Single-Body Objects

SingleBodyObject API (Parent class)

class raisim::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

void setExternalForce(size_t localIdx, const Vec<3> &force) final

apply forces at the Center of Mass

void setExternalTorque(size_t localIdx, const Vec<3> &torque) final

apply torque on a body

void setExternalForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final

apply force (expressed in the world frame) at specific location of the body (expressed in the body frame)

void setConstraintForce(size_t localIdx, const Vec<3> &pos, const Vec<3> &force) final

apply spring force (expressed in the world frame) at specific location of the body (expressed in the body frame)

Sphere API

class raisim::Sphere : public raisim::SingleBodyObject

Public Functions

Sphere(double radius, double mass)

NOTE body frame origin of Sphere is C.O.M of Sphere

Box API

class raisim::Box : public raisim::SingleBodyObject

Public Functions

Box(double xLength, double yLength, double zLength, double mass)

NOTE body origin of Box is C.O.M of Box

Capsule API

class raisim::Capsule : public raisim::SingleBodyObject

Public Functions

Capsule(double radius, double height, double mass)

NOTE body origin of Capsule is C.O.M of Capsule

Cylinder API

class raisim::Cylinder : public raisim::SingleBodyObject

Public Functions

Cylinder(double radius, double height, double mass)

NOTE body frame origin of Cylinder is C.O.M of Cylinder

Ground API

class Ground : public raisim::SingleBodyObject