R3MjcfLoaderOptions Struct Reference

Loader configuration. More...

#include <rapier.h>

Data Fields
R3Bool	createCollidersFromCollisionShapes
	Whether to build colliders from collision geometry.
R3Bool	createCollidersFromVisualShapes
	Whether to also build colliders from visual geometry.
R3Bool	applyImportedMassProps
	Whether to use imported mass/inertia properties.
R3Bool	enableJointCollisions
	Whether bodies connected by imported joints may collide.
R3Bool	makeRootsFixed
	Whether imported root bodies are fixed.
R3Bool	skipPlaneGeoms
	Whether to omit MJCF plane geometry.
R3Bool	disableJointMotors
	Whether imported joint motors are disabled.
struct R3Pose	shift
	Transform applied to the imported model.
R3Real	scale
	Shape scale along each axis.
struct R3ColliderDesc	colliderBlueprint
	Default collider description; nested geometry resources are borrowed through loading.
struct R3RigidBodyDesc	rigidBodyBlueprint
	Default rigid-body description used by the importer.

Detailed Description

Loader configuration.

Initialize with DefaultMjcfLoaderOptions; no destructor. Blueprint array views and shared shapes are borrowed through the load call.

Field Documentation

applyImportedMassProps

R3Bool R3MjcfLoaderOptions::applyImportedMassProps

Whether to use imported mass/inertia properties.

colliderBlueprint

struct R3ColliderDesc R3MjcfLoaderOptions::colliderBlueprint

Default collider description; nested geometry resources are borrowed through loading.

createCollidersFromCollisionShapes

R3Bool R3MjcfLoaderOptions::createCollidersFromCollisionShapes

Whether to build colliders from collision geometry.

createCollidersFromVisualShapes

R3Bool R3MjcfLoaderOptions::createCollidersFromVisualShapes

Whether to also build colliders from visual geometry.

disableJointMotors

R3Bool R3MjcfLoaderOptions::disableJointMotors

Whether imported joint motors are disabled.

enableJointCollisions

R3Bool R3MjcfLoaderOptions::enableJointCollisions

Whether bodies connected by imported joints may collide.

makeRootsFixed

R3Bool R3MjcfLoaderOptions::makeRootsFixed

Whether imported root bodies are fixed.

rigidBodyBlueprint

struct R3RigidBodyDesc R3MjcfLoaderOptions::rigidBodyBlueprint

Default rigid-body description used by the importer.

scale

R3Real R3MjcfLoaderOptions::scale

Shape scale along each axis.

shift

struct R3Pose R3MjcfLoaderOptions::shift

Transform applied to the imported model.

skipPlaneGeoms

R3Bool R3MjcfLoaderOptions::skipPlaneGeoms

Whether to omit MJCF plane geometry.

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The documentation for this struct was generated from the following file:

• rapier.h