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
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void
setExternalForce
(size_t localIdx, const Vec<3> &force) final¶ apply forces at the Center of Mass
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void
setExternalTorque
(size_t localIdx, const Vec<3> &torque) final¶ apply torque on a body
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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)
-
void
Sphere API¶
-
class
raisim
::
Sphere
: public raisim::SingleBodyObject¶
Box API¶
-
class
raisim
::
Box
: public raisim::SingleBodyObject¶
Capsule API¶
-
class
raisim
::
Capsule
: public raisim::SingleBodyObject¶
Cylinder API¶
-
class
raisim
::
Cylinder
: public raisim::SingleBodyObject¶
Ground API¶
-
class
Ground
: public raisim::SingleBodyObject¶