raisim::Rasset::InstanceOptions

struct · #include <raisim/Rasset.hpp>

Placement and physics options of one instance (see instantiate()).

Public attributes

position

std::array<double, 3> position

Instance position in the world frame (m).

quaternion

std::array<double, 4> quaternion

Instance orientation (w, x, y, z); must be a unit quaternion.

scale

double scale

Uniform scale applied to collider sizes and offsets; must be positive.

bodyType

BodyType bodyType

Body type of every created body.

mass

double mass

Mass (kg) given to each created body; must be positive.

name

std::string name

Name of the first body; further bodies are named "\<name\> collision \<i\>". Empty leaves names unset.

material

std::string material

Contact material of every created body.

collisionGroup

CollisionGroup collisionGroup

Collision group of every created body.

collisionMask

CollisionGroup collisionMask

Collision mask of every created body.