PxPerformanceEnvelope

Defined in include/solver/PxSolverDefs.h

struct PxPerformanceEnvelope

Data structure to enforce static model of a DC motor.

Performance envelope is composed of 2 constraints:

1. effort-velocity curve: |Effort| <= maxEffort - velDependentResistance * |jointVelocity|

2. velocity-effort curve: |JointVelocity| <= maxActuatorVelocity - speedEffortGradient * |Effort| where Effort refers to the sum of the articulation cache effort to the joint and the drive effort.

Public Functions

inline PxPerformanceEnvelope(const PxEMPTY&)

inline PxPerformanceEnvelope(

PxReal maxEffort_ = 0.0f,

PxReal maxActuatorVelocity_ = 0.0f,

PxReal velocityDependentResistance_ = 0.0f,

PxReal speedEffortGradient_ = 0.0f,

)

Public Members

PxReal maxEffort

Max effort the actuator can produce at zero velocity.

For linear actuators, effort refers to force; for rotational actuators, effort refers to torque.

Range: [0, PX_MAX_F32] Default: 0.0f

PxReal maxActuatorVelocity

The maximum velocity of the actuator at zero effort.

Range: [0, PX_MAX_F32] Default: 0.0f

PxReal velocityDependentResistance

The rate at which available effort decreases as velocity increases.

This represents the slope of the effort-velocity curve. Range: [0, PX_MAX_F32] Default: 0.0f

PxReal speedEffortGradient

The rate at which maximum velocity decreases as effort increases.

This represents the inverse slope of the velocity-effort curve. Range: [0, PX_MAX_F32] Default: 0.0f