raisim::CollisionBodyHandle
struct · #include <raisim/collision/CollisionBody.hpp>
Internal: per-body collision data registered with the contact engine (shape, owner, material).
Public attributes
body
cpp
::contact::Body bodyContact-engine body data.
meshRef
cpp
std::shared_ptr<::contact::Mesh> meshRefContact mesh storage (keeps shape.mesh alive).
heightmapRef
cpp
std::shared_ptr<::contact::Heightmap> heightmapRefContact heightmap storage (keeps shape.heightmap alive).
objectType
cpp
ObjectType objectTypeObject type owning this collision body.
bodyType
cpp
BodyType bodyTypeBody type (dynamic, static, kinematic).
objectIndex
cpp
size_t objectIndexIndex of the owning object in the world.
localIdx
cpp
size_t localIdxLocal body index within the owning object.
trackSegment
cpp
std::int32_t trackSegmentBelt segment of a track of the owning articulated system, or -1 (see ArticulatedSystem::getTracks()).
name
cpp
std::string nameCollision body name.
material
cpp
std::string materialMaterial name for contact properties.
materialVersion
cpp
std::uint64_t materialVersionMaterial version stamp for change detection.
materialId
cpp
unsigned int materialIdMaterial id assigned by the material manager.
neverCollideWith
cpp
std::vector<CollisionBodyHandle *> neverCollideWithCollision bodies that should never collide with this one.