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superdex::RigidPivotToRigidTargetConstraintParams Struct Reference
Parameters for creating a constraint on a rigid actor's pivot point. More...
#include <mochi_structs.h>
Inheritance diagram for superdex::RigidPivotToRigidTargetConstraintParams:
Public Attributes | |
| ActorHandle | actor {} |
| Actor handle identifying the rigid actor. | |
| Real3 | localPosition {} |
| Pivot point in rigid actor's local frame [m]. | |
| TransformRT | targetTransform {} |
| Target center-of-mass transform. | |
| 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 constraint on a rigid actor's pivot point.
The target is expressed as the center-of-mass transform of the actor.
Couples a point on a rigid actor (expressed in the actor's local coordinates and referred to as "pivot") to the world position of the pivot under a target center-of-mass transform.
Definition at line 363 of file mochi_structs.h.
Member Data Documentation
◆ actor
| ActorHandle superdex::RigidPivotToRigidTargetConstraintParams::actor {} |
Actor handle identifying the rigid actor.
Definition at line 368 of file mochi_structs.h.
◆ localPosition
| Real3 superdex::RigidPivotToRigidTargetConstraintParams::localPosition {} |
Pivot point in rigid actor's local frame [m].
Definition at line 366 of file mochi_structs.h.
◆ targetTransform
| TransformRT superdex::RigidPivotToRigidTargetConstraintParams::targetTransform {} |
Target center-of-mass transform.
Definition at line 364 of file mochi_structs.h.
The documentation for this struct was generated from the following files:
