raisim::CollisionBodyHandle

struct · #include <raisim/collision/CollisionBody.hpp>

Internal: per-body collision data registered with the contact engine (shape, owner, material).

Public attributes

body

::contact::Body body

Contact-engine body data.

meshRef

std::shared_ptr<::contact::Mesh> meshRef

Contact mesh storage (keeps shape.mesh alive).

heightmapRef

std::shared_ptr<::contact::Heightmap> heightmapRef

Contact heightmap storage (keeps shape.heightmap alive).

objectType

ObjectType objectType

Object type owning this collision body.

bodyType

BodyType bodyType

Body type (dynamic, static, kinematic).

objectIndex

size_t objectIndex

Index of the owning object in the world.

localIdx

size_t localIdx

Local body index within the owning object.

trackSegment

std::int32_t trackSegment

Belt segment of a track of the owning articulated system, or -1 (see ArticulatedSystem::getTracks()).

materialId

unsigned int materialId

Material id assigned by the material manager.

name

std::string name

Collision body name.

sourceLink

std::string sourceLink

Original articulated-system link, retained when fixed bodies are merged.

sourceName

std::string sourceName

Declared URDF collision name; empty for unnamed geometries.

material

std::string material

Material name for contact properties.

materialVersion

std::uint64_t materialVersion

Material version stamp for change detection.

neverCollideWith

std::vector<CollisionBodyHandle *> neverCollideWith

Collision bodies that should never collide with this one.

fluid

CollisionBodyFluidSlot fluid

How fluids act on this body (see World::setFluidCoefficients()).