Schemas / Simulation

`rig.sim.collider`

v1.0.0 · stable maturity: draft 15 fields 1 required

Fields

Field	Type		Meaning
`kind`	enumsphere · box · capsule · mesh	required	`sphere`, `box`, `capsule`, `mesh`
`radius`	float	optional	Sphere radius, or capsule radius. Required for those kinds
`height`	float	optional	Capsule height, end to end. Required when `kind` is `capsule`
`halfExtents`	vec3	optional	Box half-size. Required when `kind` is `box`
`mesh`	entity	optional	Optional. Entity with `rig.geometry.mesh`. Absent = the mesh on this entity. Used when `kind` is `mesh`
`offset`	vec3	optional	Optional. Shape centre in the entity's local space; absent = origin
`sensor`	bool	optional	Optional. Overlap reports and no response; absent = false
`friction`	number0 – *	optional	Optional. Contact friction, 0 or greater; absent = the host default
`restitution`	number0 – 1	optional	Optional. Bounce, 0-1; absent = 0
`restitutionThreshold`	float	optional	Optional. Minimum speed that still bounces. Absent = the host default
`density`	number> 0	optional	Optional. Mass per volume for hosts that derive mass from shapes. Must be greater than 0. Ignored when the body sets `mass`
`layer`	int	optional	Optional. Collision layer; absent = 0
`mask`	uint	optional	Optional. Bitmask of layers this shape collides with; absent = every layer
`frictionCombine`	enumaverage · multiply · minimum · maximum	optional	Optional. `average`, `multiply`, `minimum`, `maximum`. How this friction mixes with the other shape. Absent = the host default
`restitutionCombine`	enumaverage · multiply · minimum · maximum	optional	Optional. Same tokens, for bounce

Contact shape. Format when present. One shape on the entity; a compound is child entities.

halfExtents is half the box on each axis. A host whose shape size is the full side length halves it on the way in.

The numbers are the authored request. The solver is fulfillment: two hosts need not reproduce the same contact from the same coefficients.

Hit tests for rig.interact.selectable use this shape when it is present.

JSON Schema

Resolves at https://rig.works/schemas/rig.sim.collider.schema.json — raw file.

{
  "$schema": "https://json-schema.org/draft/2020-12/schema",
  "$id": "https://rig.works/schemas/rig.sim.collider.schema.json",
  "title": "rig.sim.collider",
  "type": "object",
  "additionalProperties": false,
  "properties": {
    "kind": {
      "type": "string",
      "enum": [
        "sphere",
        "box",
        "capsule",
        "mesh"
      ]
    },
    "radius": {
      "$ref": "./_defs.schema.json#/$defs/float"
    },
    "height": {
      "$ref": "./_defs.schema.json#/$defs/float"
    },
    "halfExtents": {
      "$ref": "./_defs.schema.json#/$defs/vec3"
    },
    "mesh": {
      "$ref": "./_defs.schema.json#/$defs/entity"
    },
    "offset": {
      "$ref": "./_defs.schema.json#/$defs/vec3"
    },
    "sensor": {
      "$ref": "./_defs.schema.json#/$defs/bool"
    },
    "friction": {
      "type": "number",
      "minimum": 0
    },
    "restitution": {
      "type": "number",
      "minimum": 0,
      "maximum": 1
    },
    "restitutionThreshold": {
      "$ref": "./_defs.schema.json#/$defs/float"
    },
    "density": {
      "type": "number",
      "exclusiveMinimum": 0
    },
    "layer": {
      "$ref": "./_defs.schema.json#/$defs/int"
    },
    "mask": {
      "$ref": "./_defs.schema.json#/$defs/uint"
    },
    "frictionCombine": {
      "type": "string",
      "enum": [
        "average",
        "multiply",
        "minimum",
        "maximum"
      ]
    },
    "restitutionCombine": {
      "type": "string",
      "enum": [
        "average",
        "multiply",
        "minimum",
        "maximum"
      ]
    }
  },
  "required": [
    "kind"
  ],
  "x-rig-maturity": "draft"
}

Seen in

play-scene.json · robot-lab.json · robot-lesson.json