Defined in include/extensions/PxD6Joint.h

struct PxD6Drive

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


Public Types

enum Enum


enumerator eX

drive along the X-axis

enumerator eY

drive along the Y-axis

enumerator eZ

drive along the Z-axis

enumerator eSWING

drive of displacement from the X-axis

enumerator eTWIST

drive of the displacement around the X-axis

enumerator eSLERP

drive of all three angular degrees along a SLERP-path

enumerator eCOUNT