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rdGBody Class Reference

A graphical body. More...

#include <rdGBody.h>

Inheritance diagram for rdGBody:

List of all members.

Public Member Functions
	rdGBody ()
	Construct an empty graphics body.
	rdGBody (IDOM_Element *aElement)
	Construct a graphics body from an XML Element.
virtual	~rdGBody ()
	Destructor.
void	setOrigin (double aX, double aY, double aZ)
	Set the origin of the body.
void	getOrigin (double rP[3]) const
	Get the origin of the body.
void	setPX (double aX, double aY, double aZ)
	Set a point along the desired x axis of the body.
void	setPY (double aX, double aY, double aZ)
	Set a point along the desired y axis of the body.
void	setPZ (double aX, double aY, double aZ)
	Set a point along the desired z axis of the body.
void	setDensity (double aDensity)
	Set the density of this body.
double	getDensity () const
	Get the density of this body.
void	setMass (double aMass)
	Set the mass of this body.
double	getMass () const
	Get the mass of this body.
void	setCenterOfMass (const double aCOM[3])
	Set the center of mass of this body.
void	getCenterOfMass (double rCOM[3]) const
	Get the center of mass of this body.
void	setInertiaTensor (const double aI[6])
void	getInertiaTensor (double rI[9]) const
	Get the inertia tensor of this body.
void	translate (double aX, double aY, double aZ)
	Translate the vertices of this body by a specified amount.
void	rotate (int aXYZ, double aRadians)
	Rotate a the vertices of this body about the X, Y, or Z axis by a specified amount.
void	rotate (int aXYZ, double aRadians, const double aP[3])
	Rotate a the vertices of this body about a point about the X, Y, or Z axis by a specified amount.
bool	isInside (const double aPoint[3]) const
	Determine whether or not a point is inside this body.
void	estimateInertialProperties (double aCubeSize=0.0)
	Estimate the inertial properties of this body.
void	computeNewFrame ()
	Compute a new body frame.
void	updateEdgeIndices ()
	Update the edge indices.
void	updateTriangleIndices ()
	Update the triangle indices.
void	computeUpperBounds ()
	Compute the upper bounds of this body.
void	computeLowerBounds ()
	Compute the lower bounds of this body.
void	computeBounds ()
	Compute the bounds of this body.
void	printBoneFile (const char *aFileName=NULL)
	Print a SIMM bone file.
virtual void	updateObject (bool aDeep=true)
	Update this object based on its XML node.
virtual void	updateNode (bool aDeep=true)
	Update the XML node representing this object.
void	updateData ()
	Update the member data of this object based on its XML node.
Private Member Functions
void	setNull ()
	Set NULL values for all member variables.
Private Attributes
double	_origin [3]
	Origin of the coordinate system for the body.
double	_x [3]
	X axis of the body.
double	_y [3]
	Y axis of the body.
double	_z [3]
	Z axis of the body.
double	_px [3]
	The unit vector directed from the origin to px is the desired x axis.
double	_py [3]
	The unit vector directed from the origin to py is the desired y axis.
double	_pz [3]
	The unit vector directed from the origin to pz is the desired z axis.
rdVertices *	_vertices
	List of vertices.
rdEdges *	_edges
	List of edges.
rdTriangles *	_triangles
	List of triangles.
rdGBodies *	_bodies
	List of child bodies.
double	_lower [3]
	Lower bounds.
double	_upper [3]
	Upper bounds.
double	_density
	Density.
double	_mass
	Mass.
double	_com [3]
	Center of mass.
double	_inertia [3][3]
	Inertia tensor.

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Detailed Description

A graphical body.

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Constructor & Destructor Documentation

rdGBody::rdGBody (  IDOM_Element *  aElement  )

Construct a graphics body from an XML Element. Parameters: aElement  XML element.

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Member Function Documentation

void rdGBody::computeNewFrame (   )

Compute a new body frame. This procedure is done based on what has been set for the origin, px, py, and pz. All vertices in the body are translated so that the new origin lies at the point originally set for the origin, then they are rotated so that if possible, the x axis passes through px, the y axis through py, and the z axis through pz. When finished, the origin will be (0,0,0).

void rdGBody::estimateInertialProperties (  double  aCubeSize = 0.0  )

Estimate the inertial properties of this body. The inertial properties include mass, center of mass, and the inertia tensor. These properties are estimated by assuming a uniform density and integrating over the volume of the body. A cube of finite dimension (aCubeSize) is used as the volume element dx*dy*dz for performing the integration. If aCubeSize has a value less than or equal to zero, the size of the cube is chosen to be 0.01 times the size of the smallest dimension of the body. That is, aCubeSize = 0.01*(upper[i]-lower[i]), i=0,1, or 2, whichever is smallest. Parameters: aCubeSize  Length of the side of the cube used to integrate over the volume of the body.

void rdGBody::getCenterOfMass (  double  rCOM[3]  )  const

Get the center of mass of this body. Parameters: rCOM  Center of mass.

double rdGBody::getDensity (   )  const

Get the density of this body. Returns: Density.

void rdGBody::getInertiaTensor (  double  rI[9]  )  const

Get the inertia tensor of this body. Parameters: aInertiaTensor  Inertia tensor.

double rdGBody::getMass (   )  const

Get the mass of this body. Returns: Mass.

void rdGBody::getOrigin (  double  rP[3]  )  const

Get the origin of the body. Parameters: aOrigin  Array into which to put the current origin.

bool rdGBody::isInside (  const double  aPoint[3]  )  const

Determine whether or not a point is inside this body. This method assumes that this body is a closed volume. If this body is not closed, the returned result may not be meaningful. Parameters: aPoint  Point to be examined. Returns: True if point is inside. False if point is not inside.

void rdGBody::printBoneFile (  const char *  aFileName = NULL  )

Print a SIMM bone file. Parameters: aFileName  Name of output file.

void rdGBody::rotate (  int  aXYZ, double  aRadians, const double  aP[3] )

Rotate a the vertices of this body about a point about the X, Y, or Z axis by a specified amount. Parameters: aXYZ  Specify whether to rotate about the X (aXYZ=0), Y (aXYZ=1), or Z (aXYZ=2) axes. If aXYZ is not 0, 1, or 2, no rotation is performed. aRadians  Amount of rotation in radians. Point  about which to rotate.

void rdGBody::rotate (  int  aXYZ, double  aRadians )

Rotate a the vertices of this body about the X, Y, or Z axis by a specified amount. Parameters: aXYZ  Specify whether to rotate about the X (aXYZ=0), Y (aXYZ=1), or Z (aXYZ=2) axes. If aXYZ is not 0, 1, or 2, no rotation is performed. aRadians  Amount of rotation in radians.

void rdGBody::setCenterOfMass (  const double  aCOM[3]  )

Set the center of mass of this body. Parameters: aCOM  Center of mass.

void rdGBody::setDensity (  double  aDensity  )

Set the density of this body. Parameters: aDensity  Density.

void rdGBody::setMass (  double  aMass  )

Set the mass of this body. Parameters: aMass  Mass.

void rdGBody::setOrigin (  double  aX, double  aY, double  aZ )

Set the origin of the body. Whenever the origin is set, the points _px, _py, and _pz, which are used to set desired directions for the coordinate axes of the body, are also set to the value of the origin Parameters: aX  New x coordinate. aY  New y coordinate. aZ  New z coordinate.

void rdGBody::setPX (  double  aX, double  aY, double  aZ )

Set a point along the desired x axis of the body. Parameters: aX  New x coordinate. aY  New y coordinate. aZ  New z coordinate.

void rdGBody::setPY (  double  aX, double  aY, double  aZ )

Set a point along the desired y axis of the body. Parameters: aX  New x coordinate. aY  New y coordinate. aZ  New z coordinate.

void rdGBody::setPZ (  double  aX, double  aY, double  aZ )

Set a point along the desired z axis of the body. Parameters: aX  New x coordinate. aY  New y coordinate. aZ  New z coordinate.

void rdGBody::translate (  double  aX, double  aY, double  aZ )

Translate the vertices of this body by a specified amount. Parameters: aX  Amount to translate in the X direction. aY  Amount to translate in the Y direction. aZ  Amount to translate in the Z direction.

void rdGBody::updateData (   )

Update the member data of this object based on its XML node. Member objects (children) are not updated.

void rdGBody::updateNode (  bool  aDeep = true  )  [virtual]

Update the XML node representing this object. Parameters: aDeep  If true, update the XML node of this object AND the XML nodes of all class members that are rdObjects (child nodes); if false, update only the XML node of this object without updating the XML nodes of its children. Reimplemented from rdObject.

void rdGBody::updateObject (  bool  aDeep = true  )  [virtual]

Update this object based on its XML node. Parameters: aDeep  If true, update this object and all its child objects (that is, member variables that are rdObject's); if false, update only the member variables that are not rdObject's. Reimplemented from rdObject.

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

• rdGBody.h
• rdGBody.cpp

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