raisim::CollisionDefinition

struct · #include <raisim/object/ArticulatedSystem/JointAndBodies.hpp>

collision definition that is stored in Articulated System (see ArticulatedSystem::getCollisionBodies()). CollisionBody stores how the collision body should be displayed as well. This only stores physics part

Constructors & destructor

CollisionDefinition

CollisionDefinition(
    const raisim::Mat<3, 3> &rotOffsetI,
    const raisim::Vec<3> &posOffsetI,
    size_t localIdxI,
    std::string nameI)

Parameters

Parameter	Description
rotOffsetI (in)	orientation offset relative to the body frame
posOffsetI (in)	position offset in the body frame [m]
localIdxI (in)	body index
nameI (in)	collision body name

Public member functions

setMaterial

void setMaterial(const std::string &material)

Set the contact material (see World::setMaterialPairProp()).

Parameters

Parameter	Description
material (in)	material name

getMaterial

const std::string &getMaterial()

Returns the contact material name

getCollisionBody

CollisionBodyHandleConstPtr getCollisionBody() const

Returns pointer to the collision body (owned by this definition)

CollisionBodyHandlePtr getCollisionBody()

Returns pointer to the collision body (owned by this definition)

setCollisionGroup

void setCollisionGroup(CollisionGroup group)

Parameters

Parameter	Description
group (in)	collision group bits of this body

setCollisionMask

void setCollisionMask(CollisionGroup mask)

Parameters

Parameter	Description
mask (in)	collision mask bits (groups this body can collide with)

getCollisionGroup

CollisionGroup getCollisionGroup() const

Returns collision group bits

getCollisionMask

CollisionGroup getCollisionMask() const

Returns collision mask bits

Public attributes

rotOffset

raisim::Mat<3, 3> rotOffset

Rotation offset from the body frame to the collision frame.

posOffset

raisim::Vec<3> posOffset

Position offset from the body frame to the collision frame, expressed in the body frame [m].

localIdx

size_t localIdx

Body index within the articulated system.

colBody

CollisionBodyHandle colBody

Collision body handle for this definition.

shape

Shape::Type shape

Shape type for the collision geometry.

shapeParam

raisim::Vec<4> shapeParam

Shape parameters [m]: box {x, y, z} (full lengths), sphere {radius}, cylinder/capsule {radius, length}.

scale

raisim::Vec<3> scale

Per-axis scale (used for mesh shapes).

meshIndex

int meshIndex

Internal: mesh index into the articulated system mesh list (-1 for primitives).