Official Bundles

DriveTrain

Actuator AutomaticBrake AutomaticClutch CombustionEngine Differential EmpiricalTorqueConverter FlexibleGear Gear GearBox HingeActuator ManualBrake ManualClutch PrismaticActuator Shaft

Signals

AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockUpInput TorqueConverterLockedUpOutput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput

TorqueLimitedSlipDifferential TorqueMotor ViscousGear

Math

AffineTransform Constants Functions Line Matrix3x3 Matrix4x4 Quat Vec2 Vec3

Physics

Bodies

Body Inertia Kinematics

Charges

Charge ContactGeometry LinearElasticMaterial Material

Interactions

Adhesion

ConstantForceAdhesion DefaultAdhesion

Clearance

ConstantAngleClearance ConstantDistanceClerance DefaultClearance

Dissipation

AsymmetricLimitFriction ConstantLimitFriction ConstantViscousSurfaceFriction ConstraintRelaxationTimeDamping DefaultDissipation DefaultDryFriction DefaultFriction DryBoxFriction DryConeFriction DryConstantNormalForceFriction DryDepthScaledConstantNormalForceFriction DryScaleBoxFriction MechanicalDamping

Flexibility

DefaultFlexibility LinearElastic Rigid

Interaction Interaction1DOF

SurfaceContact

Model PatchElasticity PointwiseElasticity

Toughness

DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable

KinematicLock

Signals

ActivateInput ActivatedOutput AngleInput AngleInputTrait AngleOutput AngleOutputTrait AngularVelocity1DInput AngularVelocity1DInputTrait AngularVelocity1DOutput AngularVelocity1DOutputTrait BoolInput BoolInputSignal BoolInputTrait BoolOutput BoolOutputTrait DurationInput DurationInputTrait DurationOutput DurationOutputTrait EnableInteractionInput EngageInput EngagedOutput Force1DInput Force1DInputTrait Force1DOutput Force1DOutputTrait Force3DOutput Force3DOutputTrait ForceRangeInput ForceRangeInputTrait ForceRangeOutput ForceRangeOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait InteractionEnabledOutput LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait Output OutputSignal Position1DInput Position1DInputTrait Position1DOutput Position1DOutputTrait RealInputSignal RealRangeInputSignal RelativeVelocity1DOutput RelativeVelocity1DOutputTrait SignalInterface Torque1DInput Torque1DInputTrait Torque1DOutput Torque1DOutputTrait Torque3DOutput Torque3DOutputTrait TorqueRangeInput TorqueRangeInputTrait TorqueRangeOutput TorqueRangeOutputTrait Value ValueOutputSignal Vec3InputSignal

System

Physics1D

Bodies

Body Inertia Kinematics LinearBody LinearKinematics RotationalBody RotationalKinematics

Charges

LinearConnector MateConnector RotationalConnector

Interactions

Mate RotationalVelocityMotor VelocityMotor

Physics3D

Bodies

Body Inertia Kinematics RigidBody RigidBodyKinematics

Charges

AdaptiveMateConnector Box Capsule ContactGeometry ConvexMesh Cylinder ExternalTriMeshGeometry MateConnector RedirectedMateConnector Sphere StructuralPlanarConnector TriMesh TriMeshGeometry World

Interactions

Ball

Clearance

ConstantBallClearance ConstantCylindricalClearance ConstantHingeClearance ConstantLockClearance ConstantPrismaticClearance DefaultMateClearance

Cylindrical

Dissipation

BallMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultCylindricalDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping

Flexibility

DefaultBallFlexibility DefaultCylindricalFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility LinearElasticBallFlexibility LinearElasticCylindricalFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility

ForceMotor Hinge LinearRange LinearSpring LinearVelocityMotor Lock Mate Prismatic RangeInteraction1DOF RotationalRange RotationalVelocityMotor SpringInteraction1DOF

SurfaceContact

BodyOrientedFrictionTrait GeometryOrientedFrictionTrait OrientedFrictionTrait PatchElasticityDryFrictionModel PointwiseElasticityDryFrictionModel

TorqueMotor TorsionSpring

Toughness

BallThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultCylindricalToughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture

VelocityMotor

Signals

AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait LinearVelocity3DInput LinearVelocity3DInputTrait LinearVelocity3DOutput LinearVelocity3DOutputTrait

MateConnector

Acceleration3DOutput AngularAcceleration3DOutput AngularVelocity3DOutput LinearVelocity3DOutput MCAngularVelocity3DOutputTrait MCLinearVelocity3DOutputTrait MateConnectorOutputTrait Output PositionOutput RPYOutput

Position3DOutput Position3DOutputTrait RPYOutput RPYOutputTrait Torque3DInput Torque3DInputTrait Torque3DOutput Torque3DOutputTrait

StructuralComponent StructuralPlane System

Robotics

EndEffectors

ConstantVacuumSystem SixDofSuctionCup SixDofSuctionCupJoint SuctionCup SuctionCupElastoDynamics VacuumGripper VacuumSystem

Joints

ActuatedJoint CoupledJointDriveTrain FixedJoint FlexibleAngularVelocityJoint FlexibleJointData FlexibleJointDriveTrain FlexibleJointTrait FlexibleTorqueJoint HingeJoint HingeJointData Joint JointData PositionHingeJoint PrismaticJoint TorqueHingeJoint VelocityHingeJoint

Links

LinkData RigidBoxLink RigidLink RigidTriMeshLink

Robots

Robot SerialManipulatorData SixAxisSerialManipulator

Signals

RobotInput RobotInputSignal RobotOutput RobotOutputSignal Sensor SensorValues

Sensors

ForceTorqueSensor

Simulation

CollisionGroup DisableCollisionPair

Terrain

MaterialLibrary

TerrainMaterialLibrary

Shovel Terrain TerrainMaterial

Urdf

PackagePath

Vehicles

Tracks

Belt BoxLinkDescription BoxLinkVariation ContactGeometryLinkDescription CyclicVariation CylindricalIdler CylindricalRoadWheel CylindricalRoller CylindricalSprocket DefaultLinkDescription DefaultLinkVariation DiscretePulseVariation FixedLinkCountBelt InertialRoadWheel RigidCylindricalIdler RigidCylindricalRoadWheelBody RigidCylindricalRoller RigidCylindricalSprocket RoadWheel SinusoidalVariation System

Visuals

Geometries

Box ConvexMesh Cylinder ExternalTriMeshGeometry Geometry Sphere TriMeshGeometry

Materials

Material TextureMaterial

Physics/System.openplx

System

#"""
#Base type for a physical system
#"""
System:
    # C++ extensions
    .extend_public: "std::unordered_map<std::string, std::shared_ptr<openplx::Physics::Signals::SignalInterface>> getSignalInterfaces() const;"

OpenPLX is a work in progress. This draft version will evolve with user feedback and experience. We welcome your input and collaboration.