Gravity::World< PolicyT, FeaturesT > Class Template Reference

The World API for getting and setting the gravity vector. More...

#include <World.hh>

Public Types
using	LinearVectorType = typename FromPolicy< PolicyT >::template Use< LinearVector >
using	RelativeForceType = typename FromPolicy< PolicyT >::template Use< RelativeForce >
Public Types inherited from Entity< PolicyT, FeaturesT >
using	Features = FeaturesT
using	Pimpl = typename detail::DeterminePlugin< Policy, Features >::type
using	Policy = PolicyT

Public Member Functions
LinearVectorType	GetGravity (const FrameID &_forceInCoordinatesOf=FrameID::World()) const
	Get the World gravity vector. Optionally, you may specify the frame whose coordinates are used to express the gravity vector. The World frame is used as a default if no frame is specified.
void	SetGravity (const LinearVectorType &_gravity, const FrameID &_forceInCoordinatesOf=FrameID::World())
	Set the World gravity vector. Optionally, you may specify the frame whose coordinates are used to express the gravity vector. The World frame is used as a default if no frame is specified.
void	SetGravity (const RelativeForceType &_gravity)
	Set the World gravity vector.
Public Member Functions inherited from Feature::World< PolicyT, FeaturesT >
virtual	~World ()=default
	Virtual destructor.
Public Member Functions inherited from Entity< PolicyT, FeaturesT >
virtual	~Entity ()=default
	Virtual destructor.
std::size_t	EntityID () const
	Get the unique ID value of this Entity.
const std::shared_ptr< void > &	EntityReference () const
	Get a reference-counting std::shared_ptr to the object inside the implementation that this object provides an abstraction for.
const Identity &	FullIdentity () const
	Get the Identity object of this Entity.

Additional Inherited Members
Protected Member Functions inherited from Entity< PolicyT, FeaturesT >
	Entity (const std::shared_ptr< Pimpl > &_pimpl=nullptr, const Identity &_identity=Identity())
	Constructor for the Entity.
	Entity (std::shared_ptr< Pimpl > &&_pimpl, const Identity &_identity)
	Constructor that allows the pimpl to be moved instead of copied.
template<typename FeatureT >
FeatureT::template Implementation< PolicyT > *	Interface ()
	Get a pointer to the implementation of FeatureT.
template<typename FeatureT >
const FeatureT::template Implementation< PolicyT > *	Interface () const
	Same as Interface(), but const-qualified so that const entities can request const-qualified interfaces from the implementation.
Protected Attributes inherited from Entity< PolicyT, FeaturesT >
Identity	identity
	This field contains information to identify the entity.
std::shared_ptr< Pimpl >	pimpl
	This is a pointer to the physics engine implementation, and it can be used by the object features to find the interfaces that they need in order to function.

Detailed Description

template<typename PolicyT, typename FeaturesT>
class gz::physics::Gravity::World< PolicyT, FeaturesT >

The World API for getting and setting the gravity vector.

Member Typedef Documentation

LinearVectorType

template<typename PolicyT , typename FeaturesT >

using LinearVectorType = typename FromPolicy<PolicyT>::template Use<LinearVector>

RelativeForceType

template<typename PolicyT , typename FeaturesT >

using RelativeForceType = typename FromPolicy<PolicyT>::template Use<RelativeForce>

Member Function Documentation

GetGravity()

template<typename PolicyT , typename FeaturesT >

LinearVectorType GetGravity

(

const FrameID &

_forceInCoordinatesOf = FrameID::World< PolicyT, FeaturesT >()

)

const

Get the World gravity vector. Optionally, you may specify the frame whose coordinates are used to express the gravity vector. The World frame is used as a default if no frame is specified.

Parameters

[in]

_inCoordinatesOf

Frame whose coordinates are used to express _gravity.

Returns

Gravity vector in corrdinates of _inCoordinatesOf.

SetGravity() [1/2]

template<typename PolicyT , typename FeaturesT >

void SetGravity	(	const LinearVectorType &	_gravity,
		const FrameID &	_forceInCoordinatesOf = FrameID::World< PolicyT, FeaturesT >()
	)

Set the World gravity vector. Optionally, you may specify the frame whose coordinates are used to express the gravity vector. The World frame is used as a default if no frame is specified.

Parameters

[in]	_gravity	Gravity vector.
[in]	_inCoordinatesOf	Frame whose coordinates are used to express _gravity.

SetGravity() [2/2]

template<typename PolicyT , typename FeaturesT >

void SetGravity

(

const RelativeForceType &

_gravity

)

Set the World gravity vector.

Parameters

[in]

_gravity

The desired gravity as a Relative Gravity (a quantity that contains information about the coordinates in which it is expressed).

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

• World.hh