SuperDex Physics C++ API
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superdex::PoseControllerParams Struct Reference
Actors » Articulated Actors

Parameters to create a pose controller for an articulated actor. More...

#include <mochi_structs.h>

Public Member Functions

 PoseControllerParams ()=default
 PoseControllerParams (int numLinks)
 Construct with all tracking arrays pre-sized to numLinks default-constructed PoseTrackingParams (zero gains).

Public Attributes

DynamicArray< PoseTrackingParams > jointTracking
 Tracking parameters for joint constraints.
DynamicArray< PoseTrackingParams > linkPosTracking
 Tracking parameters for link position constraints.
DynamicArray< PoseTrackingParams > linkRotTracking
 Tracking parameters for link rotation constraints.

Detailed Description

Parameters to create a pose controller for an articulated actor.

Note
Each tracking array must be empty, have size 1, or have size equal to the number of links. Empty arrays use zero-gain defaults. Size-1 arrays are broadcast to all applicable constraints. Full-size arrays are indexed by link.
Empty controllers are allowed. Constraints are created even when stiffness and damping are both zero, and can be accessed/updated via Actor::GetArticulatedPoseConstraints, Actor::GetArticulatedPoseControllerParams and Actor::SetArticulatedPoseControllerParams.
Control of cycle joints is not supported.
See also
Actor::AddArticulatedPoseController, PoseTrackingParams

Definition at line 585 of file mochi_structs.h.

Constructor & Destructor Documentation

◆ PoseControllerParams() [1/2]

superdex::PoseControllerParams::PoseControllerParams ( )
default

◆ PoseControllerParams() [2/2]

superdex::PoseControllerParams::PoseControllerParams ( int numLinks)
inlineexplicit

Construct with all tracking arrays pre-sized to numLinks default-constructed PoseTrackingParams (zero gains).

Parameters
[in]numLinksNumber of links the controller will track.

Definition at line 591 of file mochi_structs.h.

Member Data Documentation

◆ jointTracking

DynamicArray<PoseTrackingParams> superdex::PoseControllerParams::jointTracking

Tracking parameters for joint constraints.

Definition at line 598 of file mochi_structs.h.

◆ linkPosTracking

DynamicArray<PoseTrackingParams> superdex::PoseControllerParams::linkPosTracking

Tracking parameters for link position constraints.

Definition at line 594 of file mochi_structs.h.

◆ linkRotTracking

DynamicArray<PoseTrackingParams> superdex::PoseControllerParams::linkRotTracking

Tracking parameters for link rotation constraints.

Definition at line 596 of file mochi_structs.h.

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