dynamic_control#
Fully qualified name: omni::isaac::dynamic_control
-
namespace dynamic_control#
Classes#
Enumerations#
- int32_t DcDofType
Types of degree of freedom.
- int32_t DcDriveMode
Drive modes for degrees-of-freedom.
- DcDtype
Data types for tensors.
- int32_t DcJointType
Types of joint.
- uint32_t DcObjectType
Types of objects that can be controlled via dynamic control.
Functions#
- constexpr uint32_t getHandleContextId(DcHandle h)
- constexpr uint32_t getHandleObjectId(DcHandle h)
- constexpr uint32_t getHandleTypeId(DcHandle h)
- constexpr DcHandle makeHandle(uint64_t objectId, uint64_t typeId, uint64_t contextId)
Namespaces#
Structs#
- DcArticulation
Represents an articulation in the physics simulation.
- DcArticulationProperties
Properties of an articulation.
- DcAttractor
Represents an attractor in the physics simulation.
- DcAttractorProperties
Properties to set up a pose attractor.
- DcD6Joint
Represents a D6 joint in the physics simulation.
- DcD6JointProperties
Properties to set up a D6 Joint.
- DcDof
Represents a degree of freedom in the physics simulation.
- DcDofProperties
Properties of a degree-of-freedom.
- DcDofState
State of a degree of freedom.
- DcJoint
Represents a joint in the physics simulation.
- DcRayCastResult
Result of a Raycast.
- DcRigidBody
Represents a rigid body in the physics simulation.
- DcRigidBodyProperties
Properties of a rigid body.
- DcRigidBodyState
State of a rigid body.
- DcShape
Shape descriptor for tensors.
- DcTransform
- DcVelocity
Velocity.
- DynamicControl
Interface for controlling physics objects in Isaac Sim.
Typedefs#
- DcAxisFlags
Type for axis flags.
- DcHandle
Handle type for dynamic control objects.
- DcStateFlags
Type for state flags.
Variables#
- constexpr DcAxisFlags kDcAxisAll
Corresponds to all axes.
- constexpr DcAxisFlags kDcAxisAllRotation
Corresponds to all Rotation axes.
- constexpr DcAxisFlags kDcAxisAllTranslation
Corresponds to all Translation axes.
- constexpr DcAxisFlags kDcAxisNone
No axis selected.
- constexpr DcAxisFlags kDcAxisSwing1
Corresponds to rotation around the body y-axis.
- constexpr DcAxisFlags kDcAxisSwing2
Corresponds to rotation around the body z-axis.
- constexpr DcAxisFlags kDcAxisTwist
Corresponds to rotation around the body x-axis.
- constexpr DcAxisFlags kDcAxisX
Corresponds to translation around the body x-axis.
- constexpr DcAxisFlags kDcAxisY
Corresponds to translation around the body y-axis.
- constexpr DcAxisFlags kDcAxisZ
Corresponds to translation around the body z-axis.
- constexpr DcHandle kDcInvalidHandle
Invalid handle constant.
- constexpr DcStateFlags kDcStateAll
All states.
- constexpr DcStateFlags kDcStateEffort
Forces/Torques states.
- constexpr DcStateFlags kDcStateNone
No state selected.
- constexpr DcStateFlags kDcStatePos
Position states.
- constexpr DcStateFlags kDcStateVel
Velocity states.
- constexpr carb::Float3 kFloat3Zero
Zero vector constant.
- constexpr uint64_t kHandleContextMask
- constexpr uint64_t kHandleObjectMask
- constexpr uint64_t kHandleTypeMask
- constexpr int kMaxDims
Maximum number of dimensions for a shape.
- constexpr carb::Float4 kQuatIdentity
Identity quaternion constant.
- constexpr carb::Float4 kQuatZero
Zero quaternion constant.
- constexpr DcTransform kTransformIdentity
Identity transform constant.
- constexpr DcTransform kTransformZero
Zero transform constant.
- constexpr DcVelocity kVelocityZero
Zero velocity constant.