#include <SolidTypes.h>

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...

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

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Detailed Description

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::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)

Author: Anthony Truchet, CEA, 2006

Public Member Functions
	Twist (const Vec3 &linear, const Vec3 &angular)

Public Member Functions inherited from sofa::type::SpatialVector< TReal >
void	clear ()

	SpatialVector ()=default

	SpatialVector (const Vec &l, const Vec &f)

SpatialVector &	operator+= (const SpatialVector &v)

SpatialVector	operator* (Real a) const

SpatialVector &	operator*= (Real a)

SpatialVector	operator+ (const SpatialVector &v) const

SpatialVector	operator- (const SpatialVector &v) const

SpatialVector	operator- () const

Real	operator* (const SpatialVector &v) const
	Spatial dot product (cross terms) More...

SpatialVector	cross (const SpatialVector &v) const
	Spatial cross product. More...

SpatialVector	operator* (const Mat66 &) const
	product with a dense matrix More...

Vec &	getLinearVelocity ()

const Vec &	getLinearVelocity () const

void	setLinearVelocity (const Vec &v)

Vec &	getAngularVelocity ()

const Vec &	getAngularVelocity () const

void	setAngularVelocity (const Vec &v)

Vec &	getTorque ()

const Vec &	getTorque () const

void	setTorque (const Vec &v)

Vec &	getForce ()

const Vec &	getForce () const

void	setForce (const Vec &v)

Additional Inherited Members
Public Attributes inherited from sofa::type::SpatialVector< TReal >
Vec	lineVec { type::NOINIT }

Vec	freeVec { type::NOINIT }

Constructor details

◆ Twist()

template<class R = float>

sofa::defaulttype::SolidTypes< R >::Twist::Twist	(	const Vec3 &	linear,
		const Vec3 &	angular
	)

inline

Detailed Description

template<class R = float> class sofa::defaulttype::SolidTypes< R >::Twist

Public Member Functions

Additional Inherited Members

Constructor details

◆ Twist()

template<class R = float>
class sofa::defaulttype::SolidTypes< R >::Twist