R3UrdfLoaderOptions Struct Reference

Loader configuration. More...

#include <rapier.h>

Data Fields
R3Bool	createCollidersFromCollisionShapes
	Whether to build colliders from collision geometry.
R3Bool	createCollidersFromVisualShapes
	Whether to also build colliders from visual geometry.
R3Bool	applyImportedMassProps
	Whether to use imported mass/inertia properties.
R3Bool	enableJointCollisions
	Whether bodies connected by imported joints may collide.
R3Bool	makeRootsFixed
	Whether imported root bodies are fixed.
R3Bool	squeezeEmptyFixedLinks
	Whether to merge empty fixed URDF links.
struct R3Pose	shift
	Transform applied to the imported model.
R3Real	scale
	Shape scale along each axis.
struct R3ColliderDesc	colliderBlueprint
	Default collider description; nested geometry resources are borrowed through loading.
struct R3RigidBodyDesc	rigidBodyBlueprint
	Default rigid-body description used by the importer.

Detailed Description

Loader configuration.

Initialize with DefaultUrdfLoaderOptions; no destructor. Blueprint array views and shared shapes are borrowed through the load call.

Field Documentation

applyImportedMassProps

R3Bool R3UrdfLoaderOptions::applyImportedMassProps

Whether to use imported mass/inertia properties.

colliderBlueprint

struct R3ColliderDesc R3UrdfLoaderOptions::colliderBlueprint

Default collider description; nested geometry resources are borrowed through loading.

createCollidersFromCollisionShapes

R3Bool R3UrdfLoaderOptions::createCollidersFromCollisionShapes

Whether to build colliders from collision geometry.

createCollidersFromVisualShapes

R3Bool R3UrdfLoaderOptions::createCollidersFromVisualShapes

Whether to also build colliders from visual geometry.

enableJointCollisions

R3Bool R3UrdfLoaderOptions::enableJointCollisions

Whether bodies connected by imported joints may collide.

makeRootsFixed

R3Bool R3UrdfLoaderOptions::makeRootsFixed

Whether imported root bodies are fixed.

rigidBodyBlueprint

struct R3RigidBodyDesc R3UrdfLoaderOptions::rigidBodyBlueprint

Default rigid-body description used by the importer.

scale

R3Real R3UrdfLoaderOptions::scale

Shape scale along each axis.

shift

struct R3Pose R3UrdfLoaderOptions::shift

Transform applied to the imported model.

squeezeEmptyFixedLinks

R3Bool R3UrdfLoaderOptions::squeezeEmptyFixedLinks

Whether to merge empty fixed URDF links.

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

• rapier.h