UBot Physics Capabilities

C++

FUBotPhysicsCapabilities

模块

UBotPhysics · UBotPhysics 0.1.0

节点

Break · Make

头文件

Source/UBotPhysics/Public/UBotPhysicsTypes.h

物理后端能模拟什么。字段只会追加，默认全部为 false，后端只声明自己真正支持的能力。

字段

字段	类型	蓝图	说明
Rigid BodiesbRigidBodies	Boolean	只读	自由刚体。
ArticulationsbArticulations	Boolean	只读	用缩减（广义）坐标描述的带关节物体。
Maximal Coordinate JointsbMaximalCoordinateJoints	Boolean	只读	以自由刚体之间的约束实现的关节（最大坐标）。
ContactsbContacts	Boolean	只读	后端自己的物体之间的接触。
Static Scene GeometrybStaticSceneGeometry	Boolean	只读	能和子系统交来的 UE 静态几何碰撞。声明后，后端会收到场景里的静态碰撞体。
Kinematic Foreign BodiesbKinematicForeignBodies	Boolean	只读	能把在别处模拟的物体（Chaos 或别的后端）作为运动学物体镜像进来。声明后，后端会收到场景里的运动学碰撞体。
AccelerationsbAccelerations	Boolean	只读	刚体状态带线加速度（m/s²）和角加速度（rad/s²）。
DeterministicbDeterministic	Boolean	只读	相同的输入和步数给出完全相同的结果。
DifferentiablebDifferentiable	Boolean	只读	仿真可以求导（可微分）。
Soft BodiesbSoftBodies	Boolean	只读	可变形的固体（软体）。
ClothbCloth	Boolean	只读	布料。
ParticlesbParticles	Boolean	只读	粒子系统。

节点

Break UBot Physics Capabilities

Break UBot Physics CapabilitiesUBot Physics CapabilitiesRigid BodiesArticulationsMaximal Coordinate JointsContactsStatic Scene GeometryKinematic Foreign BodiesAccelerationsDeterministicDifferentiableSoft BodiesClothParticles▴

拆分结构体 · Break:FUBotPhysicsCapabilities

把 UBot Physics Capabilities 拆成各项能力开关。

引脚	方向	类型	说明
UBot Physics Capabilities	输入	UBot Physics Capabilities结构体
Rigid BodiesbRigidBodies	输出	Boolean	Free rigid bodies.
ArticulationsbArticulations	输出	Boolean	Jointed bodies in reduced (generalized) coordinates.
Maximal Coordinate Joints高级bMaximalCoordinateJoints	输出	Boolean	Joints as constraints between free bodies.
Contacts高级bContacts	输出	Boolean	Contacts between the backend's own bodies.
Static Scene Geometry高级bStaticSceneGeometry	输出	Boolean	Can collide with static UE geometry the subsystem hands over.
Kinematic Foreign Bodies高级bKinematicForeignBodies	输出	Boolean	Can mirror bodies simulated elsewhere as kinematic bodies.
Accelerations高级bAccelerations	输出	Boolean	Body states carry linear and angular accelerations.
Deterministic高级bDeterministic	输出	Boolean	The same inputs and steps give identical results.
Differentiable高级bDifferentiable	输出	Boolean	The simulation can be differentiated.
Soft Bodies高级bSoftBodies	输出	Boolean	Deformable solid bodies.
Cloth高级bCloth	输出	Boolean	Cloth.
Particles高级bParticles	输出	Boolean	Particle systems.

Make UBot Physics Capabilities

Make UBot Physics CapabilitiesUBot Physics Capabilities

构造结构体 · Make:FUBotPhysicsCapabilities

用各项能力开关构造一个 UBot Physics Capabilities。

引脚	方向	类型
UBot Physics Capabilities	输出	UBot Physics Capabilities结构体