Parameters for creating a joint rotation tracking constraint between two rigid actors. More...
#include <mochi_structs.h>
Public Attributes | |
| ActorHandle | actorA {} |
| Actor handle identifying rigid actor A. | |
| ActorHandle | actorB {} |
| Actor handle identifying rigid actor B. | |
| Real3 | refFrameRotVec {} |
| Joint reference-frame orientation in world coordinates at constraint creation, expressed as a rotation vector [rad]. | |
| 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 joint rotation tracking constraint between two rigid actors.
Forces the relative rotation between two rigid actors to track a target rotation. The target rotation is initialized to the relative rotation observed at constraint creation time, and can be updated at runtime via Constraint::SetTargetRotation. The relative rotation vector is expressed in a reference frame specified by refFrameRotVec.
- Note
- Sometimes used in combination with RigidPrismaticJointConstraintParams to fully constrain rotation in a prismatic joint.
- See also
- Scene::CreateJointRotationTrackingConstraint, ConstraintType::JointRotationTracking, RigidPrismaticJointConstraintParams, Constraint::SetTargetRotation
Definition at line 391 of file mochi_structs.h.
Member Data Documentation
◆ actorA
| ActorHandle superdex::JointRotationTrackingConstraintParams::actorA {} |
Actor handle identifying rigid actor A.
Definition at line 394 of file mochi_structs.h.
◆ actorB
| ActorHandle superdex::JointRotationTrackingConstraintParams::actorB {} |
Actor handle identifying rigid actor B.
Definition at line 396 of file mochi_structs.h.
◆ refFrameRotVec
| Real3 superdex::JointRotationTrackingConstraintParams::refFrameRotVec {} |
Joint reference-frame orientation in world coordinates at constraint creation, expressed as a rotation vector [rad].
- Note
- After creation, the frame remains fixed relative to actor A.
Definition at line 392 of file mochi_structs.h.
The documentation for this struct was generated from the following files:
