Changelog Official Bundles

Control

Virtual

AffineTransform1DInput AffineTransform1DOutput BroadcastInput GroupOutput

DriveTrain

Actuator AutomaticBrake AutomaticClutch Differential EmpiricalEngine EmpiricalTorqueConverter

Engines

Cat-C17520 Cat-C27 Cat-C32ACERT Doosan-DE08TIS GMTruck JohnDeere-6068HF485 Komatsu-WA475-10 Saab-B234i Scania-K310UB4X2Euro5 Volvo-BMTD45B Volvo-D16E540 Volvo-T5 Volvo-TD73KD

FlexibleGear Gear GearBox HingeActuator InfinitePowerSource ManualBrake ManualClutch MeanValueEngine

MechanicalDriveTrains

TwoWheelTemplate

PowerSource PrismaticActuator Shaft

Signals

AutomaticClutchDisengagementDurationInput AutomaticClutchDisengagementDurationOutput AutomaticClutchEngagementDurationInput AutomaticClutchEngagementDurationOutput TorqueConverterLockUpInput TorqueConverterLockedUpOutput TorqueConverterPumpTorqueOutput TorqueConverterTurbineTorqueOutput

TorqueLimitedSlipDifferential TorqueMotor

Traits

FourStrokeEngine PowerGenerator RotationalPowerGenerator TwoStrokeEngine

ViscousGear

MachineModeling

Actuators

Linear

Base

Connections

Base Cylinder CylinderAxleBearings CylinderBearings Distance

Cylinder CylinderBearings CylinderPart Distance

Traits

CylinderVisual ForceMotor RigidCylinderPart VelocityMotor

Bearings

Base Pair

Components

Composite

Base LinkPair

Primitive

Axle

Base RigidCylindrical

Traits

Cylindrical

Base

Link

Base

Connections

Base

Interfaces

FromTo

Pivot

AxleBearings Base Bearings Hinge HingedAxle LockedAxleBearings LockedBearings

Traits

Axle Bearings

Universal

Base

Constants

Definitions

Math

AffineTransform Constants Functions Line Matrix3x3 Matrix4x4 Quat

Random

GaussianDistribution

Vec2 Vec3

Physics

Bodies

Body Inertia Kinematics

Geometries

ContactGeometry LinearElasticMaterial Material

GeometryMaterialOverrideTrait

Interactions

Adhesion

ConstantForceAdhesion DefaultAdhesion

Clearance

ConstantAngleClearance ConstantDistanceClerance DefaultClearance

Connector

Dissipation

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

Flexibility

DefaultFlexibility

Defaults

Values

LinearElastic Rigid

Interaction Interaction1DOF

SurfaceContact

Model PatchElasticity PointwiseElasticity

Traits

SurfaceViscosity

Toughness

DefaultToughness ThresholdFracture ThresholdPlastic ThresholdPlasticFracture Unbreakable

KinematicLock

Optics

Material

Surfaces

Traits

GGXReflectionModel LambertReflectionModel OrenNayarReflectionModel

Traits

RefractiveIndex

WavelengthBand

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 ForceRangeInput ForceRangeInputTrait ForceRangeOutput ForceRangeOutputTrait FractionInput FractionInputTrait FractionOutput FractionOutputTrait Input InputOutputType InputSignal IntInput IntInputSignal IntInputTrait IntOutput IntOutputTrait InteractionEnabledOutput LinearVelocity1DInput LinearVelocity1DInputTrait LinearVelocity1DOutput LinearVelocity1DOutputTrait Marshalling MassOutput MassOutputTrait Output OutputSignal Position1DInput Position1DInputTrait Position1DOutput Position1DOutputTrait RatioOutput RatioOutputTrait RealInputSignal RealRangeInputSignal RelativeVelocity1DOutput RelativeVelocity1DOutputTrait RpmOutput RpmOutputTrait SignalInterface Torque1DInput Torque1DInputTrait Torque1DOutput Torque1DOutputTrait TorqueRangeInput TorqueRangeInputTrait TorqueRangeOutput TorqueRangeOutputTrait Value ValueOutputSignal Vec3InputSignal

System

Physics1D

Bodies

Body Inertia Kinematics LinearBody LinearKinematics RotationalBody RotationalKinematics

Interactions

LinearConnector Mate MateConnector RotationalConnector RotationalVelocityMotor VelocityMotor

Physics3D

Bodies

Body Inertia Kinematics RigidBody RigidBodyKinematics

Geometries

Box Capsule ContactGeometry ConvexMesh Cylinder ExternalTriMeshGeometry Sphere TriMesh TriMeshGeometry

Interactions

AdaptiveMateConnector Ball

Clearance

ConstantBallClearance ConstantCylindricalClearance ConstantHingeClearance ConstantLockClearance ConstantPrismaticClearance DefaultMateClearance

Cylindrical

Dissipation

BallMechanicalDamping CylindricalMechanicalDamping DefaultBallDissipation DefaultCylindricalDissipation DefaultDistanceDissipation DefaultHingeDissipation DefaultLockDissipation DefaultMateDissipation DefaultPrismaticDissipation DistanceMechanicalDamping HingeMechanicalDamping LockMechanicalDamping PrismaticMechanicalDamping

Distance DistanceMotor DistanceRange

Flexibility

DefaultBallFlexibility DefaultCylindricalFlexibility DefaultDistanceFlexibility DefaultHingeFlexibility DefaultLockFlexibility DefaultMateFlexibility DefaultPrismaticFlexibility LinearElasticBallFlexibility LinearElasticCylindricalFlexibility LinearElasticDistanceFlexibility LinearElasticHingeFlexibility LinearElasticLockFlexibility LinearElasticPrismaticFlexibility

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

SurfaceContact

PatchElasticityDryFrictionModel PointwiseElasticityDryFrictionModel

Traits

BodyOrientedFriction GeometryOrientedFriction OrientedFriction OrientedSurfaceViscosity

TorqueMotor TorsionSpring

Toughness

BallThresholdFracture CylindricalThresholdFracture DefaultBallToughness DefaultCylindricalToughness DefaultDistanceThoughness DefaultHingeToughness DefaultLockToughness DefaultMateToughness DefaultPrismaticToughness HingeThresholdFracture LockThresholdFracture PrismaticThresholdFracture

VelocityMotor World

Signals

AngularVelocity3DInput AngularVelocity3DInputTrait AngularVelocity3DOutput AngularVelocity3DOutputTrait Force3DOutput Force3DOutputTrait LinearVelocity3DInput LinearVelocity3DInputTrait LinearVelocity3DOutput LinearVelocity3DOutputTrait

MateConnector

Acceleration3DOutput AngularAcceleration3DOutput AngularVelocity3DOutput LinearVelocity3DOutput MCAngularVelocity3DOutputTrait MCLinearVelocity3DOutputTrait MateConnectorOutputTrait Output PositionOutput RPYOutput

Position3DOutput Position3DOutputTrait RPYOutput RPYOutputTrait Torque3DInput Torque3DInputTrait Torque3DOutput Torque3DOutputTrait Vec3Marshalling

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

Kinematics

ElementaryTransformSequence

Links

LinkData RigidBoxLink RigidLink RigidTriMeshLink

Robots

Robot SerialManipulatorData SixAxisSerialManipulator

Signals

RobotInput RobotInputSignal RobotOutput RobotOutputSignal Sensor SensorValues

Sensors

AccelerometerLogic AccelerometerSensingDistortion AccelerometerSignalGaussianNoise AccelerometerSignalSpectralNoise Distortion GyroscopeLogic GyroscopeSensingDistortion GyroscopeSignalGaussianNoise GyroscopeSignalLinearAccelerationEffect GyroscopeSignalSpectralNoise IMULogic

Library

LIDARs

Ouster

OS0 OS1 OS2 OSDome

SICK

TIM150 TIM310 TIM781

Velodyne

VLP16

LidarDetectionDistanceGaussianNoise LidarLogic LidarSensingDistortion MagnetometerLogic MagnetometerSensingDistortion MagnetometerSignalGaussianNoise MagnetometerSignalSpectralNoise

Optics

BeamDivergence ConicalBeamDivergence HorizontalSweepRaySource RayEmissionAngleGaussianNoise RayEmissionDistortion RaySource

Traits

BeamEmitter DistortedRayEmission LidarHorizontalResolution1024 LidarHorizontalResolution2048 LidarHorizontalResolution512 LidarVerticalResolution128 LidarVerticalResolution32 LidarVerticalResolution64 PulsedBeamEmitter RayEmitter

PulsedLidarLogic SensorLogic

Signals

AccelerometerOutput GyroscopeOutput IMUOutput IMUOutputField LidarOutput LidarOutputField MagnetometerOutput SensorOutputSignal TriaxialOutputfield

Traits

LidarFrequency05 LidarFrequency10 LidarFrequency15 LidarFrequency20 MateAttachment MateConnectorAttachment

TriaxialSensorLogic

Simulation

CollisionGroup DisableCollisionPair Environment GravitationalField PointGravitationalField UniformGravitationalField

Terrain

MaterialLibrary

TerrainMaterialLibrary

Shovel Terrain TerrainMaterial

Urdf

PackagePath

Vehicles

Base

Chassis

Articulated

Base

Connections

Composite

Base

Interfaces

DualActuator DualCylinder ToFrames

OneLink

Interfaces

Frames

Single

Base

Hinge

Interfaces

SingleJoint

SingleJoint Universal

Rigid

Base

FourWheel

Base FrontWheelDrive

Properties

FrontSuspensionSteering RearSuspension

Interfaces

UpForwardVectors

Steering

Articulated

Base DualActuator DualCylinder

Base

Interfaces

Ackermann Base BellCrank RackAndPinion

Kinematic

Ackermann Base BellCrank

Interactions

Ackermann Base BellCrank RackAndPinion

RackAndPinion

Suspensions

Base

Properties

Steering WheelAxisFromUpForward

SingleMate

Base

Interactions

Base LinearSpringDamper

Interfaces

ChassisAttachmentConnectors

LinearSpringDamper

Tracks

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

Wheels

Actuator Base ElasticWheel

Interactions

Dissipation

DefaultWheelDissipation WheelMechanichalDamping

Flexibility

DefaultWheelFlexibility LinearElasticWheelFlexibility

Rim RimTrait Tire TireTrait

Visuals

Geometries

Box ConvexMesh Cylinder ExternalTriMeshGeometry Geometry Sphere TriMeshGeometry

Materials

Material TextureMaterial

Control/Virtual/GroupOutput.openplx

GroupOutput

GroupOutput is Physics.Signals.Output:
    .doc: """
A virtual output control that combines a sorted list of other outputs
into a single output where the constituent outputs are nested under keys.
"""
    type: 0
    marshalling.is_dynamic: true
    source_keys is String[]
    sources is Physics.Signals.Output[]

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