`geometry`

Interface and implementation of geometries.

Subpackages

textures

Package Contents

Classes

`Geometry`	Geometry describing part of a rigid body shape.
`GeometryBox`	Box geometry.
`GeometryHeightmap`	A heightmap geometry.
`GeometryPlane`	A flat plane geometry.
`GeometrySphere`	Box geometry.

class Geometry

Geometry describing part of a rigid body shape.

pose: simulation.scene._pose.Pose: Pose of the geometry.

mass: float

Mass of the geometry.

This the absolute mass, irrespective of the size of the bounding box.

texture: simulation.scene.geometry.textures.Texture: Texture when rendering this geometry.

class GeometryBox

Bases: simulation.scene.geometry._geometry.Geometry

Inheritance diagram of simulation.scene.geometry.GeometryBox

Box geometry.

aabb: simulation.scene._aabb.AABB: AABB describing the box’s bounding box.

class GeometryHeightmap

Bases: simulation.scene.geometry._geometry.Geometry

Inheritance diagram of simulation.scene.geometry.GeometryHeightmap

A heightmap geometry.

Similarly to the Plane geometry, x and y of size define the space the heighmap encompasses. The z-coordinate defines the height of a heightmap edge when it’s value is maximum. heights defines the edge of the heighmap. Values much lie between 0.0 and 1.0, inclusive. base_thickness defines the thickness of the box below the heighmap, which is requires for proper collision detection in some simulators.