#include <RigidTypes.h>

Detailed Description

template<typename real>
class sofa::defaulttype::StdRigidTypes< 2, real >

Degrees of freedom of 2D rigid bodies.

Static Public Attributes
static constexpr sofa::Size	spatial_dimensions = Coord::spatial_dimensions

static constexpr sofa::Size	coord_total_size = Coord::total_size

static constexpr sofa::Size	deriv_total_size = Deriv::total_size

Static Public Member Functions
static constexpr const CPos &	getCPos (const Coord &c)

static constexpr void	setCPos (Coord &c, const CPos &v)

static constexpr const CRot &	getCRot (const Coord &c)

static constexpr void	setCRot (Coord &c, const CRot &v)

static constexpr const DPos &	getDPos (const Deriv &d)

static constexpr void	setDPos (Deriv &d, const DPos &v)

static constexpr const DRot &	getDRot (const Deriv &d)

static constexpr void	setDRot (Deriv &d, const DRot &v)

static constexpr const char *	Name ()

template<typename T >
static constexpr void	set (Coord &c, T x, T y, T)

template<typename T >
static constexpr void	get (T &x, T &y, T &z, const Coord &c)

template<typename T >
static constexpr void	add (Coord &c, T x, T y, T)

template<typename T >
static constexpr void	set (Deriv &c, T x, T y, T)

template<typename T >
static constexpr void	get (T &x, T &y, T &z, const Deriv &c)

template<typename T >
static constexpr void	set (Deriv &c, T x, T y, T, T vrot, T, T)

template<typename T >
static constexpr void	add (Deriv &c, T x, T y, T)

static Deriv	randomDeriv (Real minMagnitude, Real maxMagnitude)
	Return a Deriv with random value. Each entry with magnitude smaller than the given value. More...

static Coord	interpolate (const type::vector< Coord > &ancestors, const type::vector< Real > &coefs)

static Deriv	interpolate (const type::vector< Deriv > &ancestors, const type::vector< Real > &coefs)

static constexpr Real	crosscross (const Vec2 &f, const Real &dtheta, const Vec2 &OP)
	specialized version of the double cross product: a * ( b * c ) for the variation of torque applied to the frame due to a small rotation with constant force. More...

static constexpr Vec2	crosscross (const Real &omega, const Real &dtheta, const Vec2 &OP)
	specialized version of the double cross product: a * ( b * c ) for point acceleration More...

static constexpr CRot	rotationEuler (Real x, Real, Real)
	create a rotation from Euler angles (only the first is used). For homogeneity with 3D. More...

Attribute details

◆ coord_total_size

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 2, real >::coord_total_size = Coord::total_size

staticconstexpr

◆ deriv_total_size

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 2, real >::deriv_total_size = Deriv::total_size

staticconstexpr

◆ spatial_dimensions

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 2, real >::spatial_dimensions = Coord::spatial_dimensions

staticconstexpr

Function details

◆ add() [1/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::add	(	Coord &	c,
		T	x,
		T	y,
		T
	)

inlinestaticconstexpr

◆ add() [2/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::add	(	Deriv &	c,
		T	x,
		T	y,
		T
	)

inlinestaticconstexpr

◆ crosscross() [1/2]

template<typename real >

static constexpr Vec2 sofa::defaulttype::StdRigidTypes< 2, real >::crosscross	(	const Real &	omega,
		const Real &	dtheta,
		const Vec2 &	OP
	)

inlinestaticconstexpr

specialized version of the double cross product: a * ( b * c ) for point acceleration

◆ crosscross() [2/2]

template<typename real >

static constexpr Real sofa::defaulttype::StdRigidTypes< 2, real >::crosscross	(	const Vec2 &	f,
		const Real &	dtheta,
		const Vec2 &	OP
	)

inlinestaticconstexpr

specialized version of the double cross product: a * ( b * c ) for the variation of torque applied to the frame due to a small rotation with constant force.

◆ get() [1/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::get	(	T &	x,
		T &	y,
		T &	z,
		const Coord &	c
	)

inlinestaticconstexpr

◆ get() [2/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::get	(	T &	x,
		T &	y,
		T &	z,
		const Deriv &	c
	)

inlinestaticconstexpr

◆ getCPos()

template<typename real >

static constexpr const CPos& sofa::defaulttype::StdRigidTypes< 2, real >::getCPos ( const Coord & c )

inlinestaticconstexpr

◆ getCRot()

template<typename real >

static constexpr const CRot& sofa::defaulttype::StdRigidTypes< 2, real >::getCRot ( const Coord & c )

inlinestaticconstexpr

◆ getDPos()

template<typename real >

static constexpr const DPos& sofa::defaulttype::StdRigidTypes< 2, real >::getDPos ( const Deriv & d )

inlinestaticconstexpr

◆ getDRot()

template<typename real >

static constexpr const DRot& sofa::defaulttype::StdRigidTypes< 2, real >::getDRot ( const Deriv & d )

inlinestaticconstexpr

◆ interpolate() [1/2]

template<typename real >

static Coord sofa::defaulttype::StdRigidTypes< 2, real >::interpolate	(	const type::vector< Coord > &	ancestors,
		const type::vector< Real > &	coefs
	)

inlinestatic

◆ interpolate() [2/2]

template<typename real >

static Deriv sofa::defaulttype::StdRigidTypes< 2, real >::interpolate	(	const type::vector< Deriv > &	ancestors,
		const type::vector< Real > &	coefs
	)

inlinestatic

◆ Name()

template<typename real >

static constexpr const char* sofa::defaulttype::StdRigidTypes< 2, real >::Name ( )

staticconstexpr

◆ randomDeriv()

template<typename real >

static Deriv sofa::defaulttype::StdRigidTypes< 2, real >::randomDeriv	(	Real	minMagnitude,
		Real	maxMagnitude
	)

inlinestatic

Return a Deriv with random value. Each entry with magnitude smaller than the given value.

◆ rotationEuler()

template<typename real >

static constexpr CRot sofa::defaulttype::StdRigidTypes< 2, real >::rotationEuler	(	Real	x,
		Real	,
		Real
	)

inlinestaticconstexpr

create a rotation from Euler angles (only the first is used). For homogeneity with 3D.

◆ set() [1/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::set	(	Coord &	c,
		T	x,
		T	y,
		T
	)

inlinestaticconstexpr

◆ set() [2/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::set	(	Deriv &	c,
		T	x,
		T	y,
		T
	)

inlinestaticconstexpr

◆ set() [3/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::set	(	Deriv &	c,
		T	x,
		T	y,
		T	,
		T	vrot,
		T	,
		T
	)

inlinestaticconstexpr

◆ setCPos()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::setCPos	(	Coord &	c,
		const CPos &	v
	)

inlinestaticconstexpr

◆ setCRot()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::setCRot	(	Coord &	c,
		const CRot &	v
	)

inlinestaticconstexpr

◆ setDPos()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::setDPos	(	Deriv &	d,
		const DPos &	v
	)

inlinestaticconstexpr

◆ setDRot()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 2, real >::setDRot	(	Deriv &	d,
		const DRot &	v
	)

inlinestaticconstexpr

Detailed Description

template<typename real> class sofa::defaulttype::StdRigidTypes< 2, real >

Static Public Attributes

Static Public Member Functions

Attribute details

◆ coord_total_size

◆ deriv_total_size

◆ spatial_dimensions

Function details

◆ add() [1/2]

◆ add() [2/2]

◆ crosscross() [1/2]

◆ crosscross() [2/2]

◆ get() [1/2]

◆ get() [2/2]

◆ getCPos()

◆ getCRot()

◆ getDPos()

◆ getDRot()

◆ interpolate() [1/2]

◆ interpolate() [2/2]

◆ Name()

◆ randomDeriv()

◆ rotationEuler()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ setCPos()

◆ setCRot()

◆ setDPos()

◆ setDRot()

template<typename real>
class sofa::defaulttype::StdRigidTypes< 2, real >