The type of joint drive to use for the articulation joint. More...
#include <PxArticulationJoint.h>
Public Types | |
| enum | Enum { eTARGET = 0, eERROR = 1 } |
The type of joint drive to use for the articulation joint.
Two drive models are currently supported. in the TARGET model, the drive spring displacement will be determined as the rotation vector from the relative quaternion beetween child and parent, and the target quaternion.
In the ERROR model, the drive spring displacement will be taken directly from the imaginary part of the relative quaternion. This drive model requires more computation on the part of the application, but allows driving the joing with a spring displacement that is more than a complete rotation.