Parameters to create an articulated actor. More...

#include <mochi_structs.h>

Public Member Functions
bool	operator== (ArticulatedActorParams const &) const =default

Public Attributes
DynamicArray< ArticulatedCycleJointParams >	cycles
	Optional cycle joints creating closed kinematic loops.
DynamicArray< ArticulatedJointParams >	joints
	Joint parameters (one per joint).
std::optional< DynamicArray< real > >	jointVelocities
	Optional initial joint velocity per DoF [m/s or rad/s].
DynamicArray< ArticulatedLinkParams >	links
	Link actor parameters (one per link).
DynamicString	name
	Name of the articulated actor.
std::optional< ArticulatedSkinParams >	skin
	Optional skinned mesh parameters.
TransformRT	worldFromRoot
	Initial rotation and translation of the articulated actor's local frame with respect to world frame.

Detailed Description

Parameters to create an articulated actor.

Articulated actors are composed of rigid links connected by joints, forming a kinematic tree with optional cycle joints. Per-link properties are supplied via links, per-joint properties via joints, and cycle-closing joints via cycles. An optional skinned surface mesh can be attached via skin.

Contact is automatically disabled between links that are: (a) directly adjacent, (b) reachable via hard joints, or (c) reachable via (dummy) shapeless links. To enable or disable contact for specific pairs of links, see Scene::EnableActorContactSymmetric.

See also: Scene::CreateArticulatedActor

Definition at line 245 of file mochi_structs.h.

Member Function Documentation

◆ operator==()

bool superdex::ArticulatedActorParams::operator== ( ArticulatedActorParams const & ) const

default

Member Data Documentation

◆ cycles

DynamicArray<ArticulatedCycleJointParams> superdex::ArticulatedActorParams::cycles

Optional cycle joints creating closed kinematic loops.

Empty if no cycles exist.

Definition at line 248 of file mochi_structs.h.

◆ joints

DynamicArray<ArticulatedJointParams> superdex::ArticulatedActorParams::joints

Joint parameters (one per joint).

Note: Size must match links.

Definition at line 249 of file mochi_structs.h.

◆ jointVelocities

std::optional<DynamicArray<real> > superdex::ArticulatedActorParams::jointVelocities

Optional initial joint velocity per DoF [m/s or rad/s].

See also: Actor::GetArticulatedJointVelocities, Actor::SetArticulatedJointVelocities

Definition at line 252 of file mochi_structs.h.

◆ links

DynamicArray<ArticulatedLinkParams> superdex::ArticulatedActorParams::links

Link actor parameters (one per link).

Must contain at least one link.

Note: Size must match joints.; Links must be listed in parent-first order: the root link is at index 0 with parentLink == -1, and any other link's parentLink must be smaller than its own index.

Definition at line 250 of file mochi_structs.h.

◆ name

DynamicString superdex::ArticulatedActorParams::name

Name of the articulated actor.

Note: Uniqueness of names is not enforced.; Link actor names have the form "articulatedActorName/linkLocalName", where linkLocalName is the link's local name. If the articulated actor name is empty, link actors use "unnamed_articulation" as the parent name.

Definition at line 246 of file mochi_structs.h.

◆ skin

std::optional<ArticulatedSkinParams> superdex::ArticulatedActorParams::skin

Optional skinned mesh parameters.

Definition at line 251 of file mochi_structs.h.

◆ worldFromRoot

TransformRT superdex::ArticulatedActorParams::worldFromRoot

Initial rotation and translation of the articulated actor's local frame with respect to world frame.

Definition at line 247 of file mochi_structs.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes