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
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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
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Inertial: The inertial properties of the link.
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Sensor: It is used to define a sensor in a link. You can add as many as you want.
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Force Source: It is used to apply a force to objects within the range. You can add as many as you want.
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Locker: It creates a fixed constraint between the link where is contained and the touched link. You can add as many as you want.
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Collision: The collision properties of a link. You can add as many as you want.
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Rect Area Light: Light that gets emitted in a specific direction. You can add as many as you want.
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Spot Light: Light that gets emitted from a single point in one direction along a cone. You can add as many as you want.
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Directional Light: Light that gets emitted in a specific direction. You can add as many as you want.
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Point Light: Light that gets emitted from a single point in all directions. You can add as many as you want.
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Audio: It is used to add audio to a link. You can add as many as you want.
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Apply Force: Apply a force/torque to a specific location of the link. You can add as many as you want.
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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.
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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