Parameters for creating a target constraint on 3D rotation DoFs of an articulated actor. More...
#include <mochi_structs.h>
Public Attributes | |
| ActorHandle | actor {} |
| Actor handle identifying the articulated actor. | |
| int | jointIndex = 0 |
| Index of the joint in the articulated actor. | |
| Quaternion | target {} |
| Target rotation relative to the joint's rest orientation, expressed in the joint's local frame as a quaternion [x, y, z, w]. | |
| 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 target constraint on 3D rotation DoFs of an articulated actor.
Forces the rotation degrees of freedom of a spherical or free joint in an articulated actor to track a given target orientation. This drives the joint toward a desired rotational configuration.
- Note
- Applies only to joints with 3D rotation DoFs (spherical joints, or the rotational part of free joints).
- See also
- Scene::CreateArticulated3dRotationTargetConstraint, ConstraintType::Articulated3dRotationTarget
Definition at line 409 of file mochi_structs.h.
Member Data Documentation
◆ actor
| ActorHandle superdex::Articulated3dRotationTargetConstraintParams::actor {} |
Actor handle identifying the articulated actor.
Definition at line 410 of file mochi_structs.h.
◆ jointIndex
| int superdex::Articulated3dRotationTargetConstraintParams::jointIndex = 0 |
Index of the joint in the articulated actor.
Definition at line 412 of file mochi_structs.h.
◆ target
| Quaternion superdex::Articulated3dRotationTargetConstraintParams::target {} |
Target rotation relative to the joint's rest orientation, expressed in the joint's local frame as a quaternion [x, y, z, w].
The identity quaternion corresponds to the rest orientation.
- Note
- Must be finite and non-zero. Normalized before use.
Definition at line 414 of file mochi_structs.h.
The documentation for this struct was generated from the following files:
