Parameters for creating a range constraint on a 3D-rotation articulated joint. More...

#include <mochi_structs.h>

Inheritance diagram for superdex::Articulated3dRotationRangeConstraintParams:

Public Attributes
ActorHandle	actor {}
	Actor handle identifying the articulated actor.
int	jointIndex = 0
	Index of the joint in the articulated actor.
Real3	maxValues {}
	Maximum allowed value [rad] for each component of the joint-local rotation vector.
Real3	minValues {}
	Minimum allowed value [rad] for each component of the joint-local rotation vector.
Public Attributes inherited from superdex::ConstraintParams
real	damping = 0_r
	Constraint damping coefficient.
real	saturation = -1_r
	Saturation distance [m] or angle [rad].
real	stiffness = 1e6_r
	Constraint stiffness coefficient.

Additional Inherited Members
Public Member Functions inherited from superdex::ConstraintParams
bool	operator== (ConstraintParams const &) const =default

Detailed Description

Parameters for creating a range constraint on a 3D-rotation articulated joint.

Constrains each component of a spherical or free joint's local rotation vector (rotation axis multiplied by rotation angle) to its corresponding [min, max] range. Use this constraint to model the joint's mechanical rotation limits.

See also: Scene::CreateArticulated3dRotationRangeConstraint, ConstraintType::Articulated3dRotationRange

Definition at line 429 of file mochi_structs.h.

Member Data Documentation

◆ actor

ActorHandle superdex::Articulated3dRotationRangeConstraintParams::actor {}

Actor handle identifying the articulated actor.

Definition at line 430 of file mochi_structs.h.

◆ jointIndex

int superdex::Articulated3dRotationRangeConstraintParams::jointIndex = 0

Index of the joint in the articulated actor.

Definition at line 432 of file mochi_structs.h.

◆ maxValues

Real3 superdex::Articulated3dRotationRangeConstraintParams::maxValues {}

Maximum allowed value [rad] for each component of the joint-local rotation vector.

Definition at line 436 of file mochi_structs.h.

◆ minValues

Real3 superdex::Articulated3dRotationRangeConstraintParams::minValues {}

Minimum allowed value [rad] for each component of the joint-local rotation vector.

Definition at line 434 of file mochi_structs.h.

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