax3/Code/trax/rigid/Gestalt.h>

Inheritance diagram for trax::Gestalt:

[legend]

Public Member Functions
virtual void	SetName (const char *name) noexcept=0
	Sets the name of the Gestalt.
virtual const char *	GetName () const noexcept=0
virtual void	SetFrame (const spat::Frame< Length, One > &frame) noexcept=0
	Sets position and orientation (pose) in global coordinates.
virtual void	GetFrame (spat::Frame< Length, One > &frame) const noexcept=0
	Gets the pose in global coordinates.
virtual int	Attach (std::unique_ptr< Geom > pGeom, Mass mass)=0
	Attach a Geom with a dedicated mass to the Gestalt.
virtual Mass	GeomMass (int idx=0) const =0
virtual int	Attach (std::unique_ptr< Geom > pGeom)=0
	Attach a Geom to the Shape.
virtual int	Attach (std::vector< std::unique_ptr< Geom > > &geoms)=0
Public Member Functions inherited from trax::Body
virtual void	WakeUp ()=0
	Wakes the Body if it was deactivated due to not being in move.
virtual bool	IsSleeping () const noexcept=0
	Is the body deactivated?
virtual void	SetSleepDelay (Time threshold)=0
virtual Time	GetSleepDelay () const noexcept=0
virtual void	SetSleepThreshold (decltype(Velocity{} *Velocity{}) threshold)=0
virtual decltype(Velocity{} *Velocity{})	GetSleepThreshold () const noexcept=0
virtual void	SetMass (Mass mass)=0
	Sets the mass of the Body.
virtual Mass	GetMass () const noexcept=0
virtual void	CenterOfMass (const spat::Position< Length > &pos) noexcept=0
	Sets the center of mass in Body space.
virtual spat::Position< Length >	CenterOfMass () const noexcept=0
virtual void	InertiaTensor (const spat::SquareMatrix< Area, 3 > &specificInertiaTensor)=0
	Sets the specific inertia tensor of the Body.
virtual spat::SquareMatrix< Area, 3 >	InertiaTensor () const =0
virtual void	SetLinearVelocity (const spat::Vector< Velocity > &v)=0
	Sets the velocity of the barycenter of this Body.
virtual void	GetLinearVelocity (spat::Vector< Velocity > &v) const =0
	Gets the velocity of the barycenter of this Body.
virtual void	SetAngularVelocity (const spat::Vector< AngularVelocity > &w)=0
	Sets the rotational velocity around the barycenter of this Body.
virtual void	GetAngularVelocity (spat::Vector< AngularVelocity > &w) const =0
	Sets the rotational velocity around the barycenter of this Body.
Public Member Functions inherited from trax::Shape
virtual spat::Box< Length >	GetExtent () const noexcept=0
	Gets the minimum axis aligned box that includes the the Geoms completely.
virtual std::unique_ptr< Geom >	Remove (int idx)=0
	Removes the Geom with index idx from the Shape.
virtual void	Clear () noexcept=0
	Remove all Geoms from the Shape.
virtual int	Count () const =0
virtual Geom &	Get (int idx=0) const =0

Detailed Description

A Gestalt is a Body with a Shape.

A Gestalt combines the physical properties of a Body with the geometric properties of a Shape. The latter combines multiple Geoms into a single collision shape.

See also: Geom

Member Function Documentation

◆ Attach() [1/3]

virtual int trax::Shape::Attach ( std::unique_ptr< Geom > pGeom )

virtual

Attach a Geom to the Shape.

This will be used for collision testing. The Geom carries a frame of reference to specify it's pose relative to the Shape's pose.

Parameters

pGeom A Geom to be attached to the Shape.

Returns: The zero based index of the first Geom attached; the consecutive geoms will be assigned indexes from that in increasing order.

Implements trax::Shape.

◆ Attach() [2/3]

virtual int trax::Gestalt::Attach	(	std::unique_ptr< Geom >	pGeom,
		Mass	mass )

pure virtual

Attach a Geom with a dedicated mass to the Gestalt.

This will be used for collision testing. The Geom carries a frame of reference to specify it's pose relative to the Body's pose.

Parameters

pGeom	A Geom to be attached to the Body.
mass	A mass to be used when calculating the mass properties for the Body by CalculateMassPropertiesFromShapes().

Returns: The zero based index of the Geom.

◆ Attach() [3/3]

virtual int trax::Shape::Attach ( std::vector< std::unique_ptr< Geom > > & geoms )

virtual

Parameters

geoms A list of Geoms to be attached to the Shape.

Returns: The zero based index of the first Geom attached; the consecutive geoms will be assigned indexes from that in increasing order.

Implements trax::Shape.

◆ GeomMass()

virtual Mass trax::Gestalt::GeomMass ( int idx = 0 ) const

pure virtual

Parameters

idx	zero based index of the Geom.

Returns: a pointer to the Geom at index idx.

◆ GetFrame()

virtual void trax::Gestalt::GetFrame ( spat::Frame< Length, One > & frame ) const

pure virtualnoexcept

Gets the pose in global coordinates.

Implements trax::Body.

◆ GetName()

virtual const char * trax::Gestalt::GetName ( ) const

pure virtualnoexcept

Returns: The name of the Gestalt.

Implements trax::Body.

◆ SetFrame()

virtual void trax::Gestalt::SetFrame ( const spat::Frame< Length, One > & frame )

pure virtualnoexcept

Sets position and orientation (pose) in global coordinates.

This will set the position and orientation of the Gestalt in global simulation space.

Parameters

frame Frame of reference. Must be orthonormal.

Implements trax::Body.

◆ SetName()

virtual void trax::Gestalt::SetName ( const char * name )

pure virtualnoexcept

Sets the name of the Gestalt.

This is for debug purposes; the string is not copied, only the pointer is stored.

Implements trax::Body.

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

C:/Trend/Development/Trax3/Code/trax/rigid/Gestalt.h

Public Member Functions

Detailed Description

Member Function Documentation

◆ Attach() [1/3]

◆ Attach() [2/3]

◆ Attach() [3/3]

◆ GeomMass()

◆ GetFrame()

◆ GetName()

◆ SetFrame()

◆ SetName()