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Robotics/Links/RigidBoxLink.openplx

RigidBoxLink

#
# A "horizontal" link with Box as geometry, which calculates the start and end mate connectors at
# the middle of left and right side:
#         +---------+
#         |         |
#   start o         o end
#         |         |
#         +---------+

RigidBoxLink is Robotics.Links.RigidLink:
    geometry is Physics3D.Charges.Box:
        size: Math.Vec3.from_xyz(2, 1, 1)
    arrow is Physics3D.Charges.Box:
        local_transform:
            position.x: geometry.size.x * 0.5
            rotation: Math.Quat.angle_axis(Math.PI / 4, Math.Vec3.Y_AXIS())
        size: Math.Vec3.from_xyz(0.71, 1, 0.71)
    start:
        position.x: -geometry.size.x * 0.6
        main_axis: Math.Vec3.from_xyz(0, -1, 0)
        normal: Math.Vec3.from_xyz(1, 0, 0)
    end:
        position.x: geometry.size.x * 0.6
        main_axis: Math.Vec3.from_xyz(0, -1, 0)
        normal: Math.Vec3.from_xyz(1, 0, 0)
    inertia.mass: 1