Base Link

A 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

• Inertial: The inertial properties of the link.

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

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

• Locker: 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.

• Light: Used to add lights to a link. You can add as many as you want.

• Audio: 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