Class PhysicalBodyVars

• Defined in File PhysicalBody.h

Inheritance Relationships

Base Type

• public Karana::Frame::FrameVars (Class FrameVars)

Derived Type

• public Karana::Dynamics::PhysicalModalBodyVars (Class PhysicalModalBodyVars)

Class Documentation

class PhysicalBodyVars : public Karana::Frame::FrameVars

The Vars for the PhysicalBody class.

Subclassed by Karana::Dynamics::PhysicalModalBodyVars

Public Functions

PhysicalBodyVars(const kc::ks_ptr<PhysicalBody> &body)

PhysicalBodyVars constructor. The constructor is not meant to be called directly. Please use the create(…) method instead to create an instance.

Parameters:

body – The body associated with this PhysicalBodyVars.

~PhysicalBodyVars()

Destructor.

virtual kc::NestedVars getAllVars() const override

Get all the Vars that this VarHolder has.

Returns:

A map of Vars, where the Var name is the key and the Var is the value.

Public Members

kc::ks_ptr<Karana::Core::Var_T<double>> mass

The mass of the PhysicalBody.

kc::ks_ptr<Karana::Core::Var_T<km::Vec3>> body_to_cm

body to CM vector

kc::ks_ptr<Karana::Core::Var_T<km::Mat33>> inertia

body inertia

kc::ks_ptr<Karana::Core::Var_T<km::Mat33>> cm_inertia

body CM inertia

kc::ks_ptr<Karana::Core::Var_T<std::string>> physical_parent

The physical parent body name.

kc::ks_ptr<Karana::Core::Var_T<std::vector<std::string>>> physical_children

The names of the physical children bodies.

kc::ks_ptr<Karana::Core::Var_T<km::Vec3>> local_gravity_accel

The local frame gravitational acceleration.

Public Static Functions

static kc::ks_ptr<PhysicalBodyVars> create(const kc::ks_ptr<PhysicalBody> &body)

Create an instance of the PhysicalBodyVars.

Parameters:

body – The body associated with this PhysicalBodyVars.

Returns:

A pointer to the newly created instance of PhysicalBodyVars.