#include <massProperties.h>

Public Member Functions
USDPHYSICS_API	UsdPhysicsMassProperties ()
	Construct a MassProperties. More...

USDPHYSICS_API	UsdPhysicsMassProperties (const float m, const GfMatrix3f &inertiaT, const GfVec3f &com)
	Construct from individual elements. More...

USDPHYSICS_API UsdPhysicsMassProperties	operator* (const float scale) const

USDPHYSICS_API void	Translate (const GfVec3f &t)

const GfMatrix3f &	GetInertiaTensor () const

void	SetInertiaTensor (const GfMatrix3f &inTensor)

const GfVec3f &	GetCenterOfMass () const

float	GetMass () const

void	SetMass (float inMass)

Static Public Member Functions
static USDPHYSICS_API GfVec3f	GetMassSpaceInertia (const GfMatrix3f &inertia, GfQuatf &massFrame)

static USDPHYSICS_API GfMatrix3f	TranslateInertia (const GfMatrix3f &inertia, const float mass, const GfVec3f &t)

static USDPHYSICS_API GfMatrix3f	RotateInertia (const GfMatrix3f &inertia, const GfQuatf &q)

static USDPHYSICS_API UsdPhysicsMassProperties	Sum (const UsdPhysicsMassProperties props, const GfMatrix4f transforms, const uint32_t count)

Detailed Description

Mass properties computation class. Used to combine together individual mass properties and produce final one.

Definition at line 103 of file massProperties.h.

Constructor & Destructor Documentation

USDPHYSICS_API UsdPhysicsMassProperties::UsdPhysicsMassProperties ( )

inline

Construct a MassProperties.

Definition at line 108 of file massProperties.h.

USDPHYSICS_API UsdPhysicsMassProperties::UsdPhysicsMassProperties	(	const float	m,
		const GfMatrix3f &	inertiaT,
		const GfVec3f &	com
	)

inline

Construct from individual elements.

Definition at line 116 of file massProperties.h.

Member Function Documentation

const GfVec3f& UsdPhysicsMassProperties::GetCenterOfMass ( ) const

inline

Get center of mass

Returns: Center of mass

Definition at line 224 of file massProperties.h.

const GfMatrix3f& UsdPhysicsMassProperties::GetInertiaTensor ( ) const

inline

Get inertia tensor

Returns: Inertia tensor

Definition at line 210 of file massProperties.h.

float UsdPhysicsMassProperties::GetMass ( ) const

inline

Get mass

Returns: Mass

Definition at line 231 of file massProperties.h.

static USDPHYSICS_API GfVec3f UsdPhysicsMassProperties::GetMassSpaceInertia	(	const GfMatrix3f &	inertia,
		GfQuatf &	massFrame
	)

inlinestatic

Get the entries of the diagonalized inertia tensor and the corresponding reference rotation. inertia The inertia tensor to diagonalize. massFrame The frame the diagonalized tensor refers to.

Returns: The entries of the diagonalized inertia tensor.

Definition at line 141 of file massProperties.h.

USDPHYSICS_API UsdPhysicsMassProperties UsdPhysicsMassProperties::operator* ( const float scale ) const

inline

Scale mass properties. scale The linear scaling factor to apply to the mass properties.

Returns: The scaled mass properties.

Definition at line 124 of file massProperties.h.

static USDPHYSICS_API GfMatrix3f UsdPhysicsMassProperties::RotateInertia	(	const GfMatrix3f &	inertia,
		const GfQuatf &	q
	)

inlinestatic

Rotate an inertia tensor around the center of mass inertia The inertia tensor to rotate. q The rotation to apply to the inertia tensor.

Returns: The rotated inertia tensor.

Definition at line 169 of file massProperties.h.

void UsdPhysicsMassProperties::SetInertiaTensor ( const GfMatrix3f & inTensor )

inline

Set inertia tensor inTensor New inertia tensor.

Definition at line 217 of file massProperties.h.

void UsdPhysicsMassProperties::SetMass ( float inMass )

inline

Set mass inMass New mass.

Definition at line 238 of file massProperties.h.

static USDPHYSICS_API UsdPhysicsMassProperties UsdPhysicsMassProperties::Sum	(	const UsdPhysicsMassProperties *	props,
		const GfMatrix4f *	transforms,
		const uint32_t	count
	)

inlinestatic

Sum up individual mass properties. props Array of mass properties to sum up. transforms Reference transforms for each mass properties entry. count The number of mass properties to sum up.

Returns: The summed up mass properties.

Definition at line 181 of file massProperties.h.

USDPHYSICS_API void UsdPhysicsMassProperties::Translate ( const GfVec3f & t )

inline

Translate the center of mass by a given vector and adjust the inertia tensor accordingly. t The translation vector for the center of mass.

Definition at line 131 of file massProperties.h.

static USDPHYSICS_API GfMatrix3f UsdPhysicsMassProperties::TranslateInertia	(	const GfMatrix3f &	inertia,
		const float	mass,
		const GfVec3f &	t
	)

inlinestatic

Translate an inertia tensor using the parallel axis theorem inertia The inertia tensor to translate. mass The mass of the object. t The relative frame to translate the inertia tensor to.

Returns: The translated inertia tensor.

Definition at line 153 of file massProperties.h.

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

pxr/usd/usdPhysics/massProperties.h

Public Member Functions

Static Public Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation