A proxy object that provides an AoS-like interface to a body stored in the Bodies SoA container. More...

#include <body.hpp>

Inheritance diagram for Model::BodyProxy:

Collaboration diagram for Model::BodyProxy:

Public Member Functions
	BodyProxy (Bodies &in_bodies, std::size_t in_index)
	Construct a new Body Proxy object. More...

	operator ConstBodyProxy () const
	Implicit conversion operator to a const proxy. More...

Vector3d &	a ()
	Access to body accelerations. More...

Vector3d &	alpha ()
	Access to body angular accelerations. More...

Vector3d &	omega ()
	Access to body angular velocities. More...

void	addToX (const Vector3d &correction)
	Add a displacement to a position. More...

Vector3d	applyImpulse (const Vector3d &in_J, const Vector3d &in_r_vec)
	Apply an impulse to a body. More...

void	setAcceleration (const Vector3d &new_a)
	Set the acceleration of a body. More...

void	setAngularAcceleration (const Vector3d &new_alpha)
	Set the angular acceleration of a body. More...

void	accumulateAcceleration (const Vector3d &accel)
	Accumulate an acceleration to a body. More...

void	accumulateAngularAcceleration (const Vector3d &in_alpha)
	Accumulate an angular acceleration to a body. More...

void	resetAccelerations ()
	Resets linear and angular accelerations to zero. More...

void	resetTorque ()
	Resets the accumulated torque to zero. More...

void	accumulateTorque (const Vector3d &torque)
	Accumulates a torque vector to the body's total torque. More...

void	dampenVelocity (double linear_damping, double angular_damping)
	Applies damping to linear and angular velocities. More...

void	updateAlphaFromTorque ()
	Updates angular acceleration based on the accumulated torque. More...

Public Member Functions inherited from Model::BodyProxyBase< Bodies >
	BodyProxyBase (Bodies &in_bodies, std::size_t in_index)
	Construct a new Body Proxy Base object. More...

double	m () const noexcept
	Access to body masses. More...

double	getInverseMass () const
	Access to the inverse of the body masses. More...

double	r () const noexcept
	Access to body radii. More...

double	getInverseInertia () const
	Access to the inverse of the body's moment of inertia. More...

const Vector3d &	x () const noexcept
	Access to body positions. More...

const Vector3d &	v () const noexcept
	Access to body velocities. More...

const Quaterniond &	q () const noexcept
	Access to body orientation. More...

const Vector3d &	omega () const noexcept
	Access to body angular velocities. More...

Additional Inherited Members
Protected Attributes inherited from Model::BodyProxyBase< Bodies >
Bodies &	bodies_
	Reference to the main SoA container. More...

std::size_t	index_
	The index of the body this proxy refers to. More...

Detailed Description

A proxy object that provides an AoS-like interface to a body stored in the Bodies SoA container.

Mutable proxy for accessing individual bodies in the Bodies container.

Definition at line 141 of file body.hpp.

Constructor & Destructor Documentation

◆ BodyProxy()

Model::BodyProxy::BodyProxy	(	Bodies &	in_bodies,
		std::size_t	in_index
	)

inline

Construct a new Body Proxy object.

Parameters

in_bodies	The `Bodies` container to be accessed.
in_index	The index of the body this proxy will access.

Definition at line 493 of file body.hpp.

Member Function Documentation

◆ a()

Vector3d & Model::BodyProxy::a ( )

inline

Access to body accelerations.

Returns: A mutable reference to the body's linear acceleration vector.

Definition at line 500 of file body.hpp.

◆ accumulateAcceleration()

void Model::BodyProxy::accumulateAcceleration ( const Vector3d & accel )

inline

Accumulate an acceleration to a body.

Parameters

accel The linear acceleration vector to add.

Definition at line 528 of file body.hpp.

◆ accumulateAngularAcceleration()

void Model::BodyProxy::accumulateAngularAcceleration ( const Vector3d & in_alpha )

inline

Accumulate an angular acceleration to a body.

Parameters

in_alpha The angular acceleration vector to add.

Definition at line 532 of file body.hpp.

◆ accumulateTorque()

void Model::BodyProxy::accumulateTorque ( const Vector3d & torque )

inline

Accumulates a torque vector to the body's total torque.

Definition at line 544 of file body.hpp.

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◆ addToX()

void Model::BodyProxy::addToX ( const Vector3d & correction )

inline

Add a displacement to a position.

Parameters

correction Correction to be applied.

Definition at line 510 of file body.hpp.

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◆ alpha()

Vector3d & Model::BodyProxy::alpha ( )

inline

Access to body angular accelerations.

Returns: A mutable reference to the body's angular acceleration vector.

Definition at line 502 of file body.hpp.

◆ applyImpulse()

Vector3d Model::BodyProxy::applyImpulse	(	const Vector3d &	in_J,
		const Vector3d &	in_r_vec
	)

inline

Apply an impulse to a body.

Parameters

in_J	Impulse to be applied.
in_r_vec	Vector from the centre of mass to the contact point.

Returns: The torque vector generated by the impulse on this body.

Definition at line 514 of file body.hpp.

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◆ dampenVelocity()

void Model::BodyProxy::dampenVelocity	(	double	linear_damping,
		double	angular_damping
	)

inline

Applies damping to linear and angular velocities.

Parameters

linear_damping	The damping factor for linear velocity.
angular_damping	The damping factor for angular velocity.

Definition at line 552 of file body.hpp.

◆ omega()

Vector3d & Model::BodyProxy::omega ( )

inline

Access to body angular velocities.

Returns: A mutable reference to the body's angular velocity vector.

Definition at line 504 of file body.hpp.

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◆ operator ConstBodyProxy()

Model::BodyProxy::operator ConstBodyProxy ( ) const

inline

Implicit conversion operator to a const proxy.

Returns: A const proxy to the same body.

Definition at line 496 of file body.hpp.

◆ resetAccelerations()

void Model::BodyProxy::resetAccelerations ( )

inline

Resets linear and angular accelerations to zero.

Definition at line 537 of file body.hpp.

◆ resetTorque()

void Model::BodyProxy::resetTorque ( )

inline

Resets the accumulated torque to zero.

Definition at line 542 of file body.hpp.

◆ setAcceleration()

void Model::BodyProxy::setAcceleration ( const Vector3d & new_a )

inline

Set the acceleration of a body.

Parameters

new_a The new linear acceleration vector.

Definition at line 520 of file body.hpp.

◆ setAngularAcceleration()

void Model::BodyProxy::setAngularAcceleration ( const Vector3d & new_alpha )

inline

Set the angular acceleration of a body.

Parameters

new_alpha The new angular acceleration vector.

Definition at line 524 of file body.hpp.

◆ updateAlphaFromTorque()

void Model::BodyProxy::updateAlphaFromTorque ( )

inline

Updates angular acceleration based on the accumulated torque.

Definition at line 548 of file body.hpp.

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

body.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BodyProxy()

Member Function Documentation

◆ a()

◆ accumulateAcceleration()

◆ accumulateAngularAcceleration()

◆ accumulateTorque()

◆ addToX()

◆ alpha()

◆ applyImpulse()

◆ dampenVelocity()

◆ omega()

◆ operator ConstBodyProxy()

◆ resetAccelerations()

◆ resetTorque()

◆ setAcceleration()

◆ setAngularAcceleration()

◆ updateAlphaFromTorque()