MJCFGeom#

Fully qualified name: isaacsim::asset::importer::mjcf::MJCFGeom

class MJCFGeom : public isaacsim::asset::importer::mjcf::MJCFVisualElement #

Geometry element for collision detection and physics simulation.

Extends MJCFVisualElement with physical properties needed for collision detection and contact dynamics. Contains material properties, contact parameters, friction coefficients, and spatial positioning information.

Public Types

enum Type#

Enumeration of geometric shape types for visual elements.

Values:

enumerator CAPSULE#: Capsule shape (cylinder with hemispherical caps).

enumerator SPHERE#: Sphere shape.

enumerator ELLIPSOID#: Ellipsoid shape.

enumerator CYLINDER#: Cylinder shape.

enumerator BOX#: Box (rectangular cuboid) shape.

enumerator MESH#: Mesh shape loaded from file.

enumerator PLANE#: Infinite plane shape.

enumerator OTHER#: Other or unspecified shape type.

Public Functions

inline MJCFGeom()#

Public Members

float density#: Mass density of the geometry material.

int conaffinity#: Contact affinity bitmask for collision filtering.

int condim#: Number of contact dimensions (1-6).

int contype#: Contact type bitmask for collision filtering.

float margin#: Contact margin for collision detection.

Vec3 friction#: Friction coefficients [sliding, torsional, rolling].

Vec3 solimp#: Constraint solver impedance parameters.

Vec2 solref#: Constraint solver reference parameters.

Vec3 from#: Start point for geometry shapes defined by two points.

Vec3 to#: End point for geometry shapes defined by two points.

Vec3 pos#: Position offset in the parent body frame.

Quat quat#: Quaternion orientation relative to parent body.

Vec4 axisangle#: Axis-angle representation of orientation.

Vec3 zaxis#: Z-axis direction for orientation specification.

std::string mesh#: Name of the mesh file for mesh geometry types.

bool hasFromTo#: Whether the geometry is defined by from-to points.

std::string name#: Name identifier for the visual element.

std::string material#: Name of the material applied to this element.

Vec4 rgba#: RGBA color values [red, green, blue, alpha].

Vec3 size#: Size dimensions of the geometric shape.

Type type#: Type of geometric shape for this visual element.