Parameters for creating a range constraint on a single articulated DoF. More...

#include <mochi_structs.h>

Inheritance diagram for superdex::ArticulatedSingleDofRangeConstraintParams:

Public Attributes
ActorHandle	actor {}
	Actor handle identifying the articulated actor.
int	dofIndex = {}
	DoF index within the joint (0-based).
int	jointIndex = 0
	Index of the joint in the articulated actor.
real	maxValue = 0_r
	Maximum value for the DoF.
real	minValue = 0_r
	Minimum value for the DoF.
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 single articulated DoF.

Limits a degree of freedom of a joint in an articulated actor to remain within specified [min, max] bounds. This prevents the joint from exceeding its mechanical limits.

Note: It applies only to translation DoFs (free or prismatic joints) or single-DoF rotation joints (revolute). For 3D rotation joints (spherical or free), use instead Articulated3dRotationRangeConstraintParams.

See also: Scene::CreateArticulatedSingleDofRangeConstraint, ConstraintType::ArticulatedSingleDofRange

Definition at line 417 of file mochi_structs.h.

Member Data Documentation

◆ actor

ActorHandle superdex::ArticulatedSingleDofRangeConstraintParams::actor {}

Actor handle identifying the articulated actor.

Definition at line 418 of file mochi_structs.h.

◆ dofIndex

int superdex::ArticulatedSingleDofRangeConstraintParams::dofIndex = {}

DoF index within the joint (0-based).

Translation DoFs come first, then rotation DoFs. For free joints, only translation indices are accepted (use Articulated3dRotationRangeConstraintParams to constrain the 3D rotation).

Definition at line 422 of file mochi_structs.h.

◆ jointIndex

int superdex::ArticulatedSingleDofRangeConstraintParams::jointIndex = 0

Index of the joint in the articulated actor.

Definition at line 420 of file mochi_structs.h.

◆ maxValue

real superdex::ArticulatedSingleDofRangeConstraintParams::maxValue = 0_r

Maximum value for the DoF.

[m] for translation DoFs, [rad] for rotation DoFs.

Definition at line 426 of file mochi_structs.h.

◆ minValue

real superdex::ArticulatedSingleDofRangeConstraintParams::minValue = 0_r

Minimum value for the DoF.

[m] for translation DoFs, [rad] for rotation DoFs.

Definition at line 424 of file mochi_structs.h.

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

Public Attributes