DcRigidBody

Fully qualified name: omni::isaac::dynamic_control::DcRigidBody

struct DcRigidBody

Represents a rigid body in the physics simulation.

Contains all the information needed to represent and manipulate a rigid body, including its PhysX representation, name, path, and relationships to other objects.

Public Members

DcHandle handle = kDcInvalidHandle

Handle to this rigid body.

DcContext *ctx = nullptr

Pointer to the context this rigid body belongs to.

DcArticulation *art = nullptr

Pointer to the articulation this rigid body belongs to, if any.

Will only be set if body is an articulation link

std::string name

Name of the rigid body.

pxr::SdfPath path

USD path of the rigid body.

::physx::PxRigidBody *pxRigidBody = nullptr

Pointer to the PhysX rigid body.

DcHandle parentJoint = kDcInvalidHandle

Handle to the parent joint of this rigid body.

std::vector<DcHandle> childJoints

Handles to the child joints of this rigid body.

Contains a list of joints for which this rigid body is the parent

carb::Float3 origin = {0.0f, 0.0f, 0.0f}

Origin offset for the rigid body.

Location with respect to which the body poses are set/get