a class that represents a body More...

#include <Body.hpp>

Inheritance diagram for GranOO3::Physic::Body:

[legend]

Public Member Functions
	Body (Shape::Volume &shape, const Geom::Point &p, const Geom::Quaternion &q, double mass, const Geom::Tensor &inertia)
	constructor More...

	Body (Shape::Volume &shape, const Geom::Point &p)
	constructor More...

	Body (Shape::Volume &shape)
	constructor More...

virtual	~Body ()=0
	destructor More...

void	set_inertia_tensor (const Geom::Tensor &inertia)
	set the inertia tensor value More...

void	set_density (double density)
	set the density value More...

Geom::Vector	compute_torque_at (const Geom::Point &A) const

double	get_kinetic_energy () const

double	get_mass () const
	get the current mass value of the body More...

void	apply_force_at (const Geom::Vector &, const Geom::Point &)

const Shape::Volume &	to_volume_shape () const
	cast the current object to Shape::Volume More...

Shape::Volume &	to_volume_shape ()
	cast the current object to Shape::Volume More...

double	get_volume () const
	get the current volume of the body More...

double	get_bounding_radius () const
	get the current bounding radius of the body More...

AABB	aabb () const
	get the aabb tree the body More...

bool	collide (const Body &other, Collision::Data &col)
	collision detection with another body More...

bool	collide (const Body &other)
	collision detection with another body More...

void	make_equal_to (const Body &other)
	for equalizing two bodies More...

std::string	info () const
	Display some useful info in the terminal More...

virtual std::ostream &	write_ascii (std::ostream &out) const
	dump the current state of the bodyt in a ascii file (standard *.lgdd format) More...

virtual std::istream &	read_ascii (std::istream &in)
	update the current state of the body from an ascii file format *.lgdd More...

virtual std::ostream &	export_to_povray (std::ostream &out) const
	exporting to povray format More...

Public Member Functions inherited from GranOO3::Physic::Node
	Node (const Geom::Vector &position)

	Node (const Geom::Point &position)

	Node ()

virtual	~Node ()

void	clear_force ()

void	clear_torque ()

const Geom::Frame &	local_frame () const

void	incremental_move (const Geom::Vector &vec)

void	incremental_unmove (const Geom::Vector &vec)

void	update_position_from_displacement ()

void	update_displacement_from_position ()

void	set_displacement (const Geom::Vector &)

void	clear_displacement ()

void	set_displacement_x (const double &)

void	set_displacement_y (const double &)

void	set_displacement_z (const double &)

void	set_position (const Geom::Vector &)

void	set_position_x (const double &)

void	set_position_y (const double &)

void	set_position_z (const double &)

void	set_center (const Geom::Point &)

void	update_initial_parameter_to_current_parameter ()

void	update_from_fem ()

void	update_from_dem ()

void	add_interaction (Node &)

void	erase_interaction (Node &)

bool	interact_with (const Node &) const

bool	interact_with (const Ground &) const

bool	interact_with (const FEM::Surface &) const

void	apply_force (const Geom::Vector &)

void	apply_torque (const Geom::Vector &)

void	set_quaternion_velocity_from_angular_velocity (const Geom::Vector &angularVelocity)

void	set_quaternion_acceleration_from_angular_acceleration (const Geom::Vector &angularAcceleration, const Geom::Vector &angularVelocity)

void	update_angular_velocity ()

virtual void	clear_kinematic ()

Geom::Vector	get_linear_velocity_at (const Geom::Point &) const

void	make_equal_to (const Node &)

virtual void	draw ()

Public Member Functions inherited from GranOO3::Core::Base
virtual	~Base ()

size_t	numID () const

size_t	uID () const

void	set_numID (size_t val)

void	clear_numID ()

Physic::Material &	get_mat () const

void	set_mat (Physic::Material *)

Base &	item ()

const Base &	item () const

bool	is_same (const Base &) const

template<class T >
T &	cast_to ()

template<class T >
const T &	cast_to () const

template<class T >
bool	is () const

virtual bool	is (size_t) const

virtual const std::string &	get_ID () const

virtual Base &	clone ()

template<class T >
T &	clone_to ()

Signal< Base & > &	deleted_signal ()

Public Member Functions inherited from GranOO3::Core::Null
	Null ()

virtual	~Null ()

Public Member Functions inherited from GranOO3::Core::Drawable
	Drawable ()

virtual	~Drawable ()

virtual void	draw_edge ()

virtual void	init_default_color ()

virtual std::ostream &	get_info (std::ostream &os) const

virtual const Color &	default_color () const

Color &	get_color ()

const Color &	get_color () const

virtual void	set_color (const Color &)

virtual void	set_alpha (float alpha)

void	apply_color () const

void	apply_edge_color () const

void	apply_default_color ()

void	apply_selected_color ()

void	set_line_width (float)

float	get_line_width () const

float &	get_line_width ()

void	apply_line_width () const

bool	is_visible () const

void	set_visible (bool)

void	paint ()

void	paint_edge ()

unsigned int	get_item_glkey () const

Public Member Functions inherited from GranOO3::Core::Register< Base >
	Register ()

virtual	~Register ()

void	erase_from_all_setof ()

bool	belong_to_setof (const std::string &setOfId) const

bool	belong_to_setof (const SetOf< Base > &set) const

std::list< SetOf< Base > * > &	get_setof_list ()

unsigned long long int	get_numeric_ID () const

Public Member Functions inherited from GranOO3::Core::PropClass< Node >
	PropClass ()

virtual	~PropClass ()

T &	new_object ()

T &	get ()

const T &	get () const

bool	prop_exist () const

void	add_prop (Core::Prop< Node > *)

void	remove_prop (Core::Prop< Node > *)

std::string	info () const

Public Member Functions inherited from GranOO3::Core::Register< Node >
	Register ()

virtual	~Register ()

void	erase_from_all_setof ()

bool	belong_to_setof (const std::string &setOfId) const

bool	belong_to_setof (const SetOf< Node > &set) const

std::list< SetOf< Node > * > &	get_setof_list ()

unsigned long long int	get_numeric_ID () const

Public Member Functions inherited from GranOO3::Core::PropClass< Body >
	PropClass ()

virtual	~PropClass ()

T &	new_object ()

T &	get ()

const T &	get () const

bool	prop_exist () const

void	add_prop (Core::Prop< Body > *)

void	remove_prop (Core::Prop< Body > *)

std::string	info () const

Public Member Functions inherited from GranOO3::Core::Register< Body >
	Register ()

virtual	~Register ()

void	erase_from_all_setof ()

bool	belong_to_setof (const std::string &setOfId) const

bool	belong_to_setof (const SetOf< Body > &set) const

std::list< SetOf< Body > * > &	get_setof_list ()

unsigned long long int	get_numeric_ID () const

Protected Attributes
double	_density
	the density value of the body More...

double	_mass
	the mass value of the body More...

Geom::Tensor	_inertia_tensor
	the inertia tensor of the body More...

Geom::Tensor	_inverse_inertia_tensor
	the inverse of the inertia tensor of the body More...

Protected Attributes inherited from GranOO3::Core::PropClass< Node >
std::vector< Core::Prop< Node > * >	_prop

Protected Attributes inherited from GranOO3::Core::PropClass< Body >
std::vector< Core::Prop< Body > * >	_prop

Private Member Functions
void	update_inverse_inertia_tensor ()
	update the current value of Body::_inverse_inertia_tensor from the Body::_inertia_tensor value More...

	Body (const Body &)=delete

Body &	operator= (const Body &)=delete

template<class Archive >
void	save (Archive &, const unsigned int) const
	complete serializing of the element in the *.gdd format More...

template<class Archive >
void	load (Archive &, const unsigned int)
	complete serializing of the element in the *.gdd format More...

	BOOST_SERIALIZATION_SPLIT_MEMBER ()

Private Attributes
Shape::Volume &	_volume_shape

Friends
class	boost::serialization::access

Additional Inherited Members
Static Public Member Functions inherited from GranOO3::Core::Base
static Base &	get_by_numID (size_t)

static void	clear_all_numID ()

static unsigned int	get_sub_class_number ()

Static Public Member Functions inherited from GranOO3::Core::Drawable
static Drawable &	get_drawable_item_by_glkey (int)

static void	set_draw_precision (unsigned int p)

static void	increase_draw_precision ()

static void	decrease_draw_precision ()

static unsigned int	get_draw_precision ()

Static Public Attributes inherited from GranOO3::Core::Null
static Null	null = Null()

Protected Member Functions inherited from GranOO3::Core::Base
	Base ()

Static Protected Member Functions inherited from GranOO3::Core::Base
static unsigned int	affect_class_rank_ID ()

Detailed Description

a class that represents a body

a template class that model a body with a given shape

A Physic::Body class that models a rigid body able to move (translate and rotate) in a 3D space. Note that this class is pure virtual because the Physic::Body does not know its own shape.

Template Parameters

shape the real shape of the BodyT

This template class BodyT<shape> derives from two classes :

the pure virtual class DEM::Element
a shape class that represents a volume shape such as Shape::Cone, Shape::Cylinder, Shape::Sphere, Shape::Polyhedron, etc.

In such way an BodyT<T> object is both an element and a volume shape. So, you can either ask an BodyT<T> for getting its mass and its lengths.

Constructor & Destructor Documentation

◆ Body() [1/4]

GranOO3::Physic::Body::Body	(	Shape::Volume &	shape,
		const Geom::Point &	p,
		const Geom::Quaternion &	q,
		double	mass,
		const Geom::Tensor &	inertia
	)

inline

constructor

Parameters

[in]	shape	: the shape to clone
[in]	p	: initial position of the body
[in]	q	: initial orientation of the body
[in]	mass	: the mass of the body
[in]	inertia	: the inertia tensor of the body

Construct a new body with the given parameters.

◆ Body() [2/4]

GranOO3::Physic::Body::Body	(	Shape::Volume &	shape,
		const Geom::Point &	p
	)

inline

constructor

Parameters

[in]	shape	: the shape to clone
[in]	p	: initial position of the body
[in]	q	: initial orientation of the body

Construct a new body with the given parameters.

◆ Body() [3/4]

GranOO3::Physic::Body::Body ( Shape::Volume & shape )

inline

constructor

Parameters

[in] shape : the shape to clone

Construct a new body with the given parameters.

◆ ~Body()

GranOO3::Physic::Body::~Body ( )

inlinepure virtual

destructor

Note that the destructor is pure virtual.

◆ Body() [4/4]

GranOO3::Physic::Body::Body ( const Body & )

privatedelete

Member Function Documentation

◆ aabb()

AABB GranOO3::Physic::Body::aabb ( ) const

inline

get the aabb tree the body

Returns: the AABB object

Useful method for generic collision detection

◆ apply_force_at()

void GranOO3::Physic::Body::apply_force_at	(	const Geom::Vector &	force,
		const Geom::Point &	applicationPoint
	)

inline

◆ BOOST_SERIALIZATION_SPLIT_MEMBER()

GranOO3::Physic::Body::BOOST_SERIALIZATION_SPLIT_MEMBER ( )

private

◆ collide() [1/2]

bool GranOO3::Physic::Body::collide ( const Body & other )

inline

collision detection with another body

Parameters

[in] other : the other body for collision detection

Returns: true if the two bodies are colliding false otherwise

This method is able to manage collision detection between two bodies. The updated information about collision (normal, penetration value, etc...) are written into the main static attribute of the GranOO3::Collision::Data class.

◆ collide() [2/2]

bool GranOO3::Physic::Body::collide	(	const Body &	other,
		Collision::Data &	col
	)

inline

collision detection with another body

Parameters

[in]	other	: the other body for collision detection
[out]	col	: the collision data information

Returns: true if the two bodies are colliding false otherwise

This method is able to manage collision detection between two bodies. The updated information about collision (normal, penetration value, etc...) are written into the col parameter.

◆ compute_torque_at()

Geom::Vector GranOO3::Physic::Body::compute_torque_at ( const Geom::Point & A ) const

inline

◆ export_to_povray()

std::ostream & GranOO3::Physic::Body::export_to_povray ( std::ostream & os ) const

virtual

exporting to povray format

Parameters

[in] os : the stream to write

Returns: the stream with the exporting data in the povray format

This method is used in the granoo-viewer for exporting a 3D scene to the povray program

Reimplemented from GranOO3::Physic::Node.

◆ get_bounding_radius()

double GranOO3::Physic::Body::get_bounding_radius ( ) const

inline

get the current bounding radius of the body

Returns: the current bounding radius value

Useful method for generic collision detection

◆ get_kinetic_energy()

double GranOO3::Physic::Body::get_kinetic_energy ( ) const

inline

◆ get_mass()

double GranOO3::Physic::Body::get_mass ( ) const

virtual

get the current mass value of the body

Returns: mass value

Reimplemented from GranOO3::Physic::Node.

◆ get_volume()

double GranOO3::Physic::Body::get_volume ( ) const

inline

get the current volume of the body

Returns: the current volume value

◆ info()

std::string GranOO3::Physic::Body::info ( ) const

virtual

Display some useful info in the terminal

Reimplemented from GranOO3::Physic::Node.

Reimplemented in GranOO3::Physic::BodyT< shape >, GranOO3::DEM::ElementT< Shape::Sphere >, and GranOO3::DEM::ElementT< GranOO3::Shape::Polyhedron >.

◆ load()

template<class Archive >

void GranOO3::Physic::Body::load	(	Archive &	ar,
		const unsigned int	v
	)

private

complete serializing of the element in the *.gdd format

See also: the Domain classes to get additional info about I/O

◆ make_equal_to()

void GranOO3::Physic::Body::make_equal_to ( const Body & other )

for equalizing two bodies

Parameters

[in] other : the other body which will be used as a model for equalizing

This method can be used for equalizing the current body (this) to another one (other). When you equalize two bodies, they have the same position, velocity, mass, etc. This method can be used used for cloning.

◆ operator=()

Body& GranOO3::Physic::Body::operator= ( const Body & )

privatedelete

◆ read_ascii()

std::istream & GranOO3::Physic::Body::read_ascii ( std::istream & is )

virtual

update the current state of the body from an ascii file format *.lgdd

Parameters

[in] is : the stream where the data are read

Returns: the stream

See also: the Domain classes to get additional info about I/O

Reimplemented from GranOO3::Physic::Node.

Reimplemented in GranOO3::DEM::ElementT< shape >, GranOO3::DEM::ElementT< Shape::Sphere >, GranOO3::DEM::ElementT< GranOO3::Shape::Polyhedron >, GranOO3::DEM::Element, GranOO3::DEM::ToolT< shape >, GranOO3::DEM::Tool, and GranOO3::DEM::DiscreteElement.

◆ save()

template<class Archive >

void GranOO3::Physic::Body::save	(	Archive &	ar,
		const unsigned int	v
	)		const

private

complete serializing of the element in the *.gdd format

See also: the Domain classes to get additional info about I/O

◆ set_density()

void GranOO3::Physic::Body::set_density ( double density )

inline

set the density value

Parameters

[in] density : the new value of density

Set a new density value. When setting a new density value, the Body::_density Body::_inertia_tensor and Body::_inverse_inertia_tensor are automatically updated.

◆ set_inertia_tensor()

void GranOO3::Physic::Body::set_inertia_tensor ( const Geom::Tensor & inertia )

inline

set the inertia tensor value

Parameters

[in] inertia : the inertia tensor of the body

Set a new Body::_inertia_tensor value

◆ to_volume_shape() [1/2]

Shape::Volume & GranOO3::Physic::Body::to_volume_shape ( )

inline

cast the current object to Shape::Volume

Returns: the Shape::Volume object

◆ to_volume_shape() [2/2]

const Shape::Volume & GranOO3::Physic::Body::to_volume_shape ( ) const

inline

cast the current object to Shape::Volume

Returns: the Shape::Volume object

◆ update_inverse_inertia_tensor()

void GranOO3::Physic::Body::update_inverse_inertia_tensor ( )

inlineprivate

update the current value of Body::_inverse_inertia_tensor from the Body::_inertia_tensor value

◆ write_ascii()

std::ostream & GranOO3::Physic::Body::write_ascii ( std::ostream & os ) const

virtual

dump the current state of the bodyt in a ascii file (standard *.lgdd format)

Parameters

[in] os : the stream where the data will be written

Returns: the stream (with the expected additional data)

See also: the Domain classes to get additional info about I/O

Reimplemented from GranOO3::Physic::Node.

Reimplemented in GranOO3::DEM::ToolT< shape >, GranOO3::DEM::Tool, GranOO3::DEM::DiscreteElement, GranOO3::DEM::ElementT< shape >, GranOO3::DEM::ElementT< Shape::Sphere >, GranOO3::DEM::ElementT< GranOO3::Shape::Polyhedron >, and GranOO3::DEM::Element.

Friends And Related Function Documentation

◆ boost::serialization::access

friend class boost::serialization::access

friend

Member Data Documentation

◆ _density

double GranOO3::Physic::Body::_density

protected

the density value of the body

◆ _inertia_tensor

Geom::Tensor GranOO3::Physic::Body::_inertia_tensor

protected

the inertia tensor of the body

◆ _inverse_inertia_tensor

Geom::Tensor GranOO3::Physic::Body::_inverse_inertia_tensor

protected

the inverse of the inertia tensor of the body

This attribute allows to avoid on-the-fly computation of the inverse of the inertia tensor because it is intensively required by the time scheme. So, we use this attribute as a cache for avoiding multiple useless calculation because modifying massic parameters of bodies is a rare event.

◆ _mass

double GranOO3::Physic::Body::_mass

protected

the mass value of the body

◆ _volume_shape

Shape::Volume& GranOO3::Physic::Body::_volume_shape

private

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

/home/granoo/granoo/Lib/GranOO3/Physic/Body.hpp
/home/granoo/granoo/Lib/GranOO3/Physic/Body.cpp
/home/granoo/granoo/Lib/GranOO3/Physic/Body.dox

Public Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Friends

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Body() [1/4]

◆ Body() [2/4]

◆ Body() [3/4]

◆ ~Body()

◆ Body() [4/4]

Member Function Documentation

◆ aabb()

◆ apply_force_at()

◆ BOOST_SERIALIZATION_SPLIT_MEMBER()

◆ collide() [1/2]

◆ collide() [2/2]

◆ compute_torque_at()

◆ export_to_povray()

◆ get_bounding_radius()

◆ get_kinetic_energy()

◆ get_mass()

◆ get_volume()

◆ info()

◆ load()

◆ make_equal_to()

◆ operator=()

◆ read_ascii()

◆ save()

◆ set_density()

◆ set_inertia_tensor()

◆ to_volume_shape() [1/2]

◆ to_volume_shape() [2/2]

◆ update_inverse_inertia_tensor()

◆ write_ascii()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ _density

◆ _inertia_tensor

◆ _inverse_inertia_tensor

◆ _mass

◆ _volume_shape