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PxD6Drive Struct Reference
Extensions

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

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