raisim::Rasset

struct · #include <raisim/Rasset.hpp>

A reusable visual asset with collision shapes in the visual's local frame. .rasset files are XML; paths are relative to the descriptor, not the process. The format is a <rasset version="1"> root with exactly one <visual file="..."/> and at least one <collision type="..." .../> element. All methods throw on invalid input.

Nested classes

• struct Collider — One collision shape, posed in the asset's local frame.
• struct InstanceOptions — Placement and physics options of one instance (see instantiate()).

Public member functions

save

void save(const std::filesystem::path &file) const

Write an editable descriptor, preserving mesh references relative to it. Throws std::invalid_argument if the asset is invalid or a mesh is missing, std::runtime_error if writing fails.

Parameters

Parameter	Description
file (in)	output path with the .rasset extension

instantiate

std::vector<SingleBodyObject *> instantiate(
    World &world,
    const InstanceOptions &options) const

Create hidden collision bodies at a uniformly scaled instance pose. A non-static instance must have exactly one collider. Throws std::invalid_argument on invalid options.

Parameters

Parameter	Description
world (in, out)	world that receives (and owns) the bodies
options (in)	instance pose, scale and physics options

Returns the created bodies, in collider order

addStaticColliders

std::vector<SingleBodyObject *> addStaticColliders(
    World &world,
    const std::array<double, 3> &position,
    double yaw,
    double scale,
    const std::string &name={},
    const std::string &material="default") const

Add hidden static physics proxies at a uniformly scaled, Z-yawed instance pose.

Parameters

Parameter	Description
world (in, out)	world that receives (and owns) the bodies
position (in)	instance position in the world frame (m)
yaw (in)	rotation about the world z axis (rad)
scale (in)	uniform scale
name (in)	name of the first body (see InstanceOptions::name)
material (in)	contact material

Returns the created bodies, in collider order

Static member functions

isDescriptorPath static

static bool isDescriptorPath(const std::filesystem::path &path)

Parameters

Parameter	Description
path (in)	file path

Returns true if the path has the .rasset extension

load static

static Rasset load(const std::filesystem::path &file)

Read a descriptor. Referenced files must exist; their paths are resolved against the descriptor's directory. Throws std::runtime_error on a malformed file.

Parameters

Parameter	Description
file (in)	path to the .rasset file

Returns the loaded asset

Public attributes

visualMesh

std::filesystem::path visualMesh

Visual mesh file.

colliders

std::vector<Collider> colliders

Collision shapes (at least one).