Single-Body Objects¶
raisim::SingleBodyObject
is an object with only one rigid body.
raisim::Compound
object is is also a SingleBodyObject because its components move together as one rigid body.
All SingleBodyObjects has 6 degrees of freedom: 3 for position and 3 for orientation.
Compound¶
An example can be found here.
raisim::Compound
has multiple primitive shapes that are rigidly attached to each other to form a single rigid body.
The shapes do not have to overlap to stay attached.
A compound object can be added to world using the method raisim::World::addCompound
.
This method takes a vector of child, which have their own shape, material, position and orientation.
The shape can be specified by a geometric type (i.e., raisim::ObjectType
) and its size parameters (objectParam
).
The objectParam
follows a standard way to represent size of a primitive in Raisim, which is
Sphere: radius, 0, 0, 0
Box: x, y, z, 0
Capsule and cylinder: radius, height, 0, 0
The objectParam
is an instance of raisim::Vec<4>
.
All shapes require less than 4 parameters and the unnecessary elements (i.e., the zeroes above) are ignored.
The trans
member defines the position and orientation of the child in the body frame.
It is a struct
instance which has rot
and pos
members as public.
The following arguments, mass
, COM
and inertia
, specify the dynamical properties of the combined body.
SingleBodyObject API (Parent class)¶
-
class SingleBodyObject : public raisim::Object¶
this class is only for inheritance
Subclassed by raisim::Box, raisim::Capsule, raisim::Compound, raisim::Cone, raisim::Cylinder, raisim::Ground, raisim::HeightMap, raisim::Mesh, raisim::Sphere
Public Functions
-
inline Eigen::Vector4d getQuaternion() const¶
returns the quaternion in Eigen::Vector4d
- Returns
the orientation of the object
-
inline void getQuaternion(Vec<4> &quat) const¶
returns the quaternion in raisim::Vec<4>
- Parameters
quat – [out] the orientation of the object
-
inline Eigen::Matrix3d getRotationMatrix() const¶
returns the rotation matrix in Eigen::Matrix3d
- Returns
the orientation of the object
-
inline void getRotationMatrix(Mat<3, 3> &rotation) const¶
returns the quaternion in raisim::Mat<3,3>
- Parameters
rotation – [out] the orientation of the object
-
inline Eigen::Vector3d getPosition() const¶
returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position
- Returns
the position of the object
-
inline Eigen::Vector3d getComPosition() const¶
returns the body position in Eigen::Vector3d. Currently, all body positions are the same as the COM position
- Returns
the position of the object
-
inline const raisim::Vec<3> &getComPosition_rs() const¶
returns the body position in raisim::Vec<3>. Currently, all body positions are the same as the COM position
- Returns
the position of the object
-
inline const raisim::Vec<3> &getBodyToComPosition_rs() const¶
returns the body position in raisim::Vec<3>. Currently, all body positions are the same as the COM position
- Returns
the position of the object
-
inline Eigen::Vector3d getLinearVelocity() const¶
returns the linear velocity
- Returns
the linear velocity of the object
-
inline void getLinearVelocity(Vec<3> &linVel)¶
returns the linear velocity
- Parameters
linVel – [out] the linear velocity of the object
-
inline Eigen::Vector3d getAngularVelocity() const¶
returns the angular velocity
- Returns
the angular velocity of the object
-
inline void getAngularVelocity(Vec<3> &angVel)¶
returns the angular velocity
- Parameters
angVel – [out] the angular velocity of the object
-
inline virtual void getPosition(size_t localIdx, Vec<3> &pos_w) const final¶
returns position vector.
- Parameters
localIdx – [in] this should be always 0 (this method is just to keep the same api as the ArticulatedSystem class)
pos_w – [out] the position vector of the object
-
inline virtual void getOrientation(size_t localIdx, Mat<3, 3> &rot) const final¶
returns the orientation of the object
- Parameters
localIdx – [in] local idx should be always 0 (this method is just to keep the same api as the ArticulatedSystem class)
pos_w – [out] the rotation matrix of the object
-
inline const Mat<3, 3> &getOrientation() const¶
returns the rotation matrix
- Returns
rotation matrix
-
double getKineticEnergy() const¶
returns the kinetic energy
- Returns
the kinetic energy of the object
-
double getPotentialEnergy(const Vec<3> &gravity) const¶
returns the potential energy w.r.t. z=0 and the given gravitational acceleration
- Parameters
gravity – [in] gravitational acceleration
- Returns
the potential energy of the object
-
double getEnergy(const Vec<3> &gravity) const¶
equivalent to getKineticEnergy() + getPotentialEnergy(gravity)
- Parameters
gravity – [in] gravitational acceleration
- Returns
the sum of the potential and gravitational energy of the object
-
Eigen::Vector3d getLinearMomentum() const¶
returns the linear momentum of the object
- Returns
the linear momentum of the object
-
virtual double getMass(size_t localIdx = 0) const override¶
returns the mass of the object. The localIdx is unused
- Returns
the linear momentum of the object
-
inline void setMass(double mass)¶
set the mass of the object.
- Parameters
mass – [in] set the mass of the object
-
inline Eigen::Matrix3d getInertiaMatrix_B() const¶
get the inertia matrix in the body frame. This value is constant.
- Returns
the inertia matrix in the body frame
-
inline Eigen::Matrix3d getInertiaMatrix_W() const¶
get the inertia matrix in the world frame. This value changes as the body rotates.
- Returns
the inertia matrix in the world frame
-
inline const raisim::Mat<3, 3> &getInertiaMatrix_B_rs() const¶
get the inertia matrix in the body frame (raisim matrix type). This value is constant.
- Returns
the inertia matrix in the body frame
-
inline const raisim::Mat<3, 3> &getInertiaMatrix_W_rs() const¶
get the inertia matrix in the world frame (raisim matrix type). This value changes as the body rotates.
- Returns
the inertia matrix in the world frame
-
virtual ObjectType getObjectType() const final¶
get the object type. Possible types are SPHERE, BOX, CYLINDER, CONE, CAPSULE, MESH, HALFSPACE, COMPOUND, HEIGHTMAP, ARTICULATED_SYSTEM
- Returns
the object type
-
virtual void setPosition(const Eigen::Vector3d &originPosition)¶
Set position of the object (using Eigen)
- Parameters
originPosition – [in] Position
-
virtual void setPosition(double x, double y, double z)¶
Set position of the object (using three doubles)
- Parameters
x – [in] x position
y – [in] y position
z – [in] z position
-
virtual void setPosition(const Vec<3> &pos)¶
Set position of the object (using raisim::Vec<3>)
- Parameters
originPosition – [in] Position
-
inline virtual void setOrientation(const Eigen::Quaterniond &quaternion)¶
Set orientation of the object (using Eigen::Quaterniond)
- Parameters
quaternion – [in] quaternion
-
inline virtual void setOrientation(const Eigen::Vector4d &quaternion)¶
Set orientation of the object (using Eigen::Vector4d)
- Parameters
quaternion – [in] quaternion
-
inline virtual void setOrientation(double w, double x, double y, double z)¶
Set orientation of the object (using doubles)
- Parameters
w – [in] w
x – [in] w
y – [in] w
z – [in] w
-
inline virtual void setOrientation(const Eigen::Matrix3d &rotationMatrix)¶
Set orientation of the object (using Eigen::Matrix3d)
- Parameters
rotationMatrix – [in] rotation matrix
-
inline virtual void setOrientation(const Vec<4> &quat)¶
Set orientation of the object (using Vec<4>)
- Parameters
quat – [in] quaternion
-
virtual void setPose(const Eigen::Vector3d &originPosition, const Eigen::Quaterniond &quaternion)¶
Set both the position and orientation of the object (using Eigen::Vector3d and Eigen::Quaterniond)
- Parameters
originPosition – [in] position
quaternion – [in] quaternion
-
virtual void setPose(const Eigen::Vector3d &originPosition, const Eigen::Vector4d &quaternion)¶
Set both the position and orientation of the object (using Eigen::Vector3d and Eigen::Vector4d)
- Parameters
originPosition – [in] position
quaternion – [in] quaternion
-
virtual void setPose(const Eigen::Vector3d &originPosition, const Eigen::Matrix3d &rotationMatrix)¶
Set both the position and orientation of the object (using Eigen::Vector3d and Eigen::Matrix3d)
- Parameters
originPosition – [in] position
rotationMatrix – [in] rotation matrix
-
void setInertia(const Eigen::Matrix3d &inertia)¶
Set inertia of the object (using Eigen::Matrix3d)
- Parameters
inertia – [in] inertia of the object
-
inline void setInertia(const Mat<3, 3> &inertia)¶
Set inertia of the object (using raisim::Mat<3,3>)
- Parameters
inertia – [in] inertia of the object
-
inline const Vec<3> &getCom()¶
get the center of mass position
- Returns
the position of the center of mass
-
inline void setCom(const Vec<3> &com)¶
set the center of mass position
- Parameters
com – [in] the position of the center of mass
-
inline virtual void setVelocity(const Eigen::Vector3d &linearVelocity, const Eigen::Vector3d &angularVelocity)¶
set both the linear and angular velocity of the object (using Eigen::Vector3d)
- Parameters
linearVelocity – [in] the linear velocity of the object
angularVelocity – [in] the angular velocity of the object
-
inline void setVelocity(const Vec<3> &linearVelocity, const Vec<3> &angularVelocity)¶
set both the linear and angular velocity of the object (using raisim::Vec<3>)
- Parameters
linearVelocity – [in] the linear velocity of the object
angularVelocity – [in] the angular velocity of the object
-
inline virtual void setVelocity(double dx, double dy, double dz, double wx, double wy, double wz)¶
set both the linear and angular velocity of the object (using 6 doubles)
- Parameters
dx – [in] the x-axis linear velocity of the object
dy – [in] the y-axis linear velocity of the object
dz – [in] the z-axis linear velocity of the object
wx – [in] the x-axis angular velocity of the object
wy – [in] the y-axis angular velocity of the object
wz – [in] the z-axis angular velocity of the object
-
inline void setLinearVelocity(const Vec<3> &linearVelocity)¶
set only the linear velocity
- Parameters
linearVelocity – [in] the linear velocity
-
inline void setAngularVelocity(const Vec<3> &angularVelocity)¶
set only the angular velocity
- Parameters
angVel – [in] the angular velocity
-
virtual void setExternalForce(size_t localIdx, const Vec<3> &force) final¶
set external force on the object
- Parameters
localIdx – [in] this should always be 0 (because the single body object only has one body)
force – [in] force acting on the center of the mass (expressed in the world frame)
-
virtual void setExternalTorque(size_t localIdx, const Vec<3> &torque) final¶
set external torque on the object
- Parameters
localIdx – [in] this should always be 0 (because the single body object only has one body)
torque – [in] torque acting on body (expressed in the world frame)
-
virtual void setExternalForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final¶
set external force on the object
- Parameters
localIdx – [in] this should always be 0 (because the single body object only has one body)
pos – [in] the application point of the force (expressed in the world frame)
force – [in] force acting on the center of the mass (expressed in the world frame)
-
virtual void setConstraintForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final¶
should not be used by the users
-
virtual void getPosition(size_t localIdx, const Vec<3> &pos_b, Vec<3> &pos_w) const final¶
Get position of a point on the body
- Parameters
localIdx – [in] this should always be 0 (because the single body object only has one body)
pos_b – [in] the position of the body
pos_w – [out] the corresponding position in the world
-
inline void getPosition(Vec<3> &pos_w)¶
Get the geometric center of the object
- Parameters
pos_w – [out] the geometric center
-
virtual void getContactPointVel(size_t pointId, Vec<3> &vel) const final¶
get the contact point velocity in the world frame.
- Parameters
pointId – [in] the contact index. This is an index of a contact in the contact vector that you can retrieve from getContacts().
vel – [out] the contact point velocity in the world frame
-
void setLinearDamping(double damping)¶
Set the linear damping that the object experiences due to air
- Parameters
damping – [in] the damping coefficient in the body frame
-
void setAngularDamping(Vec<3> damping)¶
Set the angular damping that the object experiences due to air (proportional to the angular velocity).
- Parameters
damping – [in] the damping coefficient in the body frame
-
virtual void setBodyType(BodyType type)¶
set the body type. Dynamic means that object is free to move. Kinematic means that the object can have velocity but has an infinite mass (like a conveyor belt). Static means that the object cannot move and has an infinite mass.
- Parameters
type – [in] the body type
-
CollisionGroup getCollisionGroup()¶
get the current collision group of the object. Read the “Contact and Collision” to learn what the collision group is.
- Returns
the collision group
-
CollisionGroup getCollisionMask()¶
get the current collision mast of the object. Read the “Contact and Collision” to learn what the collision mast is.
- Returns
the collision mast
-
inline void setAppearance(const std::string &appearance)¶
set the appearance of the object. This works in both RaisimUnity and RaisimUnreal. But depending on the visualizer, they might do different things. You can specify the color by name like “blue”, “green”, “red” You can also specify the color by a string like “0, 0.5, 0.5, 1.0”, which represent the RGBA values
- Parameters
appearance – [in] the appearance of the object
-
inline const std::string &getAppearance() const¶
get the current appearance of the object
- Returns
appearance
-
inline virtual void clearExternalForcesAndTorques() override¶
delete all external forces and torques specified on the object. This method is called at the end of every frame.
-
inline Eigen::Vector4d getQuaternion() const¶
Compound API¶
-
class Compound : public raisim::SingleBodyObject¶
Public Functions
-
inline const std::vector<CompoundObjectChild> &getObjList()¶
returns the children of the compound
- Returns
the children of the compound
-
inline const std::vector<dGeomID> &getCollisionObjectList()¶
returns the collision list of the compound
- Returns
the collision list of the compound
-
virtual void setBodyType(BodyType type) final¶
set the body type. Dynamic means that object is free to move. Kinematic means that the object can have velocity but has an infinite mass (like a conveyor belt). Static means that the object cannot move and has an infinite mass.
- Parameters
type – [in] the body type
-
struct CompoundObjectChild¶
-
inline const std::vector<CompoundObjectChild> &getObjList()¶
Sphere API¶
-
class Sphere : public raisim::SingleBodyObject¶
Box API¶
-
class Box : public raisim::SingleBodyObject¶
Capsule API¶
-
class Capsule : public raisim::SingleBodyObject¶
Cylinder API¶
-
class Cylinder : public raisim::SingleBodyObject¶
Ground API¶
-
class Ground : public raisim::SingleBodyObject¶
Public Functions
-
inline double getHeight()¶
returns the height of the plane
- Returns
the height
-
inline double getHeight()¶