H3D::DynamicTransform Class Reference
[H3D specific Node classes.]

The DynamicTransform node is a Shape container that has basic properties for defining rigid body motion. More...

#include <DynamicTransform.h>

Inheritance diagram for H3D::DynamicTransform:

List of all members.

Public Member Functions
	DynamicTransform (Inst< MFChild > _addChildren=0, Inst< MFChild > _removeChildren=0, Inst< MFChild > _children=0, Inst< SFNode > _metadata=0, Inst< SFBound > _bound=0, Inst< SFVec3f > _bboxCenter=0, Inst< SFVec3f > _bboxSize=0, Inst< SFTransformedBound > _transformedBound=0, Inst< SFMatrix4f > _matrix=0, Inst< SFMatrix4f > _accumulatedForward=0, Inst< SFMatrix4f > _accumulatedInverse=0, Inst< SFVec3f > _position=0, Inst< SFRotation > _orientation=0, Inst< SFVelocity > _velocity=0, Inst< SFVec3f > _momentum=0, Inst< SFVec3f > _force=0, Inst< SFAngularVelocity > _angularVelocity=0, Inst< SFVec3f > _angularMomentum=0, Inst< SFSpin > _spin=0, Inst< SFVec3f > _torque=0, Inst< SFFloat > _mass=0, Inst< SFMatrix3f > _inertiaTensor=0, Inst< SFMotion > _motion=0)
	Constructor.
Public Attributes
auto_ptr< SFVec3f >	position
	Specifies the position of the shape.
auto_ptr< SFRotation >	orientation
	Specifies the orientation of the shape.
auto_ptr< SFVec3f >	velocity
	Specifies the velocity in m/s.
auto_ptr< SFVec3f >	momentum
	Specifies the momentum.
auto_ptr< SFVec3f >	force
	Specifies the force currently acting on the dynamic.
auto_ptr< SFVec3f >	angularVelocity
	Specifies the angular velocity of the dynamic.
auto_ptr< SFVec3f >	angularMomentum
	Specifies the angular momentum of the dynamic.
auto_ptr< SFSpin >	spin
	Specifies the spin of the dynamic.
auto_ptr< SFVec3f >	torque
	Specifies the torque force currently acting on the dynamic.
auto_ptr< SFFloat >	mass
	Specifies the mass, in kg.
auto_ptr< SFMatrix3f >	inertiaTensor
	Specifies the inertia tensor.
auto_ptr< SFMotion >	motion
	Dynamic update algorithm.
Static Public Attributes
static H3DNodeDatabase	database
	The H3DNodeDatabase for this node.
Classes
class	SFAngularVelocity
	Calculates the angular velocity based on the inertia tensor and angular momentum. More...
class	SFMatrix4f
	Specialize the SFMatrix4f to update the matrix from the fields in the Transform node. More...
class	SFMotion
	Time dependant field to perform the RK4 integration for determining the motion of the dynamic transform routes_in[0] time field. More...
class	SFSpin
	Calculates the spin (time derivative of the orientation). More...
class	SFVelocity
	Calculates the velocity based on the mass and momentum. More...

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Detailed Description

The DynamicTransform node is a Shape container that has basic properties for defining rigid body motion.

This includes a position, orientation, mass, etc.

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Member Data Documentation

auto_ptr< SFVec3f > H3D::DynamicTransform::angularMomentum

Specifies the angular momentum of the dynamic. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFVec3f > H3D::DynamicTransform::angularVelocity

Specifies the angular velocity of the dynamic. Access type: outputOnly

auto_ptr< SFVec3f > H3D::DynamicTransform::force

Specifies the force currently acting on the dynamic. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFMatrix3f > H3D::DynamicTransform::inertiaTensor

Specifies the inertia tensor. Access type: inputOutput Default value: Matrix3f( 1, 0, 0, 0, 1, 0, 0, 0, 1 )

auto_ptr< SFFloat > H3D::DynamicTransform::mass

Specifies the mass, in kg. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFVec3f > H3D::DynamicTransform::momentum

Specifies the momentum. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFRotation > H3D::DynamicTransform::orientation

Specifies the orientation of the shape. Access type: inputOutput Default value: Rotation( 0, 0, 1, 0 )

auto_ptr< SFVec3f > H3D::DynamicTransform::position

Specifies the position of the shape. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFSpin > H3D::DynamicTransform::spin

Specifies the spin of the dynamic. Access type: outputOnly

auto_ptr< SFVec3f > H3D::DynamicTransform::torque

Specifies the torque force currently acting on the dynamic. Access type: inputOutput Default value: Vec3f( 0, 0, 0 )

auto_ptr< SFVec3f > H3D::DynamicTransform::velocity

Specifies the velocity in m/s. Access type: outputOnly

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