An ODE-simulated rigid object. More...

Public Member Functions
	ODERigidObject (RigidObject &obj)

void	Create (dWorldID worldID, dSpaceID space, bool useBoundaryLayer=true)

void	Clear ()

void	SetTransform (const RigidTransform &T)

void	GetTransform (RigidTransform &T) const

void	SetVelocity (const Vector3 &w, const Vector3 &v)

void	GetVelocity (Vector3 &w, Vector3 &v) const

Real	GetKineticEnergy () const

bool	ReadState (File &f)

bool	WriteState (File &f) const

dBodyID	body ()

dGeomID	geom ()

dSpaceID	space ()

ODEGeometry *	triMesh ()

Static Public Attributes
static double	defaultPadding

static ODESurfaceProperties	defaultSurface

Detailed Description

An ODE-simulated rigid object.

Note: if you manually set the object's velocities, make sure to disable instability correction in the simulator for that time step.

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

Public Member Functions