PxD6Drive Struct Reference

Used to specify which axes of a D6 joint are driven. More...

#include <PxD6Joint.h>

Public Types
enum	Enum {   eX = 0,   eY = 1,   eZ = 2,   eSWING = 3,   eTWIST = 4,   eSLERP = 5,   eCOUNT = 6 }

Detailed Description

Used to specify which axes of a D6 joint are driven.

Each drive is an implicit force-limited damped spring:

force = spring * (target position - position) + damping * (targetVelocity - velocity)

Alternatively, the spring may be configured to generate a specified acceleration instead of a force.

A linear axis is affected by drive only if the corresponding drive flag is set. There are two possible models for angular drive: swing/twist, which may be used to drive one or more angular degrees of freedom, or slerp, which may only be used to drive all three angular degrees simultaneously.

See Also

PxD6Joint

Member Enumeration Documentation

enum PxD6Drive::Enum

Enumerator
eX	drive along the X-axis
eY	drive along the Y-axis
eZ	drive along the Z-axis
eSWING	drive of displacement from the X-axis
eTWIST	drive of the displacement around the X-axis
eSLERP	drive of all three angular degrees along a SLERP-path
eCOUNT

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The documentation for this struct was generated from the following file:

• PxD6Joint.h