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.
Adding Menus
Getting and Setting the Position of a MultiBody
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
Getting and Setting Information About Connected Objects
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.
Adds a separator menu item--really just an empty menu item.
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.
Disables collisions between links within this MultiBody. See enable-self-collisions for more information.
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.
Frees all of the Link and Joint objects which comprise this MultiBody.
Returns all of the Link objects which comprise the MultiBody.
Returns all of the Link and Joint objects which comprise this MultiBody.
Returns the location of the root link of the multibody.
Returns the root link.
Disables the axis for all connected links.
Disables the bounding box for all connected links.
Moves the entire MultiBody to newLocation.
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. For a rotation relative to the current orientation, set relative-rotate.
This method implicitly changes the rotation and location of all attached link objects.
Sets the color for all links.
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.
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.
Sets the texture for all links.
Sets the texture scale for all links.
Enables the axis for all connected links.
Enables the bounding box for all connected links.