Link parameters for an articulated actor prefab. More...

#include <mochi_prefab.h>

Inheritance diagram for superdex::prefab::ArticulatedLinkPrefab:

Public Member Functions
bool	operator== (ArticulatedLinkPrefab const &) const =default
Public Member Functions inherited from superdex::ArticulatedLinkParams
bool	operator== (ArticulatedLinkParams const &) const =default

Public Attributes
DynamicString	renderModelFile
	Optional path to a render model file (e.g.
Quaternion	renderModelRotation
	Rotation quaternion [x, y, z, w] to apply to the render model.
Real3	renderModelScale = {1_r, 1_r, 1_r}
	Scale [x, y, z] to apply to the render model.
Real3	renderModelTranslation = {}
	Translation [x, y, z] to apply to the render model.
DynamicString	shapeFile
	Path to a simulation model file defining the geometry of the rigid link actor.
Quaternion	shapeRotation
	Rotation quaternion [x, y, z, w] to bake into the shape file.
Real3	shapeScale = {1_r, 1_r, 1_r}
	Scale [x, y, z] to bake into the shape file.
Real3	shapeTranslation = {}
	Translation [x, y, z] to bake into the shape file.
Public Attributes inherited from superdex::ArticulatedLinkParams
ActorBoundaryElementType	boundaryElementType = ActorBoundaryElementType::Default
	Finite element type for boundary discretization.
std::optional< BoundarySubsamplingParams >	boundarySubsampling
	Optional subsampling for boundary integrals such as contact.
std::optional< Real3 >	centerOfMass
	Position [m] of the center of mass in the link actor's local frame.
ColliderType	colliderType = ColliderType::Auto
	Collision detection geometry.
ContactParams	contact
	Contact mechanics parameters.
std::optional< real >	density
	Uniform density [kg/m³] of the actor.
bool	hasGravity = true
	If true, the link actor will be affected by gravity.
DynamicString	layer
	Contact layer name for filtering contacts between actors.
std::optional< real >	mass
	Total mass [kg] of the actor.
std::optional< Real6 >	momentOfInertia
	Moment of inertia tensor [kg·m²] at the center of mass in the actor's local frame.
DynamicString	name
	Link local name.
TransformRT	parentJointFromLink
	Rotation and translation of the link with respect to the parent joint.
int	parentLink = -1
	Index of the parent link in ArticulatedActorParams::links, or -1 for the root.
ShapeHandle	shape
	Shape handle defining the actor's geometry and other metadata.

Detailed Description

Link parameters for an articulated actor prefab.

Extends ArticulatedLinkParams. The inherited ArticulatedLinkParams::shape (a runtime ShapeHandle) is replaced by shapeFile (a path serialized to JSON. The shape is loaded at instantiation time). Inherited link local-name requirements apply: names must not contain forward slash, backslash, or embedded NUL characters, and must be unique within the parent articulated actor's nested actor namespace after default-name assignment.

Definition at line 109 of file mochi_prefab.h.

Member Function Documentation

◆ operator==()

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

default

Member Data Documentation

◆ renderModelFile

DynamicString superdex::prefab::ArticulatedLinkPrefab::renderModelFile

Optional path to a render model file (e.g.

.glb) for visualization.

Note: SuperDex Physics does not use this field for simulation. It provides additional metadata for visualization in supported tools. Ignored if empty.

Definition at line 114 of file mochi_prefab.h.

◆ renderModelRotation

Quaternion superdex::prefab::ArticulatedLinkPrefab::renderModelRotation

Rotation quaternion [x, y, z, w] to apply to the render model.

Note: Ignored if renderModelFile is empty.

Definition at line 116 of file mochi_prefab.h.

◆ renderModelScale

Real3 superdex::prefab::ArticulatedLinkPrefab::renderModelScale = {1_r, 1_r, 1_r}

Scale [x, y, z] to apply to the render model.

Note: Ignored if renderModelFile is empty.

Definition at line 115 of file mochi_prefab.h.

◆ renderModelTranslation

Real3 superdex::prefab::ArticulatedLinkPrefab::renderModelTranslation = {}

Translation [x, y, z] to apply to the render model.

Note: Ignored if renderModelFile is empty.

Definition at line 117 of file mochi_prefab.h.

◆ shapeFile

DynamicString superdex::prefab::ArticulatedLinkPrefab::shapeFile

Path to a simulation model file defining the geometry of the rigid link actor.

Note: Leave empty for dummy links.

Definition at line 110 of file mochi_prefab.h.

◆ shapeRotation

Quaternion superdex::prefab::ArticulatedLinkPrefab::shapeRotation

Rotation quaternion [x, y, z, w] to bake into the shape file.

Note: Ignored if shapeFile is empty.

Definition at line 112 of file mochi_prefab.h.

◆ shapeScale

Real3 superdex::prefab::ArticulatedLinkPrefab::shapeScale = {1_r, 1_r, 1_r}

Scale [x, y, z] to bake into the shape file.

Note: Ignored if shapeFile is empty.; All components must be non-zero and finite. Negative scale mirrors the link shape.; Non-uniform scale is supported only for shape data that supports arbitrary per-axis bake scale. Unsupported scale values are rejected when the shape is loaded.; If ArticulatedLinkParams::mass, ArticulatedLinkParams::centerOfMass, or ArticulatedLinkParams::momentOfInertia are set explicitly, they are transformed consistently with the final per-axis scale applied to the link at AddToScene. If they are left unset, they are computed from the scaled shape.

Definition at line 111 of file mochi_prefab.h.

◆ shapeTranslation

Real3 superdex::prefab::ArticulatedLinkPrefab::shapeTranslation = {}

Translation [x, y, z] to bake into the shape file.

Note: Ignored if shapeFile is empty.

Definition at line 113 of file mochi_prefab.h.

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

Public Member Functions

Public Attributes