VelocityControl struct
#include <esp/physics/RigidObject.h>
Convenience struct for applying constant velocity control to a rigid body.
Contents
Constructors, destructors, conversion operators
- ~VelocityControl() virtual
Public functions
-
auto integrateTransform(const float dt,
const core::
RigidState& rigidState) -> core:: RigidState virtual - Compute the result of applying constant control velocities to the provided object transform.
Public variables
-
Magnum::
Vector3 linVel - Constant linear velocity.
-
Magnum::
Vector3 angVel - Constant angular velocity.
- bool controllingLinVel
- Whether or not to set linear control velocity before stepping.
- bool linVelIsLocal
- Whether or not to set linear control velocity in local space. Useful for commanding actions such as "forward", or "strafe".
- bool controllingAngVel
- Whether or not to set angular control velocity before stepping.
- bool angVelIsLocal
- Whether or not to set angular control velocity in local space. Useful for commanding actions such as "roll" and "yaw".
Function documentation
core::
Compute the result of applying constant control velocities to the provided object transform.
| Parameters | |
|---|---|
| dt | The discrete timestep over which to integrate. |
| rigidState | |
| Returns | The new state of the object after applying velocity control over dt. |
For efficiency this function does not support transforms with scaling.
Default implementation uses explicit Euler integration.