PxArticulationDriveType

Defined in include/solver/PxSolverDefs.h

struct PxArticulationDriveType

Public Types

enum Enum

Values:

enumerator eFORCE

The output of the implicit spring drive controller is a force/torque.

enumerator eACCELERATION

The output of the implicit spring drive controller is a joint acceleration (use this to get (spatial)-inertia-invariant behavior of the drive).

enumerator eTARGET

Deprecated:

Will be removed in a future version; use stiffness = 1e+25f and damping = 0.f to obtain identical behavior. Sets the drive gains internally to track a target position almost kinematically (i.e. with very high drive gains).

enumerator eVELOCITY

Deprecated:

Will be removed in a future version; use stiffness = 0.f and damping = 1e+25f to obtain identical behavior. Sets the drive gains internally to track a target velocity almost kinematically (i.e. with very high drive gains).

enumerator eNONE