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3.18.1.4 Rigid_Body_Data Class
The rigid_body_data class defines a set of variables for each rigid body. The data is stored for each rigid body that is listed in the item list of the rigid_body_data element or for all rigid bodies if no list is defined. The following variables are defined. Note that the item referenced in the item list is the material number of the rigid body.
Rigid body variables | Description |
x | x-coordinate of center of mass position |
y | y-coordinate of center of mass position |
z | z-coordinate of center of mass position |
vx | x-component of center of mass velocity |
vy | y-component of center of mass velocity |
vz | z-component of center of mass velocity |
ax | x-component of center of mass acceleration |
ay | y-component of center of mass acceleration |
az | z-component of center of mass acceleration |
thx | x-component of rotation pseudo-vector |
thy | y-component of rotation pseudo-vector |
thz | z-component of rotation pseudo-vector |
omx | x-component of angular velocity |
omy | y-component of angular velocity |
omz | z-component of angular velocity |
alx | x-component of angular acceleration |
aly | y-component of angular acceleration |
alz | z-component of angular acceleration |
qx | x-component of rotation quaternion |
qy | y-component of rotation quaternion |
qz | z-component of rotation quaternion |
qw | w-component of rotation quaternion |
Fx | x-component of the rigid body reaction force |
Fy | y-component of the rigid body reaction force |
Fz | z-component of the rigid body reaction force |
Mx | x-component of the rigid body reaction torque |
My | y-component of the rigid body reaction torque |
Mz | z-component of the rigid body reaction torque |
KE | kinetic energy |
For example, to store the rigid body reaction force of rigid body 2 and 4 add the following data element. Note that the 2 and 4 refer to the rigid body material number as defined in the Material section of the input file:
<rigid_body_data data="Fx;Fy;Fz">2,4</rigid_body_data>