esp/physics/ArticulatedObject.h file

Class esp::physics::ArticulatedLink, class esp::physics::ArticulatedObject, enum class JointType, enum class JointMotorType, struct JointMotorSettings.

Namespaces

namespace esp

Root namespace.

namespace esp::gfx

GFX library.

namespace esp::assets

Assets library.

namespace esp::physics

Physics library.

Classes

struct esp::physics::JointMotorSettings

Stores JointMotor (i.e. per-DoF PD control) parameters for creation and updates.

struct esp::physics::JointMotor

A general wrapper class for JointMotor (e.g. PD control) implementation.

class esp::physics::ArticulatedObject

An articulated rigid object (i.e. kinematic chain). Abstract class to be derived by physics simulator specific implementations.

Enums

enum class JointMotorType { SingleDof, Spherical }

describes the type of a motor for generality.