gs.morphs.Plane#

此类提供了对平面形状的各种变形操作的支持，适用于需要处理平面几何形状的应用场景。

class genesis.options.morphs.Plane(*, pos: tuple = (0.0, 0.0, 0.0), euler: tuple | None = (0.0, 0.0, 0.0), quat: tuple | None = None, visualization: bool = True, collision: bool = True, requires_jac_and_IK: bool = False, fixed: bool = True, normal: tuple = (0, 0, 1))[源代码]#

Morph defined by a plane shape.

备注

Plane is a primitive with infinite size. Note that the pos is the center of the plane, but essetially only defines a point where the plane passes through.

参数:

  • pos (tuple, shape (3,), optional) – The center position of the plane in meters. Defaults to (0.0, 0.0, 0.0).

  • euler (tuple, shape (3,), optional) – The euler angle of the entity in degrees. This follows scipy’s extrinsic x-y-z rotation convention. Defaults to (0.0, 0.0, 0.0).

  • quat (tuple, shape (4,), optional) – The quaternion (w-x-y-z convention) of the entity. If specified, euler will be ignored. Defaults to None.

  • normal (tuple, shape (3,), optional) – The normal normal of the plane in its local frame. Defaults to (0, 0, 1).

  • visualization (bool, optional) – Whether the entity needs to be visualized. Set it to False if you need a invisible object only for collision purposes. Defaults to True. visualization and collision cannot both be False. This is only used for RigidEntity.

  • collision (bool, optional) – Whether the entity needs to be considered for collision checking. Defaults to True. visualization and collision cannot both be False. This is only used for RigidEntity.

gs.morphs.Plane 是 Genesis 项目中的一个类，用于表示一个平面形状的变形选项。

  • 类名: gs.morphs.Plane

  • 模块: genesis.options.morphs