PxD6Drive

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.