doc improvement

README.md

@@ -1,4 +1,4 @@
-# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.12)
+# RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH (v1.14)
 
 Click to watch the video
 

docs/sections/RaisimServer.rst

@@ -3,10 +3,10 @@ Raisim Server
 #############################
 
 RaisimServer serializes ``raisim::World`` and streams the data to clients via tcp/ip.
-We provide the raisimUnity (`doc <https://raisim.com/sections/RaisimUnity.html>`_) client, which visualizes a raisim World.
+We provide the raisimUnity (`doc <https://raisim.com/sections/RaisimUnity.html>`_) client, which visualizes a ``raisim::World``.
 The basic usage is described in the `doc <https://raisim.com/sections/RaisimUnity.html#how-to-use-raisimunity>`_.
 
-Other than just visualizing a raisim world, RaisimServer can visualize additional visual objects.
+Other than just visualizing a ``raisim::World``, ``raisim::RaisimServer`` can visualize additional visual objects.
 An example can be found `here <https://github.com/raisimTech/raisimLib/blob/master/examples/src/server/visualObjects.cpp>`_.
 The example will be displayed as following
 

docs/sections/RaisimUnity.rst

@@ -48,3 +48,8 @@ You can disable auto-connection by unchecking the ``auto-connect`` checkbox.
 .. image:: ../image/RSUinstruction2.png
 
 .. image:: ../image/RSUinstruction3.png
+
+Object Appearances
+=====================
+You can specify the appearance of an object using ``raisim::SingleBodyObject::setAppearance".
+If you want to hide object completely in RaisimUnity, you can set appearance as ``hidden-unity``.

docs/sections/SingleBodyObjects.rst

@@ -2,12 +2,76 @@
 Single-Body Objects
 #############################
 
+``raisim::SingleBodyObject`` is an object with only one rigid body.
+``raisim::Compound`` object is is also a SingleBodyObject because its components move together as one rigid body.
+All SingleBodyObjects has **6 degrees of freedom**: 3 for position and 3 for orientation.
+
+Supported Shapes
+=========================
+The following 5 shapes are supported in Raisim.
+
+.. list-table::
+
+    * - .. figure:: ../image/sphere.png
+
+           Sphere
+
+      - .. figure:: ../image/box.png
+
+           Box
+
+      - .. figure:: ../image/cylinder.png
+
+           Cylinder
+
+    * - .. figure:: ../image/capsule.png
+
+           Capsule
+
+      - .. figure:: ../image/compound.png
+
+           Compound
+
+      - ..
+
+Compound
+===================================
+An example can be found `here <https://raisim.com/sections/RaisimUnity.html>`_.
+
+``raisim::Compound`` has multiple primitive shapes which are rigidly attached to each other to form a single rigid body.
+The shapes do not have to overlap to stay attached.
+
+A compound object can be added to world using the method ``raisim::World::addCompound``.
+This method takes a vector of child, which have their own shape, material, position and orientation.
+The shape can be specified by a geometric type (i.e., ``raisim::ObjectType``) and its size parameters (``objectParam``).
+The object param is standard representation, which is
+
+*  Sphere: radius
+*  Box: x, y, z
+*  Capsule and cylinder: radius, height
+
+The ``objectParam`` is an instance of ``raisim::Vec<4>``.
+All shapes require less than 4 parameters and the unnecessary elements (e.g., for a box, 4th element) are ignored.
+
+The ``trans`` member defines the position and orientation of the child in the body frame.
+It is a ``struct`` instance which has ``rot`` and ``pos`` members as public.
+
+The following arguments, mass, the center of mass and inertia, specify the dynamical properties of the combined body.
+
+
 SingleBodyObject API (Parent class)
 ======================================
 
 .. doxygenclass:: raisim::SingleBodyObject
    :members:
 
+
+Compound API
+=========================
+
+.. doxygenclass:: raisim::Compound
+   :members:
+
 Sphere API
 =========================