raisim::GranularSystem::BoxOptions

struct · #include <raisim/object/granular/GranularSystem.hpp>

Parameters of World::addGranularBox(): equal particles on a regular grid inside an axis-aligned box.

Public attributes

minCorner

Vec<3> minCorner

Minimum corner of the box in the world frame (m).

maxCorner

Vec<3> maxCorner

Maximum corner of the box in the world frame (m).

radius

double radius

Particle radius (m).

spacing

double spacing

Grid spacing between particle centers (m).

maxParticles

size_t maxParticles

Maximum number of particles; zero means unlimited.

velocity

Vec<3> velocity

Initial linear velocity (m/s).

angularVelocity

Vec<3> angularVelocity

Initial angular velocity (rad/s).

materialId

uint16_t materialId

Particle material id (see setParticleMaterial()).

fixed

bool fixed

Create fixed (static) particles.