raisim::Box

class · #include <raisim/object/singleBodies/Box.hpp>

Inherits: raisim::SingleBodyObject

A rigid box. The body frame origin is at the box center (= COM) and the edges are aligned with the body axes. Create it with World::addBox().

Constructors & destructor

Box

Box(double xLength, double yLength, double zLength, double mass)

Parameters

Parameter	Description
xLength (in)	full length along the body x axis (m)
yLength (in)	full length along the body y axis (m)
zLength (in)	full length along the body z axis (m)
mass (in)	mass (kg). The inertia is that of a uniform-density box. All values must be finite and positive (fatal error otherwise).

Public member functions

getDim

Vec<3> getDim() const

returns the dimension of the box

Returns the full box lengths along the body x, y and z axes (m)

updateContactAabbs

void updateContactAabbs() override

Internal: recomputes the world-frame AABBs used by the broadphase.

Inherited members

From raisim::SingleBodyObject: clearExternalForcesAndTorques, getAngularVelocity, getAppearance, getBodyToComPosition_rs, getCollisionBody, getCollisionGroup, getCollisionMask, getCom, getComPosition, getComPosition_rs, getContactPointVel, getDOF, getEnergy, getGeneralizedCoordinateDim, getGyroscopicMode, getInertiaMatrix_B, getInertiaMatrix_B_rs, getInertiaMatrix_W, getInertiaMatrix_W_rs, getKineticEnergy, getLinearMomentum, getLinearVelocity, getMass, getObjectType, getOrientation, getPosition, getPotentialEnergy, getQuaternion, getRotationMatrix, getVelocity, integrate, preContactSolverUpdate1, preContactSolverUpdate2, setAngularDamping, setAngularVelocity, setAppearance, setBodyType, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setPosition, setVelocity, updateCollision

From raisim::Object: addContactToPerObjectContact, clearPerObjectContact, getBodyType, getContactAabb, getContactAabbCount, getContacts, getExternalForce, getExternalForcePosition, getExternalTorque, getExternalTorquePosition, getId, getIndexInWorld, getName, getRenderRevision, Id, lock, lockMutex, setIndexInWorld, setName, try_lock, unlock, unlockMutex