opal::Force Struct Reference

#include <Defines.h>

List of all members.

Public Member Functions
	Force ()
Public Attributes
ForceType	type
real	duration
bool	singleStep
Vec3r	vec
Point3r	pos

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Detailed Description

Data structure containing all necessary info for applying a force/torque to a Solid.

Definition at line 97 of file Defines.h.

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Constructor & Destructor Documentation

opal::Force::Force (   )  [inline]

Definition at line 99 of file Defines.h. References duration, opal::LOCAL_FORCE, singleStep, and type.

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Member Data Documentation

real opal::Force::duration

Specifies how long to apply to force. This makes it easy to apply forces independent of the step size. This will be ignored if "singleStep" is true. Definition at line 114 of file Defines.h. Referenced by opal::Joint::addForce(), opal::Joint::addTorque(), and Force().

Point3r opal::Force::pos

Only used when the force is applied at an offset (i.e. not the center of mass). Definition at line 127 of file Defines.h. Referenced by opal::ODESolid::applyForce(), and opal::SpringMotor::internal_update().

bool opal::Force::singleStep

This is mainly used internally by OPAL. It specifies that the force will be applied across a single time step. If this parameter is true, "duration" will be ignored. Definition at line 119 of file Defines.h. Referenced by opal::Joint::addForce(), opal::Joint::addTorque(), Force(), opal::ThrusterMotor::init(), opal::SpringMotor::internal_update(), opal::AttractorMotor::internal_update(), opal::ThrusterMotor::setForce(), and opal::ThrusterMotorData::ThrusterMotorData().

ForceType opal::Force::type

Specifies the type of force. Definition at line 109 of file Defines.h. Referenced by opal::Joint::addForce(), opal::Joint::addTorque(), opal::ODESolid::applyForce(), Force(), opal::SpringMotor::internal_update(), and opal::AttractorMotor::internal_update().

Vec3r opal::Force::vec

The force direction or torque axis. This parameter encodes the magnitude of the force or torque. Definition at line 123 of file Defines.h. Referenced by opal::Solid::addForce(), opal::Joint::addForce(), opal::Joint::addTorque(), opal::ODESolid::applyForce(), opal::SpringMotor::internal_update(), and opal::AttractorMotor::internal_update().

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The documentation for this struct was generated from the following file:

• Defines.h

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