raisim::Compound::CompoundObjectChild

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

One primitive child of a compound.

Public attributes

childCompound

std::string childCompound

Child compound name (reserved, currently unused).

objectType

ObjectType objectType

Child object type: BOX, CYLINDER, CAPSULE or SPHERE.

objectParam

Vec<4> objectParam

Child shape parameters (m): BOX {x, y, z full lengths}, CYLINDER/CAPSULE {radius, height}, SPHERE {radius}; finite and positive (a capsule's height may be zero), fatal otherwise. Unused entries are ignored.

material

std::string material

Material name for contacts.

appearance

std::string appearance

Appearance material name for visualization.

trans

Transformation trans

Pose of the child in the compound body frame.