Struct PhysicalBodyParams

Struct PhysicalBodyParams#

Inheritance Relationships#

Derived Type#

Struct Documentation#

struct PhysicalBodyParams#

Struct with parameters for a PhysicalBody rigid physical body.

Subclassed by Karana::Dynamics::PhysicalModalBodyParams

Public Functions

PhysicalBodyParams(const km::SpatialInertia &spatial_inertia, const km::HomTran &body_to_joint_transform, const PhysicalHingeParams &hinge_params, const kc::ks_ptr<ParentBodyAttachmentParams> &parent_body_attachment_params, const std::vector<ks::ScenePartSpec> &scene_part_specs, const std::vector<ks::SceneFileObjectSpec> &scene_file_object_specs)#

Constructor.

Parameters:

  • spatial_inertia – The spatial inertia to assign to each body

  • body_to_joint_transform – The body to joint transform for the bodies

  • hinge_params – The data for the body’s hinge

  • parent_body_attachment_params – The parameters for attaching this body to its parent

  • scene_part_specs – List of scene part specs for the body

  • scene_file_object_specs – List of scene file object specs for the body

virtual ~PhysicalBodyParams()#

Destructor.

PhysicalBodyParams(const PhysicalBodyParams&) = delete#
inline PhysicalBodyParams &operator=(const PhysicalBodyParams &p) noexcept#

copy operator

Parameters:

p – the other params struct

Returns:

the updated params struct

Public Members

km::SpatialInertia spatial_inertia#

the spatial inertia to assign to each body

km::HomTran body_to_joint_transform#

the body to joint transform for the bodies

PhysicalHingeParams hinge_params#

The data for the body’s hinge.

kc::ks_ptr<ParentBodyAttachmentParams> parent_body_attachment_params#

The parameters for attaching this body to its parent.

std::vector<ks::ScenePartSpec> scene_part_specs#

list of scene part specs for the body

std::vector<ks::SceneFileObjectSpec> scene_file_object_specs#

list of scene file object specs for the body

Public Static Functions

static PhysicalBodyParams createDefault()#

Create a version of PhysicalBodyParams with all values filled in.

This is useful for testing or when you just need a body for a simple demo.

Returns:

A PhysicalBodyParams with all values filled in.

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