![]() ![]() Note that if this field is not NULL then the boundingObject field must be specified. If the physics field is NULL then Webots simulates this object in kinematics mode. Physics: this field can optionally contain a Physics node that is used to model the physical properties of this Solid.Ī Physics node should be added when effects such as gravity, inertia, frictional and contact forces need to be simulated. You will find more explanations about the boundingObject field below. Note that if the boundingObject field is NULL then the physics field (see below) must also be NULL. If the boundingObject field is NULL, then no collision detection is performed and that object can pass through any other object, e.g., the floor, obstacles and other robots. It is used to specify dynamic interactions of the Solid node with one or more Fluid nodes.īoundingObject: the bounding object specifies the geometrical primitives used for collision detection. ImmersionProperties: list of immersionProperties nodes. When the boundingObjects of Solid nodes intersect, the contactMaterial is used to define which ContactProperties must be applied at the contact points. Model: generic name of the solid (e.g., "chair").ĭescription: short description (1 line) of the solid.ĬontactMaterial: name of the contact material. Note that the name cannot contain the colon character ' :' and should preferably identify the solid uniquely, please refer to the Unique Solid name section for further details. In derived device classes this corresponds to the device name argument used by the wb_robot_get_device function. If a scale coordinate is assigned a non-positive value, it is automatically changed to 1. Whenever a scale coordinate is changed, the two other ones are automatically changed to this new value. This ensures that all primitive geometries will remain suitable for ODE collision detection. Note that in the Solid node, the scale field inherited from the Transform must always remain uniform, i.e., of the form x x x where x is any positive real number. In the 3D window, Solid nodes can be manipulated (dragged, lifted, rotated, etc) using the mouse. Robots and device classes are subclasses of the Solid class. The Solid class is the base class for collision-detected objects. DescriptionĪ Solid node represents an object with physical properties such as dimensions, a contact material and optionally a mass. SFVec3f angularVelocity 0 0 0 # any vectorĭirect derived nodes: Accelerometer, Camera, Charger, Compass, Connector, Display, DistanceSensor, Emitter, GPS, Gyro, InertialUnit, LED, Lidar, LightSensor, Pen, Radar, RangeFinder, Receiver, Robot, TouchSensor, Track. SFVec3f linearVelocity 0 0 0 # any vector SFString contactMaterial "default" # any string ![]()
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