PxD6AngularDriveConfig

Defined in include/extensions/PxD6Joint.h

struct PxD6AngularDriveConfig

The configuration to use for driving to the angular component of a target pose or velocity.

See also

PxD6Joint::setAngularDriveConfig() PxD6Drive PxD6Joint::setDrive()

Public Types

enum Enum

Values:

enumerator eSWING_TWIST

The joint tries to reach the angular drive target by separately driving along each angular degree of freedom.

Each angular degree of freedom can have its own set of drive parameters. The degrees of freedom are covered by a twist and two swing axes. As a consequence, only the following options are available when setting the drive parameters: PxD6Drive::eSWING1, PxD6Drive::eSWING2, PxD6Drive::eTWIST (see PxD6Joint::setDrive()).

enumerator eSLERP

The joint tries to reach the angular drive target by following a spherical linear interpolation (SLERP) based path.

A single set of drive parameters will be used for all angular degrees of freedom and PxD6Drive::eSLERP is the only valid option to set those parameters (see PxD6Joint::setDrive()).

enumerator eLEGACY

Legacy mode that uses a precedence system to either use the slerp or swing/twist angular drive model.

Deprecated:

For compatibility with previous versions of PhysX, drive parameters for PxD6Drive::eTWIST, PxD6Drive::eSWING and PxD6Drive::eSLERP can be set alltogether with eSLERP taking precedence (see PxD6Joint::setDrive()). Use of PxD6Drive::eSWING1 and PxD6Drive::eSWING2 is not allowed.

Note

In this config it is not possible to set separate drive parameters for the two swing axes.