PxArticulationDrive
Defined in include/solver/PxSolverDefs.h
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struct PxArticulationDrive
Data structure for articulation joint drive configuration.
Public Functions
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inline PxArticulationDrive()
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inline PxArticulationDrive(const PxReal stiffness_, const PxReal damping_, const PxReal maxForce_, PxArticulationDriveType::Enum driveType_ = PxArticulationDriveType::eFORCE)
Public Members
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PxReal stiffness
The drive stiffness, i.e.
the proportional gain of the implicit PD controller.
See manual for further information, and the drives’ implicit spring-damper (i.e. PD control) implementation in particular.
Units:
(distance = linear scene units)
Rotational axis: torque/rad if driveType =
PxArticulationDriveType::eFORCE; or (rad/s^2)/rad if driveType = PxArticulationDriveType::eACCELERATION Translational axis: force/distance if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/distance if driveType = PxArticulationDriveType::eACCELERATIONRange: [0, PX_MAX_F32]Default: 0.0f
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PxReal damping
The drive damping, i.e.
the derivative gain of the implicit PD controller.
See manual for further information, and the drives’ implicit spring-damper (i.e. PD control) implementation in particular.
Units:
(distance = linear scene units)
Rotational axis: torque/(rad/s) if driveType =
PxArticulationDriveType::eFORCE; or (rad/s^2)/(rad/s) if driveType = PxArticulationDriveType::eACCELERATION Translational axis: force/(distance/s) if driveType = PxArticulationDriveType::eFORCE; or (distance/s^2)/(distance/s) if driveType = PxArticulationDriveType::eACCELERATIONRange: [0, PX_MAX_F32]Default: 0.0f
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PxReal maxForce
The drive force limit.
The limit is enforced regardless of the drive type PxArticulationDriveType.
The limit corresponds to a force (linear axis) or torque (rotational axis) if PxArticulationFlag::eDRIVE_LIMITS_ARE_FORCES is set, and to an impulse (force|torque * dt) otherwise.
Range: [0, PX_MAX_F32]Default: 0.0f
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PxArticulationDriveType::Enum driveType
The drive type.
See also
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inline PxArticulationDrive()