Prefab parameters for a rigid actor. More...

#include <mochi_prefab.h>

Inheritance diagram for superdex::prefab::RigidActorPrefab:

Public Attributes
std::optional< DynamicString >	comment = std::nullopt
	Optional serialized comment.
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.
Quaternion	rotation {}
	Actor rotation quaternion [x, y, z, w] relative to the prefab's local frame (i.e., the prefab-from-local rotation).
Real3	scale {1_r, 1_r, 1_r}
	Scale [x, y, z] to bake into the shape file.
DynamicString	shapeFile {}
	Path to a model file that will be loaded and referenced via ShapeHandle.
Quaternion	shapeRotation {}
	Rotation quaternion [x, y, z, w] to bake into the shape file.
Real3	shapeTranslation {}
	Translation [x, y, z] to bake into the shape file.
Real3	translation {}
	Actor translation [x, y, z] relative to the prefab's local frame (i.e., the prefab-from-local translation).
Public Attributes inherited from superdex::RigidActorParams
std::optional< Real3 >	angularVelocity
	Optional initial angular velocity in world frame [rad/s], zero otherwise.
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 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, actor is affected by gravity.
bool	isStatic = false
	If true, actor will be static (fixed in space).
DynamicString	layer
	Contact layer name for filtering contacts between actors.
std::optional< Real3 >	linearVelocity
	Optional initial linear velocity of the center of mass in world frame [m/s], zero otherwise.
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
	Optional actor name.
GridSdfParams	sdf
	Parameters used to construct a grid-based Signed Distance Field (SDF) if the shape doesn't already have one.
ShapeHandle	shape
	Shape handle defining the actor's geometry and other metadata.
TransformRT	worldFromLocal
	Initial rotation and translation of the actor's local frame with respect to world frame.

Additional Inherited Members
Public Member Functions inherited from superdex::RigidActorParams
bool	operator== (RigidActorParams const &) const =default

Detailed Description

Prefab parameters for a rigid actor.

Extends RigidActorParams. The inherited RigidActorParams::worldFromLocal is replaced by the prefab-relative rotation and translation fields, and the inherited RigidActorParams::shape (a runtime ShapeHandle) is replaced by shapeFile (a path serialized to JSON. The shape is loaded at instantiation time).

Note: The inherited RigidActorParams::name field need not be unique, but a name shared by more than one actor cannot be referenced by a constraint, pose controller, or contact filter.

Definition at line 72 of file mochi_prefab.h.

Member Data Documentation

◆ comment

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

Optional serialized comment.

Definition at line 73 of file mochi_prefab.h.

◆ renderModelFile

DynamicString superdex::prefab::RigidActorPrefab::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 80 of file mochi_prefab.h.

◆ renderModelRotation

Quaternion superdex::prefab::RigidActorPrefab::renderModelRotation

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

Note: Ignored if renderModelFile is empty.

Definition at line 82 of file mochi_prefab.h.

◆ renderModelScale

Real3 superdex::prefab::RigidActorPrefab::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 81 of file mochi_prefab.h.

◆ renderModelTranslation

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

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

Note: Ignored if renderModelFile is empty.

Definition at line 83 of file mochi_prefab.h.

◆ rotation

Quaternion superdex::prefab::RigidActorPrefab::rotation {}

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

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

Note: Must be finite and non-zero.

Definition at line 78 of file mochi_prefab.h.

◆ scale

Real3 superdex::prefab::RigidActorPrefab::scale {1_r, 1_r, 1_r}

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

Note: All components must be non-zero and finite. Negative scale mirrors the shape.; Some shape data cannot bake arbitrary non-uniform scale. Unsupported scale values are rejected when the shape is loaded.; Precomputed grid SDF data is preserved only when scale is uniform by absolute value. Non-uniform scale by absolute value discards the precomputed SDF. If an SDF collider is used, SuperDex Physics regenerates the SDF from the transformed mesh at runtime, which may be expensive.

Definition at line 75 of file mochi_prefab.h.

◆ shapeFile

DynamicString superdex::prefab::RigidActorPrefab::shapeFile {}

Path to a model file that will be loaded and referenced via ShapeHandle.

Definition at line 74 of file mochi_prefab.h.

◆ shapeRotation

Quaternion superdex::prefab::RigidActorPrefab::shapeRotation {}

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

Definition at line 76 of file mochi_prefab.h.

◆ shapeTranslation

Real3 superdex::prefab::RigidActorPrefab::shapeTranslation {}

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

Definition at line 77 of file mochi_prefab.h.

◆ translation

Real3 superdex::prefab::RigidActorPrefab::translation {}

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

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

Note: Must be finite.

Definition at line 79 of file mochi_prefab.h.

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

Public Attributes

Additional Inherited Members