raisim::Sphere

class · #include <raisim/object/singleBodies/Sphere.hpp>

Inherits: raisim::SingleBodyObject

A rigid sphere. The body frame origin is at the sphere center (= COM). Create it with World::addSphere(). Spheres use EXPLICIT_GYROSCOPIC_FORCE by default.

Constructors & destructor

Sphere

explicit Sphere(double radius, double mass)

Parameters

Parameter	Description
radius (in)	radius (m), finite and positive
mass (in)	mass (kg)

Public member functions

getRadius

double getRadius() const

returns the radius of the sphere

Returns the radius of the sphere (m)

updateContactAabbs

void updateContactAabbs() override

Internal: recomputes the world-frame AABBs used by the broadphase.

Inherited members

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setBodyType, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setPosition, setVelocity, updateCollision

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex