DynamicControl#

Fully qualified name: omni::isaac::dynamic_control::DynamicControl

struct DynamicControl#

Interface for controlling physics objects in Isaac Sim.

The Dynamic Control extension provides a set of utilities to control physics objects. It provides opaque handles for different physics objects that remain valid between PhysX scene resets, which occur whenever play or stop is pressed.

Public Members

bool (*isSimulating)()#

Checks if the physics simulation is currently running.

Return:: True if simulation is running, false otherwise

DcHandle (*getRigidBody)(const char *usdPath)#

Gets a handle to a rigid body at the specified USD path.

Param usdPath:: [in] Path to the rigid body in the USD stage
Return:: Handle to the rigid body, or an invalid handle if not found

DcHandle (*getJoint)(const char *usdPath)#

Gets a handle to a joint at the specified USD path.

Param usdPath:: [in] Path to the joint in the USD stage
Return:: Handle to the joint, or an invalid handle if not found

DcHandle (*getDof)(const char *usdPath)#

Gets a handle to a degree of freedom at the specified USD path.

Param usdPath:: [in] Path to the degree of freedom in the USD stage
Return:: Handle to the degree of freedom, or an invalid handle if not found

DcHandle (*getArticulation)(const char *usdPath)#

Gets a handle to an articulation at the specified USD path.

Param usdPath:: [in] Path to the articulation in the USD stage
Return:: Handle to the articulation, or an invalid handle if not found

DcHandle (*getD6Joint)(const char *usdPath)#

Gets a handle to a D6 joint at the specified USD path.

Param usdPath:: [in] Path to the D6 joint in the USD stage
Return:: Handle to the D6 joint, or an invalid handle if not found

DcHandle (*getObject)(const char *usdPath)#

Gets a handle to a physics object at the specified USD path.

Param usdPath:: [in] Path to the physics object in the USD stage
Return:: Handle to the physics object, or an invalid handle if not found

DcObjectType (*peekObjectType)(const char *usdPath)#

Checks the type of a physics object at the specified USD path without creating a handle.

Param usdPath:: [in] Path to the physics object in the USD stage
Return:: Type of the physics object

DcObjectType (*getObjectType)(DcHandle handle)#

Gets the type of a physics object from its handle.

Param handle:: [in] Handle to the physics object
Return:: Type of the physics object

const char *(*getObjectTypeName)(DcHandle handle)#

Gets the type name of a physics object from its handle.

Param handle:: [in] Handle to the physics object
Return:: Type name of the physics object as a string

bool (*wakeUpRigidBody)(DcHandle bodyHandle)#

Wakes up a rigid body for simulation.

Param bodyHandle:: [in] Handle to the rigid body
Return:: True if successful, false otherwise

bool (*wakeUpArticulation)(DcHandle artHandle)#

Wakes up an articulation for simulation.

Param artHandle:: [in] Handle to the articulation
Return:: True if successful, false otherwise

bool (*sleepRigidBody)(DcHandle bodyHandle)#

Puts a rigid body to sleep.

Param bodyHandle:: [in] Handle to the rigid body
Return:: True if successful, false otherwise

bool (*sleepArticulation)(DcHandle artHandle)#

Puts an articulation to sleep.

Param artHandle:: [in] Handle to the articulation
Return:: True if successful, false otherwise

const char *(*getArticulationName)(DcHandle artHandle)#

Gets the name of an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: Name of the articulation

const char *(*getArticulationPath)(DcHandle artHandle)#

Gets the USD path of an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: USD path of the articulation

size_t (*getArticulationBodyCount)(DcHandle artHandle)#

Gets the number of rigid bodies in an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: Number of rigid bodies in the articulation

DcHandle (*getArticulationBody)(DcHandle artHandle, size_t bodyIdx)#

Gets a rigid body in an articulation by its index.

Param artHandle:: [in] Handle to the articulation
Param bodyIdx:: [in] Index of the rigid body
Return:: Handle to the rigid body

DcHandle (*findArticulationBody)(DcHandle artHandle, const char *bodyName)#

Finds a rigid body in an articulation by its name.

Param artHandle:: [in] Handle to the articulation
Param bodyName:: [in] Name of the rigid body
Return:: Handle to the rigid body, or an invalid handle if not found

int (*findArticulationBodyIndex)(DcHandle artHandle, const char *bodyName)#

Finds the index of a rigid body in an articulation by its name.

Param artHandle:: [in] Handle to the articulation
Param bodyName:: [in] Name of the rigid body
Return:: Index of the rigid body, or -1 if not found

DcHandle (*getArticulationRootBody)(DcHandle artHandle)#

Gets the root rigid body of an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: Handle to the root rigid body

DcRigidBodyState *(*getArticulationBodyStates)(DcHandle artHandle, const DcStateFlags &flags)#

Gets the states of all rigid bodies in an articulation.

Param artHandle:: [in] Handle to the articulation
Param flags:: [in] Flags indicating which states to get (position, velocity, etc.)
Return:: Array of rigid body states

bool (*getArticulationProperties)(DcHandle artHandle, DcArticulationProperties *properties)#

       \param actor the actor.
       \param states the states to set.
       \param flags flags for the state to obtain (kDcStatePos, kDcStateVel, or kDcStateAll)
     &zwj;/

bool(CARB_ABI* setArticulationBodyStates)(DcHandle artHandle, const DcRigidBodyState* states, DcStateFlags flags);

/**
   @brief Gets the properties of an articulation
   @param[in] artHandle Handle to the articulation
   @param[out] properties Articulation properties to be filled
   @return True if successful, false otherwise

bool (*setArticulationProperties)(DcHandle artHandle, const DcArticulationProperties &properties)#

Sets the properties of an articulation.

Param artHandle:: [in] Handle to the articulation
Param properties:: [in] Articulation properties to set
Return:: True if successful, false otherwise

size_t (*getArticulationJointCount)(DcHandle artHandle)#

Gets the number of joints in an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: Number of joints in the articulation

DcHandle (*getArticulationJoint)(DcHandle artHandle, size_t jointIdx)#

Gets a joint in an articulation by its index.

Param artHandle:: [in] Handle to the articulation
Param jointIdx:: [in] Index of the joint
Return:: Handle to the joint

DcHandle (*findArticulationJoint)(DcHandle artHandle, const char *jointName)#

Finds a joint in an articulation by its name.

Param artHandle:: [in] Handle to the articulation
Param jointName:: [in] Name of the joint
Return:: Handle to the joint, or an invalid handle if not found

size_t (*getArticulationDofCount)(DcHandle artHandle)#

Gets the number of degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Return:: Number of degrees of freedom in the articulation

DcHandle (*getArticulationDof)(DcHandle artHandle, size_t dofIdx)#

Gets a degree of freedom in an articulation by its index.

Param artHandle:: [in] Handle to the articulation
Param dofIdx:: [in] Index of the degree of freedom
Return:: Handle to the degree of freedom

DcHandle (*findArticulationDof)(DcHandle artHandle, const char *dofName)#

Finds a degree of freedom in an articulation by its name.

Param artHandle:: [in] Handle to the articulation
Param dofName:: [in] Name of the degree of freedom
Return:: Handle to the degree of freedom, or an invalid handle if not found

int (*findArticulationDofIndex)(DcHandle artHandle, const char *dofName)#

Finds the index of a degree of freedom in an articulation by its name.

Param artHandle:: [in] Handle to the articulation
Param dofName:: [in] Name of the degree of freedom
Return:: Index of the degree of freedom, or -1 if not found

bool (*getArticulationDofProperties)(DcHandle artHandle, DcDofProperties *props)#

Gets the properties of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param props:: [out] Array of degree of freedom properties to be filled
Return:: True if successful, false otherwise

bool (*setArticulationDofProperties)(DcHandle artHandle, const DcDofProperties *props)#

Sets the properties of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param props:: [in] Array of degree of freedom properties to set
Return:: True if successful, false otherwise

DcDofState *(*getArticulationDofStates)(DcHandle artHandle, const DcStateFlags &flags)#

Gets the states of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param flags:: [in] Flags indicating which states to get (position, velocity, etc.)
Return:: Array of degree of freedom states

DcDofState *(*getArticulationDofStateDerivatives)(DcHandle artHandle, const DcDofState *states, const float *efforts)#

Gets the state derivatives of all degrees of freedom in an articulation.

Note

Sets the articulation DoFs and efforts to the values provided

Param artHandle:: [in] Handle to the articulation
Param states:: [in] States at which derivatives are evaluated
Param efforts:: [in] Efforts at which derivatives are evaluated
Return:: Array of degree of freedom state derivatives

bool (*setArticulationDofStates)(DcHandle artHandle, const DcDofState *states, const DcStateFlags &flags)#

Sets the states of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param states:: [in] Array of degree of freedom states to set
Param flags:: [in] Flags indicating which states to set (position, velocity, etc.)
Return:: True if successful, false otherwise

bool (*setArticulationDofPositionTargets)(DcHandle artHandle, const float *targets)#

Sets the position targets of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param targets:: [in] Array of position targets to set
Return:: True if successful, false otherwise

bool (*getArticulationDofPositionTargets)(DcHandle artHandle, float *targets)#

Gets the position targets of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param targets:: [out] Array to be filled with position targets
Return:: True if successful, false otherwise

bool (*setArticulationDofVelocityTargets)(DcHandle artHandle, const float *targets)#

Sets the velocity targets of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param targets:: [in] Array of velocity targets to set
Return:: True if successful, false otherwise

bool (*getArticulationDofVelocityTargets)(DcHandle artHandle, float *targets)#

Gets the velocity targets of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param targets:: [out] Array to be filled with velocity targets
Return:: True if successful, false otherwise

bool (*setArticulationDofEfforts)(DcHandle artHandle, const float *efforts)#

Sets the efforts of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param efforts:: [in] Array of efforts to set
Return:: True if successful, false otherwise

bool (*getArticulationDofEfforts)(DcHandle artHandle, float *efforts)#

Gets the efforts of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param efforts:: [out] Array to be filled with efforts
Return:: True if successful, false otherwise

bool (*getArticulationDofMasses)(DcHandle artHandle, float *masses)#

Gets the effective masses of all degrees of freedom in an articulation.

Param artHandle:: [in] Handle to the articulation
Param masses:: [out] Array to be filled with effective masses
Return:: True if successful, false otherwise

const char *(*getRigidBodyName)(DcHandle bodyHandle)#

Gets the name of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Name of the rigid body

const char *(*getRigidBodyPath)(DcHandle bodyHandle)#

Gets the USD path of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: USD path of the rigid body

DcHandle (*getRigidBodyParentJoint)(DcHandle bodyHandle)#

Gets the parent joint of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Handle to the parent joint, or an invalid handle if none

size_t (*getRigidBodyChildJointCount)(DcHandle bodyHandle)#

Gets the number of child joints of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Number of child joints

DcHandle (*getRigidBodyChildJoint)(DcHandle bodyHandle, size_t jointIdx)#

Gets a child joint of a rigid body by its index.

Param bodyHandle:: [in] Handle to the rigid body
Param jointIdx:: [in] Index of the child joint
Return:: Handle to the child joint

DcTransform (*getRigidBodyPose)(DcHandle bodyHandle)#

Gets the pose of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Pose of the rigid body

carb::Float3 (*getRigidBodyLinearVelocity)(DcHandle bodyHandle)#

Gets the linear velocity of a rigid body in world coordinates.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Linear velocity of the rigid body

carb::Float3 (*getRigidBodyLocalLinearVelocity)(DcHandle bodyHandle)#

Gets the linear velocity of a rigid body in local coordinates.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Linear velocity of the rigid body in local coordinates

carb::Float3 (*getRigidBodyAngularVelocity)(DcHandle bodyHandle)#

Gets the angular velocity of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Return:: Angular velocity of the rigid body

bool (*setRigidBodyDisableGravity)(DcHandle bodyHandle, const bool disableGravity)#

Enables or disables gravity for a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param disableGravity:: [in] True to disable gravity, false to enable
Return:: True if successful, false otherwise

bool (*setRigidBodyDisableSimulation)(DcHandle bodyHandle, const bool disableSimulation)#

Enables or disables simulation for a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param disableSimulation:: [in] True to disable simulation, false to enable
Return:: True if successful, false otherwise

bool (*setRigidBodyPose)(DcHandle bodyHandle, const DcTransform &pose)#

Sets the pose of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param pose:: [in] Pose to set
Return:: True if successful, false otherwise

bool (*setRigidBodyLinearVelocity)(DcHandle bodyHandle, const carb::Float3 &linvel)#

Sets the linear velocity of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param linvel:: [in] Linear velocity to set
Return:: True if successful, false otherwise

bool (*setRigidBodyAngularVelocity)(DcHandle bodyHandle, const carb::Float3 &angvel)#

Sets the angular velocity of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param angvel:: [in] Angular velocity to set
Return:: True if successful, false otherwise

bool (*applyBodyForce)(DcHandle bodyHandle, const carb::Float3 &force, const carb::Float3 &pos, const bool globalCoordinates)#

Applies a force to a rigid body at a specific position.

Param bodyHandle:: [in] Handle to the rigid body
Param force:: [in] Force to apply
Param pos:: [in] Position at which to apply the force
Param globalCoordinates:: [in] True if force and position are in global coordinates, false if in local coordinates
Return:: True if successful, false otherwise

bool (*applyBodyTorque)(DcHandle bodyHandle, const carb::Float3 &torque, const bool globalCoordinates)#

Applies a torque to a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param torque:: [in] Torque to apply
Param globalCoordinates:: [in] True if torque is in global coordinates, false if in local coordinates
Return:: True if successful, false otherwise

bool (*getRelativeBodyPoses)(DcHandle parentHandle, size_t numBodies, const DcHandle *bodyHandles, DcTransform *bodyTransforms)#

Gets the poses of multiple rigid bodies relative to a parent body.

Param parentHandle:: [in] Handle to the parent rigid body
Param numBodies:: [in] Number of rigid bodies
Param bodyHandles:: [in] Array of handles to the rigid bodies
Param bodyTransforms:: [out] Array to be filled with relative poses
Return:: True if successful, false otherwise

bool (*getRigidBodyProperties)(DcHandle bodyHandle, DcRigidBodyProperties *props)#

Gets the properties of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param props:: [out] Rigid body properties to be filled
Return:: True if successful, false otherwise

bool (*setRigidBodyProperties)(DcHandle bodyHandle, const DcRigidBodyProperties &properties)#

Sets the properties of a rigid body.

Param bodyHandle:: [in] Handle to the rigid body
Param properties:: [in] Rigid body properties to set
Return:: True if successful, false otherwise

const char *(*getJointName)(DcHandle jointHandle)#

Gets the name of a joint.

Param jointHandle:: [in] Handle to the joint
Return:: Name of the joint

const char *(*getJointPath)(DcHandle jointHandle)#

Gets the USD path of a joint.

Param jointHandle:: [in] Handle to the joint
Return:: USD path of the joint

DcJointType (*getJointType)(DcHandle jointHandle)#

Gets the type of a joint.

Param jointHandle:: [in] Handle to the joint
Return:: Type of the joint

size_t (*getJointDofCount)(DcHandle jointHandle)#

Gets the number of degrees of freedom in a joint.

Param jointHandle:: [in] Handle to the joint
Return:: Number of degrees of freedom in the joint

DcHandle (*getJointDof)(DcHandle jointHandle, size_t dofIdx)#

Gets a degree of freedom in a joint by its index.

Param jointHandle:: [in] Handle to the joint
Param dofIdx:: [in] Index of the degree of freedom
Return:: Handle to the degree of freedom

DcHandle (*getJointParentBody)(DcHandle jointHandle)#

Gets the parent rigid body of a joint.

Param jointHandle:: [in] Handle to the joint
Return:: Handle to the parent rigid body

DcHandle (*getJointChildBody)(DcHandle jointHandle)#

Gets the child rigid body of a joint.

Param jointHandle:: [in] Handle to the joint
Return:: Handle to the child rigid body

const char *(*getDofName)(DcHandle dofHandle)#

Gets the name of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Name of the degree of freedom

const char *(*getDofPath)(DcHandle dofHandle)#

Gets the USD path of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: USD path of the degree of freedom

DcDofType (*getDofType)(DcHandle dofHandle)#

Gets the type of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Type of the degree of freedom

DcHandle (*getDofJoint)(DcHandle dofHandle)#

Gets the joint that a degree of freedom belongs to.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Handle to the joint

DcHandle (*getDofParentBody)(DcHandle dofHandle)#

Gets the parent rigid body of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Handle to the parent rigid body

DcHandle (*getDofChildBody)(DcHandle dofHandle)#

Gets the child rigid body of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Handle to the child rigid body

DcDofState (*getDofState)(DcHandle dofHandle, const DcStateFlags &flags)#

Gets the state of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param flags:: [in] Flags indicating which states to get (position, velocity, etc.)
Return:: State of the degree of freedom

bool (*setDofState)(DcHandle dofHandle, const DcDofState *state, const DcStateFlags &flags)#

Sets the state of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param state:: [in] State to set
Param flags:: [in] Flags indicating which states to set (position, velocity, etc.)
Return:: True if successful, false otherwise

float (*getDofPosition)(DcHandle dofHandle)#

Gets the position of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Position of the degree of freedom

bool (*setDofPosition)(DcHandle dofHandle, float pos)#

Sets the position of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param pos:: [in] Position to set
Return:: True if successful, false otherwise

float (*getDofVelocity)(DcHandle dofHandle)#

Gets the velocity of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Velocity of the degree of freedom

bool (*setDofVelocity)(DcHandle dofHandle, float vel)#

Sets the velocity of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param vel:: [in] Velocity to set
Return:: True if successful, false otherwise

bool (*getDofProperties)(DcHandle dofHandle, DcDofProperties *props)#

Gets the properties of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param props:: [out] Degree of freedom properties to be filled
Return:: True if successful, false otherwise

bool (*setDofProperties)(DcHandle dofHandle, const DcDofProperties *props)#

Sets the properties of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param props:: [in] Degree of freedom properties to set
Return:: True if successful, false otherwise

bool (*setDofPositionTarget)(DcHandle dofHandle, float target)#

Sets the position target of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param target:: [in] Position target to set
Return:: True if successful, false otherwise

bool (*setDofVelocityTarget)(DcHandle dofHandle, float target)#

Sets the velocity target of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param target:: [in] Velocity target to set
Return:: True if successful, false otherwise

float (*getDofPositionTarget)(DcHandle dofHandle)#

Gets the position target of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Position target of the degree of freedom

float (*getDofVelocityTarget)(DcHandle dofHandle)#

Gets the velocity target of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Velocity target of the degree of freedom

bool (*setDofEffort)(DcHandle dofHandle, float effort)#

Sets the effort of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Param effort:: [in] Effort to set
Return:: True if successful, false otherwise

float (*getDofEffort)(DcHandle dofHandle)#

Gets the effort of a degree of freedom.

Param dofHandle:: [in] Handle to the degree of freedom
Return:: Effort of the degree of freedom

DcHandle (*createRigidBodyAttractor)(const DcAttractorProperties *props)#

Creates a rigid body attractor.

Param props:: [in] Properties for the attractor
Return:: Handle to the created attractor

bool (*destroyRigidBodyAttractor)(DcHandle attHandle)#

Destroys a rigid body attractor.

Param attHandle:: [in] Handle to the attractor to destroy
Return:: True if successful, false otherwise

bool (*getAttractorProperties)(DcHandle attHandle, DcAttractorProperties *props)#

Gets the properties of an attractor.

Param attHandle:: [in] Handle to the attractor
Param props:: [out] Attractor properties to be filled
Return:: True if successful, false otherwise

bool (*setAttractorProperties)(DcHandle attHandle, const DcAttractorProperties *props)#

Sets the properties of an attractor.

Param attHandle:: [in] Handle to the attractor
Param props:: [in] Attractor properties to set
Return:: True if successful, false otherwise

bool (*setAttractorTarget)(DcHandle attHandle, const DcTransform &target)#

Sets the target pose of an attractor.

Param attHandle:: [in] Handle to the attractor
Param target:: [in] Target pose to set
Return:: True if successful, false otherwise

DcHandle (*createD6Joint)(const DcD6JointProperties *props)#

Creates a D6 joint between two rigid bodies.

Param props:: [in] Properties for the D6 joint
Return:: Handle to the created D6 joint

bool (*destroyD6Joint)(DcHandle jointHandle)#

Destroys a D6 joint.

Param jointHandle:: [in] Handle to the D6 joint to destroy
Return:: True if successful, false otherwise

bool (*getD6JointProperties)(DcHandle jointHandle, DcD6JointProperties *props)#

Gets the properties of a D6 joint.

Param jointHandle:: [in] Handle to the D6 joint
Param props:: [out] D6 joint properties to be filled
Return:: True if successful, false otherwise

bool (*getD6JointConstraintIsBroken)(DcHandle jointHandle)#

Checks if a D6 joint constraint is broken.

Param jointHandle:: [in] Handle to the D6 joint
Return:: True if the joint constraint is broken, false otherwise

bool (*setD6JointProperties)(DcHandle jointHandle, const DcD6JointProperties *props)#

Sets the properties of a D6 joint.

Param jointHandle:: [in] Handle to the D6 joint
Param props:: [in] D6 joint properties to set
Return:: True if successful, false otherwise

bool (*setOriginOffset)(DcHandle handle, const carb::Float3 &origin)#

Sets the origin offset for a physics object.

Param handle:: [in] Handle to the physics object
Param origin:: [in] Origin offset to set
Return:: True if successful, false otherwise

DcRayCastResult (*rayCast)(const carb::Float3 &origin, const carb::Float3 &direction, float max_distrance)#

Performs a raycast in the physics scene.

Param origin:: [in] Origin point of the ray
Param direction:: [in] Direction of the ray
Param max_distrance:: [in] Maximum distance for the raycast
Return:: Result of the raycast