gs.materials.Hybrid#

class genesis.engine.materials.hybrid.Hybrid(*, use_visual_raycasting: bool = False, material_rigid: Material, material_soft: Material, use_default_coupling: bool = False, damping: float = 0.0, thickness: float = 0.05, soft_dv_coef: float = 0.01, func_instantiate_rigid_from_soft: Callable | None = None, func_instantiate_soft_from_rigid: Callable | None = None, func_instantiate_rigid_soft_association: Callable | None = None)[source]#

Bases: Material[HybridEntity]

The class for hybrid body material (soft skin actuated by inner rigid skeleton).

Parameters:

  • material_rigid (Material) – The material of the rigid body.

  • material_soft (Material) – The material of the soft body.

  • use_default_coupling (bool, optional) – Whether to use default solver coupling. Default is False.

  • damping (float, optional) – Damping coefficient between soft and rigid. Default is 0.0.

  • thickness (float, optional) – The thickness to instantiate soft skin. Default is 0.05.

  • soft_dv_coef (float, optional) – The coefficient to apply delta velocity from rigid to soft. Default is 0.01.

  • func_instantiate_rigid_from_soft (callable, optional) – The function to instantiate rigid body from the geometry of soft body. Default is None.

  • func_instantiate_soft_from_rigid (callable, optional) – The function to instantiate soft body from the geometry of rigid body. Default is None.

  • func_instantiate_rigid_soft_association (callable, optional) – The function that determines the association of the rigid and the soft body. Default is None.

material_rigid: Material#
material_soft: Material#
use_default_coupling: bool#
damping: float#
thickness: float#
soft_dv_coef: float#
func_instantiate_rigid_from_soft: Callable | None#
func_instantiate_soft_from_rigid: Callable | None#
func_instantiate_rigid_soft_association: Callable | None#
model_config: ClassVar[ConfigDict] = {'extra': 'forbid', 'strict': True, 'validate_default': True}#

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].