PxD6JointDrive#

Defined in include/extensions/PxD6Joint.h

class PxD6JointDrive : public PxSpring #

parameters for configuring the drive model of a PxD6Joint

See also

Public Functions

inline PxD6JointDrive()#: default constructor for PxD6JointDrive.

inline PxD6JointDrive( PxReal driveStiffness, PxReal driveDamping, PxReal driveForceLimit, bool isAcceleration = false, )#

constructor a PxD6JointDrive.

Parameters:

driveStiffness – [in] The stiffness of the drive spring.
driveDamping – [in] The damping of the drive spring
driveForceLimit – [in] The maximum impulse or force that can be exerted by the drive
isAcceleration – [in] Whether the drive is an acceleration drive or a force drive

inline bool isValid() const#: returns true if the drive is valid

Public Members

PxReal forceLimit#: the force limit of the drive - may be an impulse or a force depending on PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES

PxD6JointDriveFlags flags#: the joint drive flags

PxReal stiffness#: the spring strength of the drive: that is, the force proportional to the position error

PxReal damping#: the damping strength of the drive: that is, the force proportional to the velocity error