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MdtKeaBody Struct Reference

Kea Body structure. More...

#include <MdtKea.h>

List of all members.

Public Attributes
int	tag
	Data stucture tag. More...
int	len
	Total length of data structure. More...
MeReal	invmass
	1/Mass of the body. More...
int	fastSpin
	Nonzero applies fast rotation hack. More...
MeVector4	force
	Applied (to centre of mass) force. More...
MeVector4	torque
	Applied torque. More...
MeVector4	invI0
	Inverse of 3x3 inertia tensor - row 0. More...
MeVector4	invI1
	Inverse of 3x3 inertia tensor - row 1. More...
MeVector4	invI2
	Inverse of 3x3 inertia tensor - row 2. More...
MeVector4	I0
	The 3x3 inertia tensor - row 0. More...
MeVector4	I1
	The 3x3 inertia tensor - row 1. More...
MeVector4	I2
	The 3x3 inertia tensor - row 2. More...
MeVector4	vel
	Linear velocity of body. More...
MeVector4	velrot
	Angular velocity of body. More...
MeVector4	qrot
	Body orientation quaternion. More...
MeVector4	accel
	Linearl Acceleration of body (READ ONLY). More...
MeVector4	accelrot
	Angular acceleration of body (READ ONLY). More...
MeVector4	fastSpinAxis
	Axis of assumed fast rotation (unit length). More...

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Detailed Description

Kea Body structure.

After a time step, the contents of 'force' and 'torque' will be the total applied forces plus any forces and torques due to constraints. These MUST BE RE-ZEROED before accumulating values for the next time step.

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Member Data Documentation

MeVector4 MdtKeaBody::I0

The 3x3 inertia tensor - row 0.

MeVector4 MdtKeaBody::I1

The 3x3 inertia tensor - row 1.

MeVector4 MdtKeaBody::I2

The 3x3 inertia tensor - row 2.

MeVector4 MdtKeaBody::accel

Linearl Acceleration of body (READ ONLY).

MeVector4 MdtKeaBody::accelrot

Angular acceleration of body (READ ONLY).

int MdtKeaBody::fastSpin

Nonzero applies fast rotation hack.

MeVector4 MdtKeaBody::fastSpinAxis

Axis of assumed fast rotation (unit length).

MeVector4 MdtKeaBody::force

Applied (to centre of mass) force.

MeVector4 MdtKeaBody::invI0

Inverse of 3x3 inertia tensor - row 0.

MeVector4 MdtKeaBody::invI1

Inverse of 3x3 inertia tensor - row 1.

MeVector4 MdtKeaBody::invI2

Inverse of 3x3 inertia tensor - row 2.

MeReal MdtKeaBody::invmass

1/Mass of the body.

int MdtKeaBody::len

Total length of data structure.

MeVector4 MdtKeaBody::qrot

Body orientation quaternion.

int MdtKeaBody::tag

Data stucture tag.

Should be MdtKeaBODYVER1.

MeVector4 MdtKeaBody::torque

Applied torque.

MeVector4 MdtKeaBody::vel

Linear velocity of body.

MeVector4 MdtKeaBody::velrot

Angular velocity of body.

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

• MdtKea.h

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