Parameters for creating a prismatic joint between two rigid actors. More...

Inheritance diagram for superdex::RigidPrismaticJointConstraintParams:

Public Attributes
ActorHandle	actorA {}
	Actor handle identifying rigid actor A.
ActorHandle	actorB {}
	Actor handle identifying rigid actor B.
Real3	freeAxis {}
	Axis of free translation, specified in the world frame at constraint creation time.
std::optional< real >	max {}
	Maximum translation [m] relative to rest position.
std::optional< real >	min {}
	Minimum translation [m] relative to rest position.
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 prismatic joint between two rigid actors.

Note: Constrains translation perpendicular to the free axis (and optionally limits translation along it). Does not constrain rotation.; It must be complemented with JointRotationTrackingConstraintParams to constrain the rotation and implement a full prismatic joint.

See also: Scene::CreateRigidPrismaticJointConstraint, ConstraintType::RigidPrismaticJoint, JointRotationTrackingConstraintParams

Definition at line 291 of file mochi_structs.h.

Member Data Documentation

ActorHandle superdex::RigidPrismaticJointConstraintParams::actorA {}

Actor handle identifying rigid actor A.

Definition at line 294 of file mochi_structs.h.

ActorHandle superdex::RigidPrismaticJointConstraintParams::actorB {}

Actor handle identifying rigid actor B.

Definition at line 296 of file mochi_structs.h.

Real3 superdex::RigidPrismaticJointConstraintParams::freeAxis {}

Axis of free translation, specified in the world frame at constraint creation time.

Note: The axis is captured at creation and thereafter rigidly attached to actor A: it rotates with actor A rather than remaining fixed in world space.; Must be non-zero and finite.; Its magnitude is ignored (normalized internally).

Definition at line 292 of file mochi_structs.h.

std::optional<real> superdex::RigidPrismaticJointConstraintParams::max {}

Maximum translation [m] relative to rest position.

Empty means unbounded.

Definition at line 298 of file mochi_structs.h.

std::optional<real> superdex::RigidPrismaticJointConstraintParams::min {}

Minimum translation [m] relative to rest position.

Empty means unbounded.

Definition at line 300 of file mochi_structs.h.

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