Class RigidBody<T>

constructor

• new RigidBody<T>(metric): RigidBody<T>

• Type Parameters

  • T

  Parameters

  • metric: Metric<T>

  Returns RigidBody<T>

Readonly metric

uuid

I

• get I(): MatrixLike

• Inertia Tensor (in body coordinates) (3x3 matrix). The returned matrix is a copy. TODO: This copy should be locked.

  Returns MatrixLike
• set I(I): void

• Sets the Inertia Tensor (in local coordinates) (3x3 matrix), and computes the inverse.

  Parameters

  • I: MatrixLike

  Returns void

Iinv

• get Iinv(): MatrixLike

• Inertia Tensor (in body coordinates) inverse (3x3 matrix).

  Returns MatrixLike
• set Iinv(source): void

• Parameters

  • source: MatrixLike

  Returns void

L

• get L(): T

• Angular momentum (bivector) in world coordinates. If dimensioned units are used, they must be compatible with the unit of angular momentum. L is mutable with copy-on-set.

  Returns T
• set L(angularMomentum): void

• Parameters

  • angularMomentum: T

  Returns void

M

• get M(): T

• Mass (scalar). Default is one (1). If dimensioned units are used, they must be compatible with the unit of mass. M is immutable but the property may be reassigned.

  Returns T
• set M(M): void

• Parameters

  • M: T

  Returns void

P

• get P(): T

• Linear momentum (vector). If dimensioned units are used, they must be compatible with the unit of momentum. P is mutable with copy-on-set.

  Returns T
• set P(linearMomentum): void

• Parameters

  • linearMomentum: T

  Returns void

Q

• get Q(): T

• Charge (scalar). Default is zero (0). If dimensioned units are used, they must be compatible with the unit of electric charge. Q is immutable but the property may be reassigned.

  Returns T
• set Q(Q): void

• Parameters

  • Q: T

  Returns void

R

• get R(): T

• Attitude (spinor). Effects a rotation from local coordinates to world coordinates. R is mutable with copy-on-set.

  Returns T
• set R(attitude): void

• Parameters

  • attitude: T

  Returns void

X

• get X(): T

• Position (vector). If dimensioned units are used, they must be compatible with the unit of length. X is mutable with copy-on-set.

  Returns T
• set X(position): void

• Parameters

  • position: T

  Returns void

centerOfMassLocal

• get centerOfMassLocal(): T

• The center of mass position vector in local coordinates.

  Returns T
• set centerOfMassLocal(centerOfMassLocal): void

• Parameters

  • centerOfMassLocal: T

  Returns void

expireTime

• get expireTime(): number

• Returns number

varsIndex

• set varsIndex(index): void

• Parameters

  • index: number

  Returns void

Ω

• get Ω(): T

• Angular velocity (bivector). If dimensioned units are used, they must be compatible with the unit of angular velocity. Ω is mutable with copy-on-set.

  Returns T
• set Ω(angularVelocity): void

• Parameters

  • angularVelocity: T

  Returns void

localPointToWorldPoint

• localPointToWorldPoint(localPoint, worldPoint): void

• Converts a point in local coordinates to the same point in world coordinates. x = R (localPoint - centerOfMassLocal) * ~R + X

  Parameters

  • localPoint: T

    (input)
  • worldPoint: T

    (output)

  Returns void

rotationalEnergy

• rotationalEnergy(): T

• In the following formula, notice the reversion on either Ω or L. Geometrically, this means we depend on the cosine of the angle between the bivectors, since A * ~B = |A||B|cos(...). (1/2) Ω * ~L(Ω) = (1/2) ~Ω * L(Ω) = (1/2) ω * J(ω), where * means scalar product (equals dot product for vectors).

  Returns T

translationalEnergy

• translationalEnergy(): T

• (1/2) (P * P) / M

  Returns T

updateAngularVelocity

• updateAngularVelocity(): void

• Updates the angular velocity, Ω, bivector based upon the angular momentum. Derived classes may override to provide more efficient implementations based upon symmetry.

  Returns void