`RigidVisGeom`#

class genesis.engine.entities.rigid_entity.rigid_geom.RigidVisGeom(link, idx, vvert_start, vface_start, vmesh, init_pos, init_quat)[source]#

Bases: RBC

A RigidVisGeom is a counterpart of RigidGeom, but for visualization purposes. This can be accessed via link.vis_geoms.

get_trimesh()[source]#: Get trimesh object.

get_pos()[source]#: Get the position of the geom in world frame.

get_quat()[source]#: Get the quaternion of the geom in world frame.

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#: Whether the rigid entity the vgeom belongs to is free.