raisim::World::RayCastBody
struct · #include <raisim/World.hpp>
Collision geometry of one body, exactly as rayTest() and rayTestLidar() test it.
Public attributes
shape
cpp
const ::contact::Shape *shapeShape type and dimensions; mesh and heightmap shapes reference data owned by the world.
position
cpp
Vec<3> positionBody origin in the world frame (m).
rotation
cpp
Mat<3, 3> rotationBody-to-world rotation.
object
cpp
const Object *objectOwning object.
localIdx
cpp
size_t localIdxLocal body index within the object (the localId of rayTest()).
collisionGroup
cpp
std::uint64_t collisionGroupCollision group bits of the body.
collisionMask
cpp
std::uint64_t collisionMaskCollision mask bits of the body.