DEF_VAR_STATE(Coord, AngularVelocity, Coord(0), "Angular velocity of of the rigid body")
Rigid body angular velocity.
std::string getNodeType() override
DEF_VAR_STATE(Matrix, Inertia, Matrix::identityMatrix(), "Inertia matrix")
DEF_VAR_STATE(Matrix, RotationMatrix, Matrix::identityMatrix(), "Rotation matrix of of the rigid body")
Particle position.
DEF_VAR_STATE(Matrix, InitialInertia, Matrix::identityMatrix(), "Initial inertia matrix")
DEF_VAR_STATE(Coord, Velocity, Coord(0), "Velocity of rigid bodies")
Rigid body velocity.
DEF_VAR_STATE(Real, Mass, Real(1), "Mass of the rigid body")
Rigid body mass.
DEF_VAR_STATE(Quat, Quaternion, Quat(0, 0, 0), "Quaternion")
DEF_VAR_STATE(Coord, Center, Coord(0), "Center of the rigid body")
Rigid body center.
void updateStates() override
DEF_VAR(Coord, Gravity, Coord(0.0, -9.8, 0.0), "Gravity")