DcRigidBodyProperties

Fully qualified name: omni::isaac::dynamic_control::DcRigidBodyProperties

struct DcRigidBodyProperties

Properties of a rigid body.

Contains settings that control the behavior of a rigid body

Public Members

float mass

Mass of the rigid body.

carb::Float3 moment

Moment of inertia of the rigid body.

carb::Float3 cMassLocalPose

Local pose of the center of mass.

float maxDepenetrationVelocity = std::numeric_limits<float>::max()

Maximum velocity used for depenetration.

float maxContactImpulse = std::numeric_limits<float>::max()

Maximum impulse that can be applied at a contact.

uint32_t solverPositionIterationCount = 16

Number of position iterations for the solver.

uint32_t solverVelocityIterationCount = 1

Number of velocity iterations for the solver.