gs.materials.Rigid#

class genesis.engine.materials.rigid.Rigid(rho=200.0, friction=None, needs_coup=True, coup_friction=0.1, coup_softness=0.002, coup_restitution=0.0, sdf_cell_size=0.005, sdf_min_res=32, sdf_max_res=128, gravity_compensation=0)[source]#

Bases: Material

The Rigid class represents a material used in rigid body simulation.

Note

This class is intended for use with the rigid solver and provides parameters relevant to physical interactions such as friction, density, and signed distance fields (SDFs).

Parameters:

  • rho (float, optional) – The density of the material used to compute mass. Default is 200.0.

  • friction (float, optional) – Friction coefficient within the rigid solver. If None, a default of 1.0 may be used or parsed from file.

  • needs_coup (bool, optional) – Whether the material participates in coupling with other solvers. Default is True.

  • coup_friction (float, optional) – Friction used during coupling. Must be non-negative. Default is 0.1.

  • coup_softness (float, optional) – Softness of coupling interaction. Must be non-negative. Default is 0.002.

  • coup_restitution (float, optional) – Restitution coefficient in collision coupling. Should be between 0 and 1. Default is 0.0.

  • sdf_cell_size (float, optional) – Cell size in SDF grid in meters. Defines grid resolution. Default is 0.005.

  • sdf_min_res (int, optional) – Minimum resolution of the SDF grid. Must be at least 16. Default is 32.

  • sdf_max_res (int, optional) – Maximum resolution of the SDF grid. Must be >= sdf_min_res. Default is 128.

  • gravity_compensation (float, optional) – Compensation factor for gravity. 1.0 cancels gravity. Default is 0.

property gravity_compensation: float#

Gravity compensation factor. 1.0 cancels gravity.

property friction: float#

Friction coefficient used within the rigid solver.

property needs_coup: bool#

Whether this material requires solver coupling.

property coup_friction: float#

Friction coefficient used in coupling interactions.

property coup_softness: float#

Softness parameter controlling the influence range of coupling.

property coup_restitution: float#

Restitution coefficient used during contact in coupling.

property sdf_cell_size: float#

Size of each SDF grid cell in meters.

property sdf_min_res: int#

Minimum allowed resolution for the SDF grid.

property sdf_max_res: int#

Maximum allowed resolution for the SDF grid.

property rho: float#

Density of the rigid material.