PxJointFrictionParams

Defined in include/solver/PxSolverDefs.h

struct PxJointFrictionParams

Data structure to store friction parameters.

See also

PxArticulationJointReducedCoordinate::setFrictionParams, PxArticulationReducedCoordinate

Public Functions

inline PxJointFrictionParams()

inline PxJointFrictionParams(

const PxReal staticFrictionEffort_,

const PxReal dynamicFrictionEffort_,

const PxReal viscousFrictionCoefficient_,

)

Public Members

PxReal staticFrictionEffort

Coulomb static friction effort.

For linear motion effort refers to force, for rotational - to torque.

Range: [0, PX_MAX_F32]Default: 0.0f

PxReal dynamicFrictionEffort

Coulomb dynamic friction effort.

For linear motion effort refers to force, for rotational - to torque.

Range: [0, PX_MAX_F32]Default: 0.0f

PxReal viscousFrictionCoefficient

Viscous friction coefficient.

viscousFrictionForce(Torque) = -viscousFrictionCoefficient * speed.

Range: [0, PX_MAX_F32]Default: 0.0f