Using Official OpenPLX Bundles

The official OpenPLX bundles are:

• Control
• DriveTrain
• MachineModeling
• Math
• Physics
• Physics1D
• Physics3D
• Robotics
• Sensors
• Simulation
• Terrain
• Urdf
• Vehicles
• Visuals

Using the offical OpenPLX bundles is simple. Understanding how to use the bundles requires us to know the structure of a bundle.

Bundle structure and namespaces

A bundle consists of a root directory and optional subdirectories. Each subdirectory in a bundle implicitly creates a OpenPLX namespace with the same name as the folder. If we take the Physics3D bundle as example.

• Physics3D/
  • Bodies/
  • Geometries/
    • Box.openplx . . .
  • Interactions/
    • Clearance/ . . .
  • Signals

The first namespace created from the root folder of the bundle is Physics3D. On the second level we have multiple namespace, Bodies, Geometries, Interactions and Signals. We can also see that we have have additional subdirectories in our subdirectories as seen from the Clearance folder under the Interactions folder. This creates new subnamespaces, and creating new subnamespaces can be done any number of times.

Using a model in a bundle

Lets say we want to use the Box model that is in Box.openplx which lies in the Geometries directory as we can see from the file structure above.

Since every folder creates an OpenPLX namespace, to use the model defined in Box.openplx we simply do:

MyBoxGeometry is Physics3D.Geometries.Box:
    .
    .
    .