IRigidBody

class IRigidBody : virtual public INamed, virtual public IDestroyable

Represents a rigid body consisting of one or more geometries connected to its parent via one or more joints.

virtual IRigidBody::~IRigidBody()

virtual PGeometry IRigidBody::CreateGeometry(const std::string &name, const PGeometryConfig &configuration, PFrame referenceFrame) = 0

virtual PFrame IRigidBody::CreateFrame(const std::string &name, PFrame referenceFrame) = 0

virtual PJoint IRigidBody::CreateJoint(const std::string &name, const EJointType &type, PFrame referenceFrame, PAxisControl axis) = 0

virtual PSignal IRigidBody::GetSignal(std::string &name) const = 0

virtual std::vector<std::string> IRigidBody::GetSignalNames() const = 0

virtual std::map<std::string, PSignal> IRigidBody::GetSignals() const = 0

virtual PGeometry IRigidBody::GetGeometry(std::string &name) const = 0

virtual std::vector<std::string> IRigidBody::GetGeometryNames() const = 0

virtual std::map<std::string, PGeometry> IRigidBody::GetGeometries() const = 0

virtual PFrame IRigidBody::GetFrame(std::string &name) const = 0

virtual std::vector<std::string> IRigidBody::GetFrameNames() const = 0

virtual std::map<std::string, PFrame> IRigidBody::GetFrames() const = 0

virtual PJoint IRigidBody::GetJoint(std::string &name) const = 0

virtual std::vector<std::string> IRigidBody::GetJointNames() const = 0

virtual std::map<std::string, PJoint> IRigidBody::GetJoints() const = 0