ODEUtil Class Reference

Classes
struct	TriGeomData
struct	TriMeshData

Static Public Member Functions
static void	setODEBodyT3D (dBodyID bodyId, const rw::math::Transform3D<> &t3d)
	set the transform of a ode body More...
static void	setODEGeomT3D (dGeomID geoId, const rw::math::Transform3D<> &t3d)
static rw::math::Transform3D	getODEGeomT3D (dGeomID geomId)
static rw::math::Transform3D	getODEBodyT3D (dBodyID bodyId)
static void	toODEVector (const rw::math::Vector3D<> &v, dVector3 dst)
static rw::math::Vector3D< double >	toVector3D (const dReal *v)
static void	toODERotation (const rw::math::Rotation3D<> &rwR, dMatrix3 R)
static void	toODETransform (const rw::math::Transform3D<> &t3d, dVector3 p, dQuaternion q)
static void	setODEBodyMass (dBodyID body, double mass, const rw::math::Vector3D<> &c, const rw::math::InertiaMatrix<> &I)
static double	calcElasticERP (double Kp, double Kd, double dt)
	calculate the ERP to use in an elastic (spring-and-damper system) contact with elastic More...
static double	calcElasticCFM (double Kp, double Kd, double dt)
	calculate the CFM to use in an elastic (spring-and-damper system) contact with elastic More...
static TriMeshData::Ptr	buildTriMesh (rw::core::Ptr< rw::geometry::GeometryData > gdata, bool invert=false)
static std::vector< TriGeomData * >	buildTriGeom (std::vector< rw::core::Ptr< rw::geometry::Geometry >> geoms, dSpaceID spaceid, rw::kinematics::Frame *ref, const rw::kinematics::State &state, bool invert=false)

Member Function Documentation

calcElasticCFM()

static double calcElasticCFM ( double  Kp, double  Kd, double  dt  )

static

calculate the CFM to use in an elastic (spring-and-damper system) contact with elastic

Parameters

Kp	[in] the spring coefficient
Kd	[in] the damper coefficient
dt	[in] the timestep

Returns

the ERP to use in an elastic contact

calcElasticERP()

static double calcElasticERP ( double  Kp, double  Kd, double  dt  )

static

calculate the ERP to use in an elastic (spring-and-damper system) contact with elastic

Parameters

Kp	[in] the spring coefficient
Kd	[in] the damper coefficient
dt	[in] the timestep

Returns

the ERP to use in an elastic contact

Note

this needs to be used together with a correctly calculated CFM constant

setODEBodyT3D()

static void setODEBodyT3D ( dBodyID  bodyId, const rw::math::Transform3D<> &  t3d  )

static

set the transform of a ode body

Parameters

bodyId	[in] the bodyId of the ode body
t3d	[in] the rw transform

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

• ODEUtil.hpp