PxD6Drive Struct Reference
[Extensions]

Used to specify which axes of a D6 joint are driven. More...

#include <PxD6Joint.h>

List of all members.

Public Types
enum	Enum {   eX = 0,   eY = 1,   eZ = 2,   eSWING = 3,   eTWIST = 4,   eSLERP = 5,   eCOUNT = 6 }

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Detailed Description

Used to specify which axes of a D6 joint are driven.

Each drive is an implicit force-limited damped spring:

force = spring * (target position - position) + damping * (targetVelocity - velocity)

Alternatively, the spring may be configured to generate a specified acceleration instead of a force.

A linear axis is affected by drive only if the corresponding drive flag is set. There are two possible models for angular drive: swing/twist, which may be used to drive one or more angular degrees of freedom, or slerp, which may only be used to drive all three angular degrees simultaneously.

See also:

PxD6Joint

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Member Enumeration Documentation

enum PxD6Drive::Enum

Enumerator:

eX	drive along the X-axis
eY	drive along the Y-axis
eZ	drive along the Z-axis
eSWING	drive of displacement from the X-axis
eTWIST	drive of the displacement around the X-axis
eSLERP	drive of all three angular degrees along a SLERP-path
eCOUNT

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

• PxD6Joint.h