PxD6Drive Struct Reference

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

#include <PxD6Joint.h>

List of all members.

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:

Member Enumeration Documentation

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

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

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