body

class granoo3.lib.body

Bases: granoo3.lib.node

the base class that models rigid body

Attributes Summary

angular_vel	angular velocity computed from quaternion velocity
initial_quat	initial quaternion
quat	current quaternion
quat_acc	rotational acceleration
quat_val	rotational velocity
torque	current external torque

Methods Summary

apply_force_at(arg1, arg2, arg3)	apply force at a given point.
clear_kinematic(arg1)	clear whole angular and linear velocity and acceleration
clear_torque(arg1)	set torque to zero
collide(arg1, arg2, arg3)	compute collision with another body
density(arg1)	get density
frame(arg1)	get current frame
get_angular_vel(arg1)	angular velocity computed from quaternion velocity
get_initial_quat(arg1)	initial quaternion
get_quat(arg1)	current quaternion
get_quat_acc(arg1)	rotational acceleration
get_quat_val(arg1)	rotational velocity
get_torque(arg1)	current external torque
inertia(arg1)	get inertia tensor of the body
init(arg1)	init parameter to current position
set_angular_vel(arg1, arg2)	angular velocity computed from quaternion velocity
set_density(arg1, arg2)	set density
set_inertia(arg1, arg2)	set inertia tensor
set_initial_quat(arg1, arg2)	initial quaternion
set_quat(arg1, arg2)	current quaternion
set_quat_acc(arg1, arg2)	rotational acceleration
set_quat_val(arg1, arg2)	rotational velocity
set_torque(arg1, arg2)	current external torque
torque_at(arg1, arg2)	compute external torque at a given point
update_angular_vel(arg1)	update angular velocity vector
volume(arg1)	get volume of body

Attributes Documentation

angular_vel

angular velocity computed from quaternion velocity

initial_quat

initial quaternion

quat

current quaternion

quat_acc

rotational acceleration

quat_val

rotational velocity

torque

current external torque

Methods Documentation

apply_force_at((body)arg1, (vector)arg2, (point)arg3) → None[STATIC]

apply force at a given point. External force and torque are incremented

clear_kinematic((body)arg1) → None[STATIC]

clear whole angular and linear velocity and acceleration

clear_torque((body)arg1) → None[STATIC]

set torque to zero

collide((body)arg1, (body)arg2, (collision_data)arg3) → bool[STATIC]

compute collision with another body

density((body)arg1) → float[STATIC]

get density

frame((body)arg1) → frame[STATIC]

get current frame

get_angular_vel((body)arg1) → vector[STATIC]

angular velocity computed from quaternion velocity

get_initial_quat((body)arg1) → quaternion[STATIC]

initial quaternion

get_quat((body)arg1) → quaternion[STATIC]

current quaternion

get_quat_acc((body)arg1) → quaternion[STATIC]

rotational acceleration

get_quat_val((body)arg1) → quaternion[STATIC]

rotational velocity

get_torque((body)arg1) → vector[STATIC]

current external torque

inertia((body)arg1) → tensor[STATIC]

get inertia tensor of the body

init((body)arg1) → None[STATIC]

init parameter to current position

set_angular_vel((body)arg1, (vector)arg2) → None[STATIC]

angular velocity computed from quaternion velocity

set_density((body)arg1, (float)arg2) → None[STATIC]

set density

set_inertia((body)arg1, (tensor)arg2) → None[STATIC]

set inertia tensor

set_initial_quat((body)arg1, (quaternion)arg2) → None[STATIC]

initial quaternion

set_quat((body)arg1, (quaternion)arg2) → None[STATIC]

current quaternion

set_quat_acc((body)arg1, (quaternion)arg2) → None[STATIC]

rotational acceleration

set_quat_val((body)arg1, (quaternion)arg2) → None[STATIC]

rotational velocity

set_torque((body)arg1, (vector)arg2) → None[STATIC]

current external torque

torque_at((body)arg1, (point)arg2) → vector[STATIC]

compute external torque at a given point

update_angular_vel((body)arg1) → None[STATIC]

update angular velocity vector

volume((body)arg1) → float[STATIC]

get volume of body