#include <RigidTypes.h>

Detailed Description

template<typename real>
class sofa::defaulttype::StdRigidTypes< 3, real >

Degrees of freedom of 3D rigid bodies. Orientations are modeled using quaternions.

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)

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

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

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

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

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

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

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

static constexpr const char *	Name ()

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

static Deriv	coordDifference (const Coord &c1, const Coord &c2)

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 Coord	inverse (const Coord &c)
	inverse rigid transform More...

static constexpr Coord	mult (const Coord &a, const Coord &b)
	matrix product More...

static constexpr Vec3	crosscross (const Vec3 &a, const Vec3 &b, const Vec3 &c)
	double cross product: a * ( b * c ) More...

static Quat	rotationEuler (Real x, Real y, Real z)
	create a rotation from Euler angles. For homogeneity with 2D. More...

Attribute details

◆ coord_total_size

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 3, real >::coord_total_size = Coord::total_size

staticconstexpr

◆ deriv_total_size

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 3, real >::deriv_total_size = Deriv::total_size

staticconstexpr

◆ spatial_dimensions

template<typename real >

constexpr sofa::Size sofa::defaulttype::StdRigidTypes< 3, real >::spatial_dimensions = Coord::spatial_dimensions

staticconstexpr

Function details

◆ add() [1/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::add	(	Coord &	c,
		T	x,
		T	y,
		T	z
	)

inlinestaticconstexpr

◆ add() [2/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::add	(	Deriv &	c,
		T	x,
		T	y,
		T	z
	)

inlinestaticconstexpr

◆ coordDifference()

template<typename real >

static Deriv sofa::defaulttype::StdRigidTypes< 3, real >::coordDifference	(	const Coord &	c1,
		const Coord &	c2
	)

inlinestatic

◆ crosscross()

template<typename real >

static constexpr Vec3 sofa::defaulttype::StdRigidTypes< 3, real >::crosscross	(	const Vec3 &	a,
		const Vec3 &	b,
		const Vec3 &	c
	)

inlinestaticconstexpr

double cross product: a * ( b * c )

◆ get() [1/2]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, 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< 3, real >::get	(	T &	x,
		T &	y,
		T &	z,
		const Deriv &	c
	)

inlinestaticconstexpr

◆ getCPos()

template<typename real >

static constexpr const CPos& sofa::defaulttype::StdRigidTypes< 3, real >::getCPos ( const Coord & c )

inlinestaticconstexpr

◆ getCRot()

template<typename real >

static constexpr const CRot& sofa::defaulttype::StdRigidTypes< 3, real >::getCRot ( const Coord & c )

inlinestaticconstexpr

◆ getDPos()

template<typename real >

static constexpr const DPos& sofa::defaulttype::StdRigidTypes< 3, real >::getDPos ( const Deriv & d )

inlinestaticconstexpr

◆ getDRot()

template<typename real >

static constexpr const DRot& sofa::defaulttype::StdRigidTypes< 3, real >::getDRot ( const Deriv & d )

inlinestaticconstexpr

◆ interpolate() [1/2]

template<typename real >

static Coord sofa::defaulttype::StdRigidTypes< 3, real >::interpolate	(	const type::vector< Coord > &	ancestors,
		const type::vector< Real > &	coefs
	)

inlinestatic

◆ interpolate() [2/2]

template<typename real >

static Deriv sofa::defaulttype::StdRigidTypes< 3, real >::interpolate	(	const type::vector< Deriv > &	ancestors,
		const type::vector< Real > &	coefs
	)

inlinestatic

◆ inverse()

template<typename real >

static constexpr Coord sofa::defaulttype::StdRigidTypes< 3, real >::inverse ( const Coord & c )

inlinestaticconstexpr

inverse rigid transform

◆ mult()

template<typename real >

static constexpr Coord sofa::defaulttype::StdRigidTypes< 3, real >::mult	(	const Coord &	a,
		const Coord &	b
	)

inlinestaticconstexpr

matrix product

◆ Name()

template<typename real >

static constexpr const char* sofa::defaulttype::StdRigidTypes< 3, real >::Name ( )

staticconstexpr

◆ randomDeriv()

template<typename real >

static Deriv sofa::defaulttype::StdRigidTypes< 3, 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 Quat sofa::defaulttype::StdRigidTypes< 3, real >::rotationEuler	(	Real	x,
		Real	y,
		Real	z
	)

inlinestatic

create a rotation from Euler angles. For homogeneity with 2D.

◆ set() [1/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::set	(	Coord &	c,
		T	x,
		T	y,
		T	z
	)

inlinestaticconstexpr

◆ set() [2/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::set	(	Deriv &	c,
		T	x,
		T	y,
		T	z
	)

inlinestaticconstexpr

◆ set() [3/3]

template<typename real >

template<typename T >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::set	(	Deriv &	c,
		T	x,
		T	y,
		T	z,
		T	rx,
		T	ry,
		T	rz
	)

inlinestaticconstexpr

◆ setCPos()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::setCPos	(	Coord &	c,
		const CPos &	v
	)

inlinestaticconstexpr

◆ setCRot()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::setCRot	(	Coord &	c,
		const CRot &	v
	)

inlinestaticconstexpr

◆ setDPos()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::setDPos	(	Deriv &	d,
		const DPos &	v
	)

inlinestaticconstexpr

◆ setDRot()

template<typename real >

static constexpr void sofa::defaulttype::StdRigidTypes< 3, real >::setDRot	(	Deriv &	d,
		const DRot &	v
	)

inlinestaticconstexpr

Detailed Description

template<typename real> class sofa::defaulttype::StdRigidTypes< 3, 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]

◆ coordDifference()

◆ crosscross()

◆ get() [1/2]

◆ get() [2/2]

◆ getCPos()

◆ getCRot()

◆ getDPos()

◆ getDRot()

◆ interpolate() [1/2]

◆ interpolate() [2/2]

◆ inverse()

◆ mult()

◆ Name()

◆ randomDeriv()

◆ rotationEuler()

◆ set() [1/3]

◆ set() [2/3]

◆ set() [3/3]

◆ setCPos()

◆ setCRot()

◆ setDPos()

◆ setDRot()

template<typename real>
class sofa::defaulttype::StdRigidTypes< 3, real >