Parameters for pose controller tracking constraints. More...

#include <mochi_structs.h>

Public Member Functions
bool	operator== (PoseTrackingParams const &) const =default

Public Attributes
real	damping = 0_r
	Constraint damping.
real	saturation = -1_r
	Saturation distance [m] or angle [rad].
real	stiffness = 0_r
	Constraint stiffness.

Detailed Description

Parameters for pose controller tracking constraints.

Defines spring-damper parameters for individual pose tracking constraints in an articulated actor's pose controller. Each constraint acts on a joint rotation, link translation, or link rotation.

See also: Actor::GetArticulatedPoseControllerParams, Actor::SetArticulatedPoseControllerParams, PoseControllerParams

Definition at line 573 of file mochi_structs.h.

Member Function Documentation

◆ operator==()

bool superdex::PoseTrackingParams::operator== ( PoseTrackingParams const & ) const

default

Member Data Documentation

◆ damping

real superdex::PoseTrackingParams::damping = 0_r

Constraint damping.

Note: Units depend on the DoF kind: [N·s/m] for translation DoFs, [N·m·s/rad] for rotation DoFs.; Must be non-negative and finite.

Definition at line 576 of file mochi_structs.h.

◆ saturation

real superdex::PoseTrackingParams::saturation = -1_r

Saturation distance [m] or angle [rad].

A negative value disables saturation.

Note: When enabled, saturation smoothly limits the magnitude of the elastic (stiffness) contribution to stiffness * saturation. The damping contribution is separate and is not limited by saturation.; Must be finite and non-zero.

Definition at line 578 of file mochi_structs.h.

◆ stiffness

real superdex::PoseTrackingParams::stiffness = 0_r

Constraint stiffness.

Note: Units depend on the DoF kind: [N/m] for translation DoFs, [N·m/rad] for rotation DoFs.; Must be non-negative and finite.

Definition at line 574 of file mochi_structs.h.

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

Public Member Functions