_multi_body_system

Module Contents

Classes

MultiBodySystem

A (possibly cyclic) graph of interconnected rigid bodies, joints, and other objects, such as cameras.

class MultiBodySystem

A (possibly cyclic) graph of interconnected rigid bodies, joints, and other objects, such as cameras.

The first rigid body added is considered the root of the system. That is, if the system is static, that rigid body will be static.

property uuid: uuid.UUID

Get the uuid.

Returns:

The uuid.

property root: simulation.scene._rigid_body.RigidBody

Get the root rigid body of this multi-body system.

The root rigid body is the first rigid body that has been added.

Returns:

The root rigid body.

pose: simulation.scene._pose.Pose

Pose of the system.

is_static: bool

Whether the root rigid body is static.

I.e. its root (the first rigid body) is attached to the world and will not move or rotate.

add_rigid_body(rigid_body: simulation.scene._rigid_body.RigidBody) → None

Add a rigid body to the system.

Parameters:

rigid_body – The rigid body to add.

add_joint(joint: simulation.scene._joint.Joint) → None

Add a joint between two rigid bodies.

Parameters:

joint – The joint to add.

has_root() → bool

Check whether a root has been added.

The root rigid body is the first rigid body that has been added, so this is only false if there are zero rigid bodies in this multi-body system.

Returns:

Whether there is a root joint.

get_joints_for_rigid_body(rigid_body: simulation.scene._rigid_body.RigidBody) → list[simulation.scene._joint.Joint]

Get all joints attached to the provided rigid body.

Parameters:

rigid_body – A previously added rigid body.

Returns:

The attached joints.

calculate_aabb() → tuple[pyrr.Vector3, simulation.scene._aabb.AABB]

Calculate the axis-aligned bounding box of this multi-body system when it is in T-pose.

That is, when all joints are at position 0. Only box geometries are currently supported.

Returns:

Position, AABB

Raises:

ValueError – If one of the geometries is not a box.