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## Object : MultiBody

This class is included as part of the file MultiBody.tz.
To use this class in a simulation, include the line "@use MultiBody."

### Class description:

> The MultiBody class is used to manipulate a group of connected Link objects as a single logical body. This means that the entire group of links can be moved or otherwise manipulated using by referring to the MultiBody.

> After the creating and connecting of the links is complete, one of the Link objects must be declared the root of the MultiBody using the set-root method.

### Class methods:

> Adding Menus

> - add-menu
> - add-menu-separator

> Getting and Setting the Position of a MultiBody

> - get-location
> - move
> - rotate

> Managing the Appearence of MultiBodies

> - hide-axis
> - hide-bounding-box
> - set-color
> - set-texture-image
> - set-texture-scale
> - show-axis
> - show-bounding-box

> Handling and Detecting Collisions

> - check-self-penetration
> - disable-self-collisions
> - enable-self-collisions
> - set-self-collision-parameters

> Getting and Setting Information About Connected Objects

> - free-all-connected-objects
> - get-all-connected-links
> - get-all-connected-objects
> - get-root
> - set-root

`add-menu named menuName (string) for-method theMethod (string)`

> Adds a menu named menuName to the application which will result in a call to theMethod for the calling instance.

> If the calling instance is the Controller object, then the menu will become the "main" simulation menu. Otherwise, the menu will become a contextual menu associated with the specific object in the simulation.

> Note that unlike the handle-collision which sets the collision handler for the whole type (class, that is), this method affects only the instance for which it is called, meaning that each instance of a certain class may have a different menu.

`add-menu-separator`

> Adds a separator menu item--really just an empty menu item.

`check-self-penetration`

> Checks to see if this MultiBody is colliding with itself. This method is useful when a MultiBody is first built to determine whether the "native" configuration of the body is valid or not. If the body is in a conflicting configuration when it's first built, it may lead to unexpected behaviors as the body attempts to correct itself.

`disable-self-collisions`

> Disables collisions between links within this MultiBody. See enable-self-collisions for more information.

`enable-self-collisions`

> Enables collisions between objects contained in the same MultiBody. This option is disabled by default--it can lead to unexpected behaviors if Links are inadvertantly forced together by the configuration of the joints.

`free-all-connected-objects`

> Frees all of the Link and Joint objects which comprise this MultiBody.

`get-all-connected-links`

> Returns all of the Link objects which comprise the MultiBody.

`get-all-connected-objects`

> Returns all of the Link and Joint objects which comprise this MultiBody.

`get-location`

> Returns the location of the root link of the multibody.

`get-root`

> Returns the root link.

`hide-axis`

> Disables the axis for all connected links.

`hide-bounding-box`

> Disables the bounding box for all connected links.

`move to newLocation (vector)`

> Moves the entire MultiBody to newLocation.

`rotate around-axis thisAxis (vector) by amount (float)`

> Sets the rotation of this multibody around vector axis thisAxis by scalar amount (in radians). This is an "absolute" rotation--the current rotation of the object does not affect how the object will be rotated.

> This method implicitly changes the rotation and location of all attached link objects.

`set-color to newColor (vector)`

> Sets the color for all links.

`set-root to root (object)`

> Associates a MultiBody with a link root. All links attached to root, both directly and indirectly, will implicitly be part of this MultiBody as well. When joints are created and destroyed, the MultiBody automatically updates.

`set-self-collision-parameters erp erpValue (float) cfm cfmValue (float)`

> Sets two contact parameters which effect the hardness of intra-body contacts.

> - Currently experimental and for advanced users only. See the ODE user's manual for a description of these values and how they should be used.

`set-texture-image to texture (object)`

> Sets the texture for all links.

`set-texture-scale to textureScale (float)`

> Sets the texture scale for all links.

`show-axis`

> Enables the axis for all connected links.

`show-bounding-box`

> Enables the bounding box for all connected links.

Documentation created Fri Aug 8 15:16:49 2008