Structure-of-Arrays (SoA) container for all bodies in the simulation. More...

#include <body.hpp>

Collaboration diagram for Model::Bodies:

Public Member Functions
void	reserve (std::size_t n)
	Reserve memory space for the data structure. More...

void	emplaceBack (double in_m, double in_r, const Vector3d &in_x0, const Vector3d &in_v0, const Vector3d &in_omega0)
	Add a new body at the back of the data structure. More...

void	integratePart1 (double dt, double dt_pos)
	Vectorized Velocity Verlet: Part 1. More...

void	integratePart2 (double dt)
	Vectorized Velocity Verlet: Part 2. More...

std::size_t	size () const
	Get number of bodies in the simulation. More...

BodyProxy	operator[] (std::size_t index)
	A proxy to access a given body. More...

ConstBodyProxy	operator[] (std::size_t index) const
	Array like access to given body. More...

Private Member Functions
void	updateRotationsRK2 (double dt)
	Vectorized update of orientations for all bodies using a 2nd-order Runge-Kutta method (RK2). More...

Static Private Member Functions
static Vector4d	getQuaternionDerivative (const Vector3d &omega, const Vector4d &q_coeffs)
	Calculates the time derivative of a quaternion. More...

Private Attributes
std::vector< double >	m_
	Bodies’ masses. More...

std::vector< double >	invM_
	Bodies inverse masses. More...

std::vector< double >	r_
	Bodies radii. More...

std::vector< double >	iInv_
	Bodies inverse moments of inertia. More...

std::vector< Vector3d >	x_
	Bodies' positions. More...

std::vector< Vector3d >	v_
	Bodies' velocities. More...

std::vector< Vector3d >	a_
	Bodies' accelerations. More...

std::vector< Quaterniond >	q_
	Bodies' orientations (quaternions). More...

std::vector< Vector3d >	omega_
	Bodies' angular velocities. More...

std::vector< Vector3d >	alpha_
	Bodies' angular accelerations. More...

std::vector< Vector3d >	torque_
	Net torque applied to each body in a frame. More...

Friends
template<typename T >
class	BodyProxyBase

class	BodyProxy

class	Space

class	ConstBodyProxy

class	BodiesAdaptor

Detailed Description

Structure-of-Arrays (SoA) container for all bodies in the simulation.

This layout improves cache performance by storing related data contiguously.

Structure of Arrays container for all simulation bodies.

Definition at line 274 of file body.hpp.

Member Function Documentation

◆ emplaceBack()

void Model::Bodies::emplaceBack	(	double	in_m,
		double	in_r,
		const Vector3d &	in_x0,
		const Vector3d &	in_v0,
		const Vector3d &	in_omega0
	)

inline

Add a new body at the back of the data structure.

Parameters

in_m	New body mass.
in_r	New body radius.
in_x0	New body initial position.
in_v0	New body initial velocity.

Definition at line 311 of file body.hpp.

◆ getQuaternionDerivative()

static Vector4d Model::Bodies::getQuaternionDerivative	(	const Vector3d &	omega,
		const Vector4d &	q_coeffs
	)

inlinestaticprivate

Calculates the time derivative of a quaternion.

Parameters

omega	The angular velocity vector.
q_coeffs	The quaternion coefficients [x, y, z, w].

Returns: The quaternion derivative multiplied by 2.

Definition at line 406 of file body.hpp.

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◆ integratePart1()

void Model::Bodies::integratePart1	(	double	dt,
		double	dt_pos
	)

inline

Vectorized Velocity Verlet: Part 1.

Parameters

dt	The time step for the current frame's velocity update.
dt_pos	The time step from the previous frame for the position update.

Definition at line 337 of file body.hpp.

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◆ integratePart2()

void Model::Bodies::integratePart2 ( double dt )

inline

Vectorized Velocity Verlet: Part 2.

Parameters

dt	The time step for the current frame.

Definition at line 357 of file body.hpp.

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◆ operator[]() [1/2]

BodyProxy Model::Bodies::operator[] ( std::size_t index )

inline

A proxy to access a given body.

Parameters

index Index of the body to be accessed.

Returns: A mutable proxy to the specified body.

Definition at line 380 of file body.hpp.

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◆ operator[]() [2/2]

ConstBodyProxy Model::Bodies::operator[] ( std::size_t index ) const

inline

Array like access to given body.

Parameters

index Index of the body to be accessed.

Returns: A const proxy to the specified body.

Definition at line 392 of file body.hpp.

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◆ reserve()

void Model::Bodies::reserve ( std::size_t n )

inline

Reserve memory space for the data structure.

Parameters

n	Number of bodies in the simulation.

Definition at line 289 of file body.hpp.

◆ size()

std::size_t Model::Bodies::size ( ) const

inline

Get number of bodies in the simulation.

Returns: The total number of bodies.

Definition at line 371 of file body.hpp.

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◆ updateRotationsRK2()

void Model::Bodies::updateRotationsRK2 ( double dt )

inlineprivate

Vectorized update of orientations for all bodies using a 2nd-order Runge-Kutta method (RK2).

This method mirrors the efficient, vectorized approach of the Python implementation, operating on all bodies at once.

Parameters

dt	The time step for the integration.

Definition at line 427 of file body.hpp.

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Friends And Related Function Documentation

◆ BodiesAdaptor

friend class BodiesAdaptor

friend

Definition at line 282 of file body.hpp.

◆ BodyProxy

friend class BodyProxy

friend

Definition at line 279 of file body.hpp.

◆ BodyProxyBase

template<typename T >

friend class BodyProxyBase

friend

Definition at line 278 of file body.hpp.

◆ ConstBodyProxy

friend class ConstBodyProxy

friend

Definition at line 281 of file body.hpp.

◆ Space

friend class Space

friend

Definition at line 280 of file body.hpp.

Member Data Documentation

◆ a_

std::vector<Vector3d> Model::Bodies::a_

private

Bodies' accelerations.

Definition at line 476 of file body.hpp.

◆ alpha_

std::vector<Vector3d> Model::Bodies::alpha_

private

Bodies' angular accelerations.

Definition at line 485 of file body.hpp.

◆ iInv_

std::vector<double> Model::Bodies::iInv_

private

Bodies inverse moments of inertia.

Definition at line 467 of file body.hpp.

◆ invM_

std::vector<double> Model::Bodies::invM_

private

Bodies inverse masses.

Definition at line 461 of file body.hpp.

◆ m_

std::vector<double> Model::Bodies::m_

private

Bodies’ masses.

Definition at line 458 of file body.hpp.

◆ omega_

std::vector<Vector3d> Model::Bodies::omega_

private

Bodies' angular velocities.

Definition at line 482 of file body.hpp.

◆ q_

std::vector<Quaterniond> Model::Bodies::q_

private

Bodies' orientations (quaternions).

Definition at line 479 of file body.hpp.

◆ r_

std::vector<double> Model::Bodies::r_

private

Bodies radii.

Definition at line 464 of file body.hpp.

◆ torque_

std::vector<Vector3d> Model::Bodies::torque_

private

Net torque applied to each body in a frame.

Definition at line 488 of file body.hpp.

◆ v_

std::vector<Vector3d> Model::Bodies::v_

private

Bodies' velocities.

Definition at line 473 of file body.hpp.

◆ x_

std::vector<Vector3d> Model::Bodies::x_

private

Bodies' positions.

Definition at line 470 of file body.hpp.

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

body.hpp

Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Friends

Detailed Description

Member Function Documentation

◆ emplaceBack()

◆ getQuaternionDerivative()

◆ integratePart1()

◆ integratePart2()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ reserve()

◆ size()

◆ updateRotationsRK2()

Friends And Related Function Documentation

◆ BodiesAdaptor

◆ BodyProxy

◆ BodyProxyBase

◆ ConstBodyProxy

◆ Space

Member Data Documentation

◆ a_

◆ alpha_

◆ iInv_

◆ invM_

◆ m_

◆ omega_

◆ q_

◆ r_

◆ torque_

◆ v_

◆ x_