Parameters for creating a tracking constraint on the relative rotation between a rigid actor and a rod element. More...

#include <mochi_structs.h>

Inheritance diagram for superdex::RodElementRotationToRigidConstraintParams:

Public Attributes
int	elementIndex = 0
	Index of the element in the rod actor.
Real3	refFrameRotVec {}
	Joint reference-frame orientation in world coordinates at constraint creation, expressed as a rotation vector [rad].
ActorHandle	rigidActor {}
	Actor handle identifying rigid actor.
ActorHandle	rodActor {}
	Actor handle identifying rod actor.
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 tracking constraint on the relative rotation between a rigid actor and a rod element.

Forces the relative rotation between the rigid actor and a specified rod element 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.

See also: Scene::CreateRodElementRotationToRigidConstraint, ConstraintType::RodElementRotationToRigid, Constraint::SetTargetRotation

Definition at line 315 of file mochi_structs.h.

Member Data Documentation

◆ elementIndex

int superdex::RodElementRotationToRigidConstraintParams::elementIndex = 0

Index of the element in the rod actor.

Definition at line 322 of file mochi_structs.h.

◆ refFrameRotVec

Real3 superdex::RodElementRotationToRigidConstraintParams::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 the rigid actor.

Definition at line 316 of file mochi_structs.h.

◆ rigidActor

ActorHandle superdex::RodElementRotationToRigidConstraintParams::rigidActor {}

Actor handle identifying rigid actor.

Definition at line 318 of file mochi_structs.h.

◆ rodActor

ActorHandle superdex::RodElementRotationToRigidConstraintParams::rodActor {}

Actor handle identifying rod actor.

Definition at line 320 of file mochi_structs.h.

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