Prefab parameters for a soft actor. More...

#include <mochi_prefab.h>

Inheritance diagram for superdex::prefab::SoftActorPrefab:

Public Attributes
ColliderType	colliderType = ColliderType::None
	[Experimental] Collision detection geometry.
std::optional< DynamicString >	comment = std::nullopt
	Optional serialized comment.
ShapeHandle	flow
	[Experimental] Optional deep flow shape handle loaded from flowFile.
DynamicString	flowFile {}
	[Experimental] Optional path to a deep flow shape handle for collision detection.
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.
GridSdfParams	sdf
	[Experimental] Parameters used to construct a grid-based Signed Distance Field (SDF) if the shape doesn't already have one.
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).
bool	useRecentering = true
	[Experimental] Enable automatic recentering of the local coordinate system.
Public Attributes inherited from superdex::SoftActorParams
ActorBoundaryElementType	boundaryElementType = ActorBoundaryElementType::Default
	Finite element type for boundary discretization.
ContactParams	contact
	Contact mechanics parameters.
bool	hasGravity = true
	If true, actor is affected by gravity.
bool	hasInertia = true
	If true, actor is affected by inertial forces.
bool	hasStress = true
	If true, actor is affected by internal stress/strain forces.
DynamicString	layer
	Contact layer name for filtering contacts between actors.
SoftMaterialParams	material = {}
	Uniform material properties.
DynamicString	name
	Optional actor name.
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::SoftActorParams
bool	operator== (SoftActorParams const &) const =default

Detailed Description

Prefab parameters for a soft actor.

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

Note: When used as a standalone soft actor prefab, the inherited SoftActorParams::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 86 of file mochi_prefab.h.

Member Data Documentation

◆ colliderType

ColliderType superdex::prefab::SoftActorPrefab::colliderType = ColliderType::None

[Experimental] Collision detection geometry.

Note: Determines how OTHER actors detect contact with this actor. It does not affect how this actor detects contact with other actors.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Definition at line 89 of file mochi_prefab.h.

◆ comment

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

Optional serialized comment.

Definition at line 87 of file mochi_prefab.h.

◆ flow

ShapeHandle superdex::prefab::SoftActorPrefab::flow

[Experimental] Optional deep flow shape handle loaded from flowFile.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Definition at line 92 of file mochi_prefab.h.

◆ flowFile

DynamicString superdex::prefab::SoftActorPrefab::flowFile {}

[Experimental] Optional path to a deep flow shape handle for collision detection.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Definition at line 91 of file mochi_prefab.h.

◆ renderModelFile

DynamicString superdex::prefab::SoftActorPrefab::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 99 of file mochi_prefab.h.

◆ renderModelRotation

Quaternion superdex::prefab::SoftActorPrefab::renderModelRotation

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

Note: Ignored if renderModelFile is empty.

Definition at line 101 of file mochi_prefab.h.

◆ renderModelScale

Real3 superdex::prefab::SoftActorPrefab::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 100 of file mochi_prefab.h.

◆ renderModelTranslation

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

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

Note: Ignored if renderModelFile is empty.

Definition at line 102 of file mochi_prefab.h.

◆ rotation

Quaternion superdex::prefab::SoftActorPrefab::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 when used in ActorLists::soft.; Ignored when used in SoftSkinnedActorPrefab::softParams.

Definition at line 97 of file mochi_prefab.h.

◆ scale

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

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

Note: All components must be strictly positive and finite. Negative scale (mirroring) is not supported and rejected at AddToScene.; If flowFile is set, scale must be (1, 1, 1).; 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.

Definition at line 94 of file mochi_prefab.h.

◆ sdf

GridSdfParams superdex::prefab::SoftActorPrefab::sdf

[Experimental] Parameters used to construct a grid-based Signed Distance Field (SDF) if the shape doesn't already have one.

Note: Ignored if colliderType is not ColliderType::Sdf.; Ignored if the shape already has a grid-based SDF.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Definition at line 90 of file mochi_prefab.h.

◆ shapeFile

DynamicString superdex::prefab::SoftActorPrefab::shapeFile {}

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

Definition at line 88 of file mochi_prefab.h.

◆ shapeRotation

Quaternion superdex::prefab::SoftActorPrefab::shapeRotation {}

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

Definition at line 95 of file mochi_prefab.h.

◆ shapeTranslation

Real3 superdex::prefab::SoftActorPrefab::shapeTranslation {}

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

Definition at line 96 of file mochi_prefab.h.

◆ translation

Real3 superdex::prefab::SoftActorPrefab::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 when used in ActorLists::soft.; Ignored when used in SoftSkinnedActorPrefab::softParams.

Definition at line 98 of file mochi_prefab.h.

◆ useRecentering

bool superdex::prefab::SoftActorPrefab::useRecentering = true

[Experimental] Enable automatic recentering of the local coordinate system.

Note: Recentering updates the root transform as the actor moves, keeping local-space displacements small. This improves numerical stability for actors that move far from their initial position.; Ignored by soft skinned actors, which do not support recentering.

Warning: This is an experimental feature. It may be changed or removed in the future. Use at your own risk.

Definition at line 93 of file mochi_prefab.h.

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

Public Attributes

Additional Inherited Members