Differences
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Both sides previous revision Previous revision | |||
ref:lua_body [2022/04/28 09:32] – thomas | ref:lua_body [2023/12/14 16:03] (current) – external edit 127.0.0.1 | ||
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| LuaVec3 **com_pos**() | get the current com position [m] | | | LuaVec3 **com_pos**() | get the current com position [m] | | ||
| LuaVec3 **com_vel**() | get the current com velocity [m/s] | | | LuaVec3 **com_vel**() | get the current com velocity [m/s] | | ||
- | | LuaVec3 **com_acc**() | get the current com acceleration | + | | LuaVec3 **com_acc**() | get the current com acceleration [m/s%%^%%2] | |
| LuaVec3 **point_pos**(const LuaVec3 &p) | get the global position [m] of a local point p on the body | | | LuaVec3 **point_pos**(const LuaVec3 &p) | get the global position [m] of a local point p on the body | | ||
| LuaVec3 **point_vel**(const LuaVec3 &p) | get the global linear velocity [m/s] of a local point p on the body | | | LuaVec3 **point_vel**(const LuaVec3 &p) | get the global linear velocity [m/s] of a local point p on the body | | ||
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| LuaVec3 **ang_pos**() | get the body orientation as a 3d rotation vector [rad] | | | LuaVec3 **ang_pos**() | get the body orientation as a 3d rotation vector [rad] | | ||
| LuaVec3 **ang_vel**() | get the angular velocity [rad/s] of the body | | | LuaVec3 **ang_vel**() | get the angular velocity [rad/s] of the body | | ||
- | | LuaVec3 **ang_acc**() | get the angular acceleration | + | | LuaVec3 **ang_acc**() | get the angular acceleration [rad/s%%^%%2] of the body | |
| LuaVec3 **contact_force**() | get the contact force vector [N] applied to this body via contact geometry | | | LuaVec3 **contact_force**() | get the contact force vector [N] applied to this body via contact geometry | | ||
| LuaVec3 **contact_moment**() | get the contact moment vector [Nm] applied to this body via contact geometry | | | LuaVec3 **contact_moment**() | get the contact moment vector [Nm] applied to this body via contact geometry | |