raisim::DeformableObject::MeshParticleOptions

struct · #include <raisim/object/deformable/DeformableObject.hpp>

How particles are generated from an OBJ mesh (see loadObj(const std::string&, const std::vector<unsigned int>&, const Material&, const MeshBuildOptions&)).

Public types

Mode

enum class Mode

Particle generation mode.

Enumerator	Description
Surface	Resample the surface so that no triangle edge is longer than spacing.
Filled	Surface resampling plus interior particles (requires a closed mesh), with the mass lumped by volume. With a positive Material::youngsModulus the particles are tetrahedralized and the object is an elastic solid (the interior particles lie on a body-centered cubic lattice). Otherwise the interior particles lie on a regular grid and every one of them is connected to all particles within sqrt(3) * spacing (its lattice neighbors and the nearby surface particles) by distance constraints.

Public attributes

mode

Mode mode

Particle generation mode.

scale

double scale

Uniform scale applied to the mesh vertices.

spacing

double spacing

Target particle spacing (m) for surface resampling and the interior fill.

maxFillParticles

size_t maxFillParticles

Upper bound on the number of interior particles for Filled mode.