raisim::Compound

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

Inherits: raisim::SingleBodyObject

A rigid body composed of primitive children (BOX, CYLINDER, CAPSULE, SPHERE) with user-given mass properties. Create it with World::addCompound().

Nested classes

• struct CompoundObjectChild — One primitive child of a compound.

Constructors & destructor

Compound

Compound(
    const std::vector<CompoundObjectChild> &list,
    double mass,
    const Vec<3> &COM,
    const Mat<3, 3> &inertia)

Parameters

Parameter	Description
list (in)	children (at least two; fatal error otherwise)
mass (in)	total mass (kg)
COM (in)	center of mass in the body frame (m)
inertia (in)	inertia about the COM in the body frame (kg m^2)

Public member functions

getObjList

const std::vector<CompoundObjectChild> &getObjList()

returns the children of the compound

Returns the children of the compound

getCollisionBodyList

const std::vector<CollisionBodyHandle> &getCollisionBodyList()

returns the collision list of the compound

Returns one collision body per child, in the order of getObjList()

setBodyType

void setBodyType(BodyType type) final

set the body type. Dynamic means that object is free to move. Kinematic means that the object can have velocity but has an infinite mass (like a conveyor belt). A kinematic body moves with its set velocity and ignores forces, gravity and contacts. Static means that the object cannot move and has an infinite mass.

Parameters

Parameter	Description
type (in)	the body type

destroyCollisionBodies

void destroyCollisionBodies() final

Internal: releases collision bodies before removal.

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, setCom, setConstraintForce, setExternalForce, setExternalTorque, setGyroscopicMode, setInertia, setLinearDamping, setLinearVelocity, setMass, setOrientation, setPose, setPosition, setVelocity

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