RigidVisGeom（刚体可视化几何体）#
- class genesis.engine.entities.rigid_entity.rigid_geom.RigidVisGeom(link, idx, vvert_start, vface_start, vmesh, init_pos, init_quat)[source]#
Bases:
RBCA RigidVisGeom is a counterpart of RigidGeom, but for visualization purposes. This can be accessed via link.vis_geoms.
- get_vAABB(envs_idx=None)[source]#
Get the axis-aligned bounding box (AABB) of the geom in world frame.
This method computes the bounding box of the geometry after aggressive decimation of its convex hull. This is usually sufficiently accurate (<1mm), while significantly improving runtime speed and reducing memory footprint.
- property uid#
Get the unique ID of the vgeom.
- property idx#
Get the global index of the vgeom in RigidSolver.
- property link#
Get the link that the vgeom belongs to.
- property entity#
Get the entity that the vgeom belongs to.
- property vmesh#
- property solver#
Get the solver that the vgeom belongs to.
- property metadata#
Get the metadata of the vgeom.
- property init_pos#
Get the initial position of the vgeom.
- property init_quat#
Get the initial quaternion of the vgeom.
- property init_vverts#
Get the initial vertices of the vgeom.
- property init_vfaces#
Get the initial faces of the vgeom.
- property init_vnormals#
Get the initial normals of the vgeom.
- property uvs#
Get the UV coordinates of the vgeom.
- property surface#
Get the surface object of the vgeom.
- property n_vverts#
Number of vertices of the vgeom.
- property n_vfaces#
Number of faces of the vgeom.
- property vvert_start#
Get the starting index of the vgeom’s vertices in the rigid solver.
- property vface_start#
Get the starting index of the vgeom’s faces in the rigid solver.
- property vvert_end#
Get the ending index of the vgeom’s vertices in the rigid solver.
- property vface_end#
Get the ending index of the vgeom’s faces in the rigid solver.
- property is_built#
Whether the rigid entity the vgeom belongs to is built.
- property is_free#
- property is_fixed: bool#
Whether this vgeom is fixed in the world.