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Base Link

It is physical link with optional inertia, collision and required visual properties. Every component needs to have at least one, that's why the base_link element is always compulsory.

Mandatory children

  • Visual: It describes the visual properties of the link. You can add as many as you want.

Optional children

  • Origin: Transformation frame respect to the component's frame of reference.

    • Var: smtk_transform
    • Type: Constant
    • Default: 0 0 0 0 0 0 1
    • Values info: x y z qx qy qz qw
  • Inertial: The inertial properties of the link.

  • Sensor: It is used to define a sensor in a link. You can add as many as you want.

  • Force Source: It is used to apply a force to objects within the range. You can add as many as you want.

  • Locker: It creates a fixed constraint between the link where is contained and the touched link. You can add as many as you want.

  • Collision: The collision properties of a link. You can add as many as you want.

  • Rect Area Light: Light that gets emitted in a specific direction. You can add as many as you want.

  • Spot Light: Light that gets emitted from a single point in one direction along a cone. You can add as many as you want.

  • Directional Light: Light that gets emitted in a specific direction. You can add as many as you want.

  • Point Light: Light that gets emitted from a single point in all directions. You can add as many as you want.

  • Audio: It is used to add audio to a link. You can add as many as you want.

  • Apply Force: Apply a force/torque to a specific location of the link. You can add as many as you want.

  • Surface: Three types of surfaces are available:

    • Surface: Defines the collision surface parameters.
    • Motion Surface: Defines the collision surface parameters, plus motion_direction and motion_speed variables.
    • Data Surface: Defines the collision data of the surface, including extra custom data.
  • is_kinematic: If enabled, it will allow links without mass and collision still have a physics body. Used for Avatar control.

    • Var: smtk_bool
    • Type: Constant
    • default: true