SOFA API  6a688117
Open source framework for multi-physics simuation
sofa::defaulttype::SolidTypes< R > Class Template Reference

#include <SolidTypes.h>

Inheritance diagram for sofa::defaulttype::SolidTypes< R >:

Classes

class  ArticulatedInertia
 
class  RigidInertia
 
class  SpatialVector
 
class  Transform
 
class  Twist
 A twist aka a SpatialVector representing a velocity This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a twist (velocity) and not a wrench (force and torque) More...
 
class  Wrench
 A wrench aka a SpatialVector representing a force and a torque This is pratically a SpatialVector (screw) with the additionnal semantics that this screw represents a wrench (force and torque) and not a twist (velocity) More...
 

Static Public Member Functions

static Mat dyad (const Vec &u, const Vec &v)
 
static Vec mult (const Mat &m, const Vec &v)
 
static Vec multTrans (const Mat &m, const Vec &v)
 
static Mat crossM (const Vec &v)
 Cross product matrix of a vector. More...
 
static ArticulatedInertia dyad (const SpatialVector &u, const SpatialVector &v)
 
static const char * Name ()
 

Function details

template<class R = float>
SolidTypes< R >::Mat3x3 sofa::defaulttype::SolidTypes< R >::crossM ( const Vec v)
static

Cross product matrix of a vector.

template<class R >
SolidTypes< R >::Mat3x3 sofa::defaulttype::SolidTypes< R >::dyad ( const Vec u,
const Vec v 
)
static
template<class R >
SolidTypes< R >::ArticulatedInertia sofa::defaulttype::SolidTypes< R >::dyad ( const SpatialVector u,
const SpatialVector v 
)
static
template<class R = float>
SolidTypes< R >::Vec sofa::defaulttype::SolidTypes< R >::mult ( const Mat m,
const Vec v 
)
static
template<class R = float>
SolidTypes< R >::Vec sofa::defaulttype::SolidTypes< R >::multTrans ( const Mat m,
const Vec v 
)
static
template<class R = float>
static const char* sofa::defaulttype::SolidTypes< R >::Name ( )
inlinestatic