Data structure for articulation joint drive configuration. More...

Public Member Functions
	PxArticulationDrive (const PxReal stiffness_, const PxReal damping_, const PxReal maxForce_, PxArticulationDriveType::Enum driveType_=PxArticulationDriveType::eFORCE)

Public Attributes
PxReal	stiffness
	The drive stiffness, i.e. the proportional gain of the implicit PD controller.

PxReal	damping
	The drive damping, i.e. the derivative gain of the implicit PD controller.

PxReal	maxForce
	The drive force limit.

PxArticulationDriveType::Enum	driveType
	The drive type.

Detailed Description

Data structure for articulation joint drive configuration.

See also: PxArticulationJointReducedCoordinate::setDriveParams, PxArticulationReducedCoordinate

Member Data Documentation

PxReal physx::PxArticulationDrive::damping

The drive damping, i.e. the derivative gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/(rad/s) if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/(rad/s) if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/(distance/s) if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/(distance/s) if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

PxArticulationDriveType::Enum physx::PxArticulationDrive::driveType

The drive type.

PxReal physx::PxArticulationDrive::maxForce

The drive force limit.

The limit is enforced regardless of the drive type #PxArticulationDriveType.
The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.

Range: [0, PX_MAX_F32]
Default: 0.0f

PxReal physx::PxArticulationDrive::stiffness

The drive stiffness, i.e. the proportional gain of the implicit PD controller.

See manual for further information, and the drives' implicit spring-damper (i.e. PD control) implementation in particular.

Units: (distance = linear scene units)
Rotational axis: torque/rad if driveType = PxArticulationDriveType::eFORCE; or (rad/s^2)/rad if driveType = PxArticulationDriveType::eACCELERATION
Translational axis: force/distance if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/distance if driveType = PxArticulationDriveType::eACCELERATION
Range: [0, PX_MAX_F32]
Default: 0.0f

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