scene_dyn.h File Reference

scenegraph dynamics support More...

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Functions
AA_API void	aa_rx_sg_frame_set_inertial (struct aa_rx_sg *scenegraph, const char *frame, double mass, const double inertia[9])
	Set the frame inertial parameters. More...
AA_API double	aa_rx_sg_frame_get_mass (struct aa_rx_sg *scenegraph, aa_rx_frame_id frame)
	Get the frame mass. More...
AA_API const double *	aa_rx_sg_frame_get_inertia (struct aa_rx_sg *scenegraph, aa_rx_frame_id frame)
	Get the frame inertia tensor. More...

Detailed Description

scenegraph dynamics support

Definition in file scene_dyn.h.

Function Documentation

aa_rx_sg_frame_get_inertia()

AA_API const double* aa_rx_sg_frame_get_inertia	(	struct aa_rx_sg *	scenegraph,
		aa_rx_frame_id	frame
	)

Get the frame inertia tensor.

Returns

pointer to frame inertia tensor, stored in column major order, or NULL is mass has not been set for frame.

aa_rx_sg_frame_get_mass()

AA_API double aa_rx_sg_frame_get_mass	(	struct aa_rx_sg *	scenegraph,
		aa_rx_frame_id	frame
	)

Get the frame mass.

Returns

the frame mass or NAN is mass has not been set for frame

aa_rx_sg_frame_set_inertial()

AA_API void aa_rx_sg_frame_set_inertial	(	struct aa_rx_sg *	scenegraph,
		const char *	frame,
		double	mass,
		const double	inertia[9]
	)

Set the frame inertial parameters.

Parameters

scenegraph	the scenegraph container
frame	name of frame to set mass parameters for
mass	mass of the frame
inertia	the inertia tensor, stored in column major order