class part

Parts are the basic building blocks from which links are made.

Public Fields

part* root

root of part tree for parts belonging to the same link

part* parent

the parent part.

ptrList* children

list of child parts

connector* parentConnector

connector to the parent part; NULL if this part is the parent

ptrList* connectors

a list of the part's connectors

ptrList* mpolyList

list of polyhedra used for computing inertial properties

ptrList* bpolyList

list of polyhedra that bound the part; used for checking collisions

ptrList* dpolyList

list of polyhedra used for display purposes

assembly* as

assembly to which the part belongs

link* l

the link to which the part belongs

tmatrix toLink

a matrix transforming part to link coordinates

triple com

center of mass of the part, in link coords

double mass

mass of the part

matrix Ibody

inertia matrix in link coords

linkForceRecord* frecs

linked list of force records associated with the part; managed by link

const char* name

the name of the part; can be NULL, and will *not* be deleted by part::~part

synObject* owner

the owner of the part

int ownerIdx

an index that can be used by the owner

Public Methods

part(void)

constructor

~part(void)

destructor

normal mpoly methods

display mpoly methods

bounding mpoly methods

convenience methods

coordinate transformation

Documentation

Parts are the basic building blocks from which links are made. each part has a number of connectors through which it can be connected to other parts. All of the parts in a link are connected in a tree, with connections between parts formed by objects of the connection class. All parts within a link are rigidly attached to each other. Parts also contain descriptions of their geometry: a list of mpoly objects (mpolyList) is used for computing inertial properties, an optional list of mpolys for bounding geometry (bpolyList), and an optional list of mpolys for display geometry (dpolyList).

part* root

root of part tree for parts belonging to the same link

part* parent

the parent part. if this part is the parent for the tree, then parent should be NULL.

ptrList* children

list of child parts

connector* parentConnector

connector to the parent part; NULL if this part is the parent

ptrList* connectors

a list of the part's connectors

ptrList* mpolyList

list of polyhedra used for computing inertial properties

ptrList* bpolyList

list of polyhedra that bound the part; used for checking collisions

ptrList* dpolyList

list of polyhedra used for display purposes

assembly* as

assembly to which the part belongs

link* l

the link to which the part belongs

tmatrix toLink

a matrix transforming part to link coordinates

triple com

center of mass of the part, in link coords

double mass

mass of the part

matrix Ibody

inertia matrix in link coords

linkForceRecord* frecs

linked list of force records associated with the part; managed by link

const char* name

the name of the part; can be NULL, and will *not* be deleted by part::~part

synObject* owner

the owner of the part

int ownerIdx

an index that can be used by the owner

part(void)

constructor

~part(void)

destructor

normal mpoly methods

inline void addMPoly(mpoly* mp)

adds an mpoly

void addMPolyList(ptrList* p)

adds a ptrlist of mpolys

display mpoly methods

inline void addDPoly(mpoly* mp)

adds a single display mpoly

inline void useDPolyList(void)

explicitly allocates bpolyList

void addDPolyList(ptrList* p)

adds display mpolys from a ptrlist

bounding mpoly methods

inline void useBPolyList(void)

explicitly allocates bpolyList

inline void addBPoly(mpoly* mp)

adds a single bounding poly

void addBPolyList(ptrList* p)

adds bounding mpolys from a ptrlist

convenience methods

inline int numConnectors(void) const

returns the number of connectors the part has

inline connector* getConnector(int n)

returns the indicated connector

inline connector* getConnectorById(int id)

returns the connector with the given id, or NULL if not found

inline int numChildren(void) const

returns the number of child parts

inline part* getChild(int i)

returns the ith child part

inline mpoly* getMPoly(int i)

gets the ith mpoly

inline mpoly* getBPoly(int i)

gets the ith bpoly. note: bpolyList may be NULL; check first

inline mpoly* getDPoly(int i)

gets the ith dpoly. note: dpolys may be NULL; check first

coordinate transformation

inline triple convertToLinkCoords(const triple &partCoord)

converts the given point from part to link coordinates

inline triple convertToWorldCoords(const triple &partCoord)

converts the given point from part to world coordinates

inline triple convertDirectionToWorldCoords(const triple &partDir)

converts the given direction vector from part to link coordinates

inline triple convertDirectionToLinkCoords(const triple &partDir)

converts the given direction vector from part to world coordinates

quaternion convertToLinkCoords(quaternion &partQ)

converts the given quaternion from part to link coordinates

This class has no child classes.

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