Simulated rigid body with translational/angular dynamics and optional aero metadata. More...

#include <rigid_body.hpp>

Classes
struct	AerodynamicGeometry
	Geometric metadata used to estimate drag reference area. More...

Public Types
enum class	CylinderAxis { kX , kY , kZ }
	Principal axis selection for cylindrical aerodynamic geometry. More...

Public Member Functions
	RigidBody (double mass_kg=1.0)
	Constructs a rigid body with a sanitized positive mass.
double	massKg () const
	Returns mass in kilograms.
double	inverseMass () const
	Returns inverse mass in 1/kg.
void	setMassKg (double mass_kg)
	Sets mass in kilograms.
const Vector3 &	position () const
	Returns world position in meters.
void	setPosition (const Vector3 &position_m)
	Sets world-space position in meters.
void	setPosition (double x_m, double y_m, double z_m)
	Sets world-space position in meters from scalar components.
void	position (double x_m, double y_m, double *z_m) const
	Gets world-space position in meters via scalar output pointers.
const Quaternion &	orientation () const
	Returns body orientation as a unit quaternion.
void	setOrientation (const Quaternion &orientation)
	Sets body orientation quaternion.
const Vector3 &	linearVelocity () const
	Returns world linear velocity in meters per second.
void	setLinearVelocity (const Vector3 &velocity_mps)
	Sets world linear velocity in meters per second.
void	setLinearVelocity (double vx_mps, double vy_mps, double vz_mps)
	Sets world linear velocity in meters per second from scalars.
void	linearVelocity (double vx_mps, double vy_mps, double *vz_mps) const
	Gets world linear velocity in meters per second via pointers.
const Vector3 &	angularVelocity () const
	Returns world angular velocity in radians per second.
void	setAngularVelocity (const Vector3 &angular_velocity_radps)
	Sets world angular velocity in radians per second.
void	setAngularVelocity (double wx_radps, double wy_radps, double wz_radps)
	Sets world angular velocity in radians per second from scalars.
void	angularVelocity (double wx_radps, double wy_radps, double *wz_radps) const
	Gets world angular velocity in radians per second via pointers.
const Matrix3 &	bodyInertiaTensor () const
	Returns inertia tensor in body frame.
void	setBodyInertiaTensor (const Matrix3 &inertia)
	Sets body-frame inertia tensor and cached inverse tensor.
BodyFlags &	flags ()
	Mutable access to runtime body flags.
const BodyFlags &	flags () const
	Const access to runtime body flags.
void	setMaterial (const Material &material)
	Sets optional physical material properties.
const Material *	material () const
	Gets material if configured, otherwise returns null.
void	setMaterialId (std::int32_t material_id)
	Sets numeric material identifier used by world interaction tables.
std::int32_t	materialId () const
	Gets numeric material identifier used by world interaction tables.
void	setCollisionLayer (std::uint32_t layer_bits)
	Sets broad-phase collision layer bits for this body.
std::uint32_t	collisionLayer () const
	Gets broad-phase collision layer bits.
void	setCollisionMask (std::uint32_t mask_bits)
	Sets broad-phase collision mask bits for this body.
std::uint32_t	collisionMask () const
	Gets broad-phase collision mask bits.
void	setAerodynamicGeometry (const AerodynamicGeometry &geometry)
	Sets optional aerodynamic geometry metadata.
const AerodynamicGeometry *	aerodynamicGeometry () const
	Gets aerodynamic geometry if configured, otherwise returns null.
void	setCylinderAxisLocal (CylinderAxis axis)
	Sets cylinder axis in local coordinates via canonical enum axis.
void	setCylinderAxisWorld (const Vector3 &axis_world)
	Sets cylinder axis from world-space direction.
void	setCylinderAxisWorld (double x, double y, double z)
	Sets cylinder axis from world-space scalar direction components.
double	dragReferenceAreaM2 (const Vector3 &velocity_world) const
	Computes effective drag reference area for current geometry and motion direction.
void	applyForce (const Vector3 &force_n)
	Adds force at center of mass in newtons.
void	applyForce (double fx_n, double fy_n, double fz_n)
	Adds force at center of mass in newtons from scalar components.
void	applyForceAtPoint (const Vector3 &force_n, const Vector3 &world_point_m)
	Adds force at world-space point, accumulating both force and torque.
void	applyForceAtPoint (double fx_n, double fy_n, double fz_n, double px_m, double py_m, double pz_m)
	Adds force at world-space point from scalar components.
void	clearAccumulators ()
	Clears accumulated force and torque buffers.
void	integrate (double dt_s, IntegrationMethod method, const Vector3 &gravity_mps2, double linear_damping_per_s, double angular_damping_per_s)
	Advances translational and rotational state by one fixed timestep.

Detailed Description

Simulated rigid body with translational/angular dynamics and optional aero metadata.

This type stores canonical rigid-body state (pose, linear velocity, angular velocity, mass, inertia) and supports force/torque accumulation followed by fixed-step integration.

Key behavior:

Forces accumulate until integrate is called.
Gravity application is controlled by per-body flags and world config.
Optional material metadata informs contact response in PhysicsWorld.
Optional aerodynamic geometry supports runtime drag-area estimation.

Member Enumeration Documentation

◆ CylinderAxis

enum class frcsim::RigidBody::CylinderAxis

strong

Principal axis selection for cylindrical aerodynamic geometry.

Enumerator
kX	Local +X axis.
kY	Local +Y axis.
kZ	Local +Z axis.

Constructor & Destructor Documentation

◆ RigidBody()

frcsim::RigidBody::RigidBody ( double mass_kg = 1.0 )

inlineexplicit

Constructs a rigid body with a sanitized positive mass.

Parameters

mass_kg Body mass in kilograms.

Member Function Documentation

◆ aerodynamicGeometry()

const AerodynamicGeometry * frcsim::RigidBody::aerodynamicGeometry ( ) const

inline

Gets aerodynamic geometry if configured, otherwise returns null.

◆ angularVelocity() [1/2]

const Vector3 & frcsim::RigidBody::angularVelocity ( ) const

inline

Returns world angular velocity in radians per second.

◆ angularVelocity() [2/2]

void frcsim::RigidBody::angularVelocity	(	double *	wx_radps,
		double *	wy_radps,
		double *	wz_radps ) const

inline

Gets world angular velocity in radians per second via pointers.

Parameters

wx_radps	Optional output pointer for world-space angular velocity x.
wy_radps	Optional output pointer for world-space angular velocity y.
wz_radps	Optional output pointer for world-space angular velocity z.

◆ applyForce() [1/2]

void frcsim::RigidBody::applyForce ( const Vector3 & force_n )

inline

Adds force at center of mass in newtons.

◆ applyForce() [2/2]

void frcsim::RigidBody::applyForce	(	double	fx_n,
		double	fy_n,
		double	fz_n )

inline

Adds force at center of mass in newtons from scalar components.

Parameters

fx_n	World-space x force in newtons.
fy_n	World-space y force in newtons.
fz_n	World-space z force in newtons.

◆ applyForceAtPoint() [1/2]

void frcsim::RigidBody::applyForceAtPoint	(	const Vector3 &	force_n,
		const Vector3 &	world_point_m )

inline

Adds force at world-space point, accumulating both force and torque.

Parameters

force_n	Applied force in newtons.
world_point_m	Application point in world meters.

◆ applyForceAtPoint() [2/2]

void frcsim::RigidBody::applyForceAtPoint	(	double	fx_n,
		double	fy_n,
		double	fz_n,
		double	px_m,
		double	py_m,
		double	pz_m )

inline

Adds force at world-space point from scalar components.

Parameters

fx_n	World-space x force in newtons.
fy_n	World-space y force in newtons.
fz_n	World-space z force in newtons.
px_m	World-space x application point in meters.
py_m	World-space y application point in meters.
pz_m	World-space z application point in meters.

◆ bodyInertiaTensor()

const Matrix3 & frcsim::RigidBody::bodyInertiaTensor ( ) const

inline

Returns inertia tensor in body frame.

◆ clearAccumulators()

void frcsim::RigidBody::clearAccumulators ( )

inline

Clears accumulated force and torque buffers.

◆ collisionLayer()

std::uint32_t frcsim::RigidBody::collisionLayer ( ) const

inline

Gets broad-phase collision layer bits.

Returns: Layer membership bitset.

◆ collisionMask()

std::uint32_t frcsim::RigidBody::collisionMask ( ) const

inline

Gets broad-phase collision mask bits.

Returns: Interaction acceptance bitset.

◆ dragReferenceAreaM2()

double frcsim::RigidBody::dragReferenceAreaM2 ( const Vector3 & velocity_world ) const

inline

Computes effective drag reference area for current geometry and motion direction.

Parameters

velocity_world World-space velocity vector used to infer projected area.

Returns: Effective reference area in square meters.

Behavior by geometry mode:

No geometry configured: returns 0.
Explicit reference area > 0: returns explicit value.
Sphere: returns pi * r^2.
Box: estimates projected area from local velocity direction and face areas.
Cylinder: blends end-cap and side projected areas using axis alignment.

For zero velocity vectors, a stable fallback direction is used to avoid NaN behavior during normalization.

◆ flags() [1/2]

BodyFlags & frcsim::RigidBody::flags ( )

inline

Mutable access to runtime body flags.

◆ flags() [2/2]

const BodyFlags & frcsim::RigidBody::flags ( ) const

inline

Const access to runtime body flags.

◆ integrate()

void frcsim::RigidBody::integrate	(	double	dt_s,
		IntegrationMethod	method,
		const Vector3 &	gravity_mps2,
		double	linear_damping_per_s,
		double	angular_damping_per_s )

inline

Advances translational and rotational state by one fixed timestep.

Parameters

dt_s	Timestep duration in seconds.
method	Translation integration strategy.
gravity_mps2	World-space gravity acceleration in m/s^2.
linear_damping_per_s	Linear damping coefficient in 1/s.
angular_damping_per_s	Angular damping coefficient in 1/s.

Integration sequence:

Early-out for kinematic bodies (accumulators are still cleared).
Sum accumulated forces and optional gravity contribution.
Integrate linear state using selected method.
Apply linear damping attenuation.
Integrate angular velocity and orientation.
Apply angular damping attenuation.
Clear accumulated force/torque buffers.

◆ inverseMass()

double frcsim::RigidBody::inverseMass ( ) const

inline

Returns inverse mass in 1/kg.

◆ linearVelocity() [1/2]

const Vector3 & frcsim::RigidBody::linearVelocity ( ) const

inline

Returns world linear velocity in meters per second.

◆ linearVelocity() [2/2]

void frcsim::RigidBody::linearVelocity	(	double *	vx_mps,
		double *	vy_mps,
		double *	vz_mps ) const

inline

Gets world linear velocity in meters per second via pointers.

Parameters

vx_mps	Optional output pointer for world-space x velocity in m/s.
vy_mps	Optional output pointer for world-space y velocity in m/s.
vz_mps	Optional output pointer for world-space z velocity in m/s.

◆ massKg()

double frcsim::RigidBody::massKg ( ) const

inline

Returns mass in kilograms.

◆ material()

const Material * frcsim::RigidBody::material ( ) const

inline

Gets material if configured, otherwise returns null.

◆ materialId()

std::int32_t frcsim::RigidBody::materialId ( ) const

inline

Gets numeric material identifier used by world interaction tables.

Returns: Material id currently assigned to this body.

◆ orientation()

const Quaternion & frcsim::RigidBody::orientation ( ) const

inline

Returns body orientation as a unit quaternion.

◆ position() [1/2]

const Vector3 & frcsim::RigidBody::position ( ) const

inline

Returns world position in meters.

◆ position() [2/2]

void frcsim::RigidBody::position	(	double *	x_m,
		double *	y_m,
		double *	z_m ) const

inline

Gets world-space position in meters via scalar output pointers.

Parameters

x_m	Optional output pointer for world-space x position in meters.
y_m	Optional output pointer for world-space y position in meters.
z_m	Optional output pointer for world-space z position in meters.

◆ setAerodynamicGeometry()

void frcsim::RigidBody::setAerodynamicGeometry ( const AerodynamicGeometry & geometry )

inline

Sets optional aerodynamic geometry metadata.

◆ setAngularVelocity() [1/2]

void frcsim::RigidBody::setAngularVelocity ( const Vector3 & angular_velocity_radps )

inline

Sets world angular velocity in radians per second.

Parameters

angular_velocity_radps World-space angular velocity in radians per second.

◆ setAngularVelocity() [2/2]

void frcsim::RigidBody::setAngularVelocity	(	double	wx_radps,
		double	wy_radps,
		double	wz_radps )

inline

Sets world angular velocity in radians per second from scalars.

Parameters

wx_radps	World-space angular velocity x in radians per second.
wy_radps	World-space angular velocity y in radians per second.
wz_radps	World-space angular velocity z in radians per second.

◆ setBodyInertiaTensor()

void frcsim::RigidBody::setBodyInertiaTensor ( const Matrix3 & inertia )

inline

Sets body-frame inertia tensor and cached inverse tensor.

◆ setCollisionLayer()

void frcsim::RigidBody::setCollisionLayer ( std::uint32_t layer_bits )

inline

Sets broad-phase collision layer bits for this body.

Parameters

layer_bits Layer membership bitset.

◆ setCollisionMask()

void frcsim::RigidBody::setCollisionMask ( std::uint32_t mask_bits )

inline

Sets broad-phase collision mask bits for this body.

Parameters

mask_bits Interaction acceptance bitset.

◆ setCylinderAxisLocal()

void frcsim::RigidBody::setCylinderAxisLocal ( CylinderAxis axis )

inline

Sets cylinder axis in local coordinates via canonical enum axis.

◆ setCylinderAxisWorld() [1/2]

void frcsim::RigidBody::setCylinderAxisWorld ( const Vector3 & axis_world )

inline

Sets cylinder axis from world-space direction.

Parameters

axis_world World-space direction to convert into local body space.

The provided axis is transformed into local body space and normalized. Zero-length input falls back to local +Z.

◆ setCylinderAxisWorld() [2/2]

void frcsim::RigidBody::setCylinderAxisWorld	(	double	x,
		double	y,
		double	z )

inline

Sets cylinder axis from world-space scalar direction components.

Parameters

x	World-space x direction component.
y	World-space y direction component.
z	World-space z direction component.

◆ setLinearVelocity() [1/2]

void frcsim::RigidBody::setLinearVelocity ( const Vector3 & velocity_mps )

inline

Sets world linear velocity in meters per second.

Parameters

velocity_mps World-space linear velocity in meters per second.

◆ setLinearVelocity() [2/2]

void frcsim::RigidBody::setLinearVelocity	(	double	vx_mps,
		double	vy_mps,
		double	vz_mps )

inline

Sets world linear velocity in meters per second from scalars.

Parameters

vx_mps	World-space x velocity in meters per second.
vy_mps	World-space y velocity in meters per second.
vz_mps	World-space z velocity in meters per second.

◆ setMassKg()

void frcsim::RigidBody::setMassKg ( double mass_kg )

inline

Sets mass in kilograms.

Note: Non-positive inputs are clamped to 1.0 kg.

◆ setMaterial()

void frcsim::RigidBody::setMaterial ( const Material & material )

inline

Sets optional physical material properties.

◆ setMaterialId()

void frcsim::RigidBody::setMaterialId ( std::int32_t material_id )

inline

Sets numeric material identifier used by world interaction tables.

Parameters

material_id Application-defined material id.

◆ setOrientation()

void frcsim::RigidBody::setOrientation ( const Quaternion & orientation )

inline

Sets body orientation quaternion.

Parameters

orientation New world-space body orientation quaternion.

◆ setPosition() [1/2]

void frcsim::RigidBody::setPosition ( const Vector3 & position_m )

inline

Sets world-space position in meters.

Parameters

position_m World-space position in meters.

◆ setPosition() [2/2]

void frcsim::RigidBody::setPosition	(	double	x_m,
		double	y_m,
		double	z_m )

inline

Sets world-space position in meters from scalar components.

Parameters

x_m	World-space x position in meters.
y_m	World-space y position in meters.
z_m	World-space z position in meters.

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

src/main/driver/include/frcsim/rigidbody/rigid_body.hpp

Classes

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ CylinderAxis

Constructor & Destructor Documentation

◆ RigidBody()

Member Function Documentation

◆ aerodynamicGeometry()

◆ angularVelocity() [1/2]

◆ angularVelocity() [2/2]

◆ applyForce() [1/2]

◆ applyForce() [2/2]

◆ applyForceAtPoint() [1/2]

◆ applyForceAtPoint() [2/2]

◆ bodyInertiaTensor()

◆ clearAccumulators()

◆ collisionLayer()

◆ collisionMask()

◆ dragReferenceAreaM2()

◆ flags() [1/2]

◆ flags() [2/2]

◆ integrate()

◆ inverseMass()

◆ linearVelocity() [1/2]

◆ linearVelocity() [2/2]

◆ massKg()

◆ material()

◆ materialId()

◆ orientation()

◆ position() [1/2]

◆ position() [2/2]

◆ setAerodynamicGeometry()

◆ setAngularVelocity() [1/2]

◆ setAngularVelocity() [2/2]

◆ setBodyInertiaTensor()

◆ setCollisionLayer()

◆ setCollisionMask()

◆ setCylinderAxisLocal()

◆ setCylinderAxisWorld() [1/2]

◆ setCylinderAxisWorld() [2/2]

◆ setLinearVelocity() [1/2]

◆ setLinearVelocity() [2/2]

◆ setMassKg()

◆ setMaterial()

◆ setMaterialId()

◆ setOrientation()

◆ setPosition() [1/2]

◆ setPosition() [2/2]