There are three available body types.
DYNAMIC: can have a velocity, has a finite mass
KINEMATIC: can have a velocity, has an infinite mass (e.g., conveyor belt)
STATIC: cannot have a velocity, has an infinite mass (e.g., wall)
SingleBodyObjects can be of any type. ArticulatedSystems can only be DYNAMIC except the fixed base which can be STATIC.
You can get/set the body type using
getBodyType() for ArticulatedSystems always returns DYNAMIC.
All objects can be named. These names are used by visualizers. raisim::World has a functionality to retrieve an object by name. Here is an example.
auto sphere = world.addSphere(1,1); sphere->setName("sphere"); std::string name = sphere->getName(); auto same_sphere = world.getObject("sphere");
All objects can be specified as either a SingleBodyObject or an ArticulatedSystem.