raisim::rscene::Wire
struct · #include <raisim/Rscene.hpp>
A distance constraint between two bodies (wire record), added with World::addSpatialTendon() as Engine 2 does.
Public attributes
path
cpp
std::string pathkind
cpp
std::string kind"stiff" (upper length limit), "compliant" (spring up to the length) or "custom" (slack).
bodyA
cpp
std::string bodyAThe two bodies, by object id or path.
bodyB
cpp
std::string bodyBlocalIndexA
cpp
int localIndexALocal body indices and attachment points (m).
localIndexB
cpp
int localIndexBlocalPositionA
cpp
Vec3 localPositionAlocalPositionB
cpp
Vec3 localPositionBlength
cpp
double lengthLength (m), stiffness (N/m), damping and limit compliance.
stiffness
cpp
double stiffnessdamping
cpp
double dampingcompliance
cpp
double compliancevisualizationWidth
cpp
double visualizationWidthDrawn width (m); zero hides the wire.