Prefab parameters for an articulated actor. More...

#include <mochi_prefab.h>

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

Public Attributes
std::optional< DynamicString >	comment = std::nullopt
	Optional serialized comment.
DynamicArray< ArticulatedCycleJointParams >	cycles
	Cycle joints creating closed kinematic loops.
DynamicArray< ArticulatedJointPrefab >	joints
	Joint parameters (one per joint).
std::optional< DynamicArray< real > >	jointVelocities
	Optional initial velocity per DoF.
DynamicArray< ArticulatedLinkPrefab >	links
	Link parameters (one per link).
DynamicString	name
	Optional actor name.
Quaternion	rotation
	Actor rotation quaternion [x, y, z, w] relative to the prefab's local frame (i.e., the prefab-from-root rotation).
real	scale = 1_r
	Uniform scale baked into all link and skin shapes when the prefab is instantiated.
std::optional< ArticulatedSkinPrefab >	skin
	Optional skinned mesh parameters.
Real3	translation = {}
	Actor translation [x, y, z] relative to the prefab's local frame (i.e., the prefab-from-root translation).

Detailed Description

Prefab parameters for an articulated actor.

Definition at line 138 of file mochi_prefab.h.

Member Function Documentation

◆ operator==()

bool superdex::prefab::ArticulatedActorPrefab::operator== ( ArticulatedActorPrefab const & ) const

default

Member Data Documentation

◆ comment

std::optional<DynamicString> superdex::prefab::ArticulatedActorPrefab::comment = std::nullopt

Optional serialized comment.

Definition at line 139 of file mochi_prefab.h.

◆ cycles

DynamicArray<ArticulatedCycleJointParams> superdex::prefab::ArticulatedActorPrefab::cycles

Cycle joints creating closed kinematic loops.

Empty if no cycles exist.

Definition at line 144 of file mochi_prefab.h.

◆ joints

DynamicArray<ArticulatedJointPrefab> superdex::prefab::ArticulatedActorPrefab::joints

Joint parameters (one per joint).

Definition at line 145 of file mochi_prefab.h.

◆ jointVelocities

std::optional<DynamicArray<real> > superdex::prefab::ArticulatedActorPrefab::jointVelocities

Optional initial velocity per DoF.

Note: Units depend on joint type: [rad/s] for revolute and spherical, [m/s] for prismatic.

Definition at line 148 of file mochi_prefab.h.

◆ links

DynamicArray<ArticulatedLinkPrefab> superdex::prefab::ArticulatedActorPrefab::links

Link parameters (one per link).

Definition at line 146 of file mochi_prefab.h.

◆ name

DynamicString superdex::prefab::ArticulatedActorPrefab::name

Optional actor name.

Uniqueness is not enforced.

Note: Nested actor runtime paths use the effective actor name as the parent path, where the effective actor name is this actor name combined with any enclosing PrefabParams::name or PrefabReference::name path. If the effective actor name is empty, runtime nested actor paths use "unnamed_articulation" as the parent path. Prefab actor-reference fields such as contact filters and constraints are authored relative to their containing prefab, and enclosing prefab-reference names are prepended during instantiation. They do not resolve through the "unnamed_articulation" fallback. Use a non-empty actor name or enclosing prefab name when prefab references need to target nested actors.; A name shared by more than one actor cannot be referenced by a constraint, pose controller, or contact filter (see PoseControllerPrefab).

Definition at line 140 of file mochi_prefab.h.

◆ rotation

Quaternion superdex::prefab::ArticulatedActorPrefab::rotation

Actor rotation quaternion [x, y, z, w] relative to the prefab's local frame (i.e., the prefab-from-root rotation).

Composes with PrefabParams::rotation to produce the final world-from-root rotation.

Note: Must be finite and non-zero.

Definition at line 142 of file mochi_prefab.h.

◆ scale

real superdex::prefab::ArticulatedActorPrefab::scale = 1_r

Uniform scale baked into all link and skin shapes when the prefab is instantiated.

Note: Must be strictly positive and finite. Negative or zero scale is invalid and rejected at AddToScene.; This scale is not applied to rotation and translation. It scales each link's baked shape by multiplying both ArticulatedLinkPrefab::shapeScale and ArticulatedLinkPrefab::shapeTranslation. It also uniformly scales the skin shape.

Definition at line 141 of file mochi_prefab.h.

◆ skin

std::optional<ArticulatedSkinPrefab> superdex::prefab::ArticulatedActorPrefab::skin

Optional skinned mesh parameters.

Definition at line 147 of file mochi_prefab.h.

◆ translation

Real3 superdex::prefab::ArticulatedActorPrefab::translation = {}

Actor translation [x, y, z] relative to the prefab's local frame (i.e., the prefab-from-root translation).

Composes with PrefabParams::scale, PrefabParams::rotation, and PrefabParams::translation to produce the final world-from-root translation.

Note: Must be finite.

Definition at line 143 of file mochi_prefab.h.

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

Public Member Functions

Public Attributes