distance3d.hydroelastic_contact.RigidBody

class distance3d.hydroelastic_contact.RigidBody(body2origin, vertices, tetrahedra, potentials, youngs_modulus=1.0)[source]

Rigid body represented by tetrahedral mesh.

Parameters:
body2originarray, shape (4, 4)

Pose of the mesh.

verticesarray, shape (n_vertices, 3)

Vertices of the mesh.

tetrahedraarray, shape (n_tetrahedra, 4)

Indices of vertices that form tetrahedra of the mesh.

potentialsarray, shape (n_vertices,)

Potential of each vertex. Shortest distance to surface.

youngs_modulusfloat, optional (default: 1.0)

The stiffness of the material the rigidbody is made out of.

Attributes:
aabb_tree

The aabb_tree for broad phase collision detection

aabbs

The aabbs for broad phase collision detection

artist_

The artist to visualize the rigid body as a wireframe.

com

Center of mass.

tetrahedra_points

All points of all tetrahedra in body frame.

tetrahedra_potentials

Potentials of tetrahedra.

youngs_modulus

Get the young’s modulus of the Object.

Methods

aabb()

The aabb of the rigidbody

express_in(new_body2origin)

Express tetrahedral meshes in another frame.

make_artist([c])

Creates a new artist.

make_box(box2origin, size)

Create box.

make_capsule(capsule2origin, radius, height)

Create capsule.

make_cube(cube2origin, size)

Create cube.

make_cylinder(cylinder2origin, radius, length)

Create cylinder.

make_ellipsoid(ellipsoid2origin, radii[, order])

Create ellipsoid.

make_sphere(center, radius[, order])

Create sphere.

update_pose(body2origin)

Set new pose.
__init__(body2origin, vertices, tetrahedra, potentials, youngs_modulus=1.0)[source]

Methods

__init__(body2origin, vertices, tetrahedra, ...)

aabb()

The aabb of the rigidbody

express_in(new_body2origin)

Express tetrahedral meshes in another frame.

make_artist([c])

Creates a new artist.

make_box(box2origin, size)

Create box.

make_capsule(capsule2origin, radius, height)

Create capsule.

make_cube(cube2origin, size)

Create cube.

make_cylinder(cylinder2origin, radius, length)

Create cylinder.

make_ellipsoid(ellipsoid2origin, radii[, order])

Create ellipsoid.

make_sphere(center, radius[, order])

Create sphere.

update_pose(body2origin)

Set new pose.

Attributes

aabb_tree

The aabb_tree for broad phase collision detection

aabbs

The aabbs for broad phase collision detection

artist_

The artist to visualize the rigid body as a wireframe.

com

Center of mass.

tetrahedra_points

All points of all tetrahedra in body frame.

tetrahedra_potentials

Potentials of tetrahedra.

youngs_modulus

Get the young's modulus of the Object.