PxD6Drive
Defined in include/extensions/PxD6Joint.h
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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
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enum Enum
Values:
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enumerator eX
drive along the X-axis
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enumerator eY
drive along the Y-axis
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enumerator eZ
drive along the Z-axis
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enumerator eSWING
drive of displacement from the X-axis
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enumerator eTWIST
drive of the displacement around the X-axis
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enumerator eSLERP
drive of all three angular degrees along a SLERP-path
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enumerator eCOUNT
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enumerator eX
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enum Enum