raisim::rscene::Object

struct · #include <raisim/Rscene.hpp>

A scene object (one object record).

Public attributes

id

std::string id

Node id and scene node path; the path is used as the body name.

path

std::string path

assetId

std::string assetId

The asset record this object was placed from, if any (see Asset).

shape

Shape shape

Primitive type.

transform

Transform transform

World pose and scale.

radius

double radius

Primitive radius (m), height (m) and mass (kg). A dynamic body needs a positive mass; addToWorld() uses 1 kg for a non-positive mass of other body modes.

height

double height

mass

double mass

contactMaterial

std::string contactMaterial

Physics contact material name and render material id (Material::id).

material

std::string material

materialRemaps

std::vector<std::string> materialRemaps

"source:target" pairs that replace a mesh's own materials by scene materials.

meshPath

std::string meshPath

physics mesh: collision mesh, else render mesh (Shape::Mesh)

renderMeshPath

std::string renderMeshPath

drawn mesh: render mesh, else collision mesh (Shape::Mesh)

visible

bool visible

False hides the body (appearance "hidden"); it still collides.

bodyMode

BodyMode bodyMode

Body mode. VisualOnly objects have no physics body.

castShadow

bool castShadow

Shadow flag for a viewer.

collisionGroup

CollisionGroup collisionGroup

Collision group and mask. A Ground uses only the mask.

collisionMask

CollisionGroup collisionMask

meshCollision

MeshCollision meshCollision

Collision of a mesh file (not used for a .rasset descriptor).

coacd

CoacdSettings coacd

customInertia

bool customInertia

Custom inertia (diagonal, kg m^2) and center of mass (m) of a dynamic mesh body.

inertiaDiagonal

Vec3 inertiaDiagonal

centerOfMass

Vec3 centerOfMass

visual

VisualSettings visual

Visual settings for a viewer that draws the object itself.