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

#include <mochi_structs.h>

Inheritance diagram for superdex::ArticulatedSingleDofTargetConstraintParams:

Public Attributes
ActorHandle	actor {}
	Actor handle identifying the articulated actor.
int	dofIndex = 0
	DoF index within the joint (0-based).
int	jointIndex = 0
	Index of the joint in the articulated actor.
real	targetValue = 0_r
	Target value for the joint 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 target constraint on a single articulated DoF.

Forces the specified degree of freedom in a joint of an articulated actor to track a given target value. This drives the joint toward a desired configuration.

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 Articulated3dRotationTargetConstraintParams.

See also: Scene::CreateArticulatedSingleDofTargetConstraint, ConstraintType::ArticulatedSingleDofTarget

Definition at line 399 of file mochi_structs.h.

Member Data Documentation

◆ actor

ActorHandle superdex::ArticulatedSingleDofTargetConstraintParams::actor {}

Actor handle identifying the articulated actor.

Definition at line 400 of file mochi_structs.h.

◆ dofIndex

int superdex::ArticulatedSingleDofTargetConstraintParams::dofIndex = 0

DoF index within the joint (0-based).

Translation DoFs come first, then rotation DoFs. For free joints, only translation indices are accepted (use Articulated3dRotationTargetConstraintParams to target the 3D rotation).

Definition at line 404 of file mochi_structs.h.

◆ jointIndex

int superdex::ArticulatedSingleDofTargetConstraintParams::jointIndex = 0

Index of the joint in the articulated actor.

Definition at line 402 of file mochi_structs.h.

◆ targetValue

real superdex::ArticulatedSingleDofTargetConstraintParams::targetValue = 0_r

Target value for the joint DoF.

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

Definition at line 406 of file mochi_structs.h.

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