RigidConstraintSettings struct
#include <esp/physics/PhysicsManager.h>
Stores rigid constraint parameters for creation and updates.
Constructors, destructors, conversion operators
- RigidConstraintSettings() defaulted
Public variables
- RigidConstraintType constraintType
- The type of constraint described by these settings. Determines which parameters to use for creation and update.
- double maxImpulse
- The maximum impulse applied by this constraint. Should be tuned relative to physics timestep.
- int objectIdA
- objectIdA must always be >= 0. For mixed type constraints, objectA must be the ArticulatedObject.
- int objectIdB
- objectIdB == ID_UNDEFINED indicates "world".
- int linkIdA
- link of objectA if articulated. ID_UNDEFINED(-1) refers to base.
- int linkIdB
- link of objectB if articulated. ID_UNDEFINED(-1) refers to base.
-
Mn::
Vector3 pivotA - constraint point in local space of respective objects
-
Mn::
Vector3 pivotB -
Mn::
Matrix3x3 frameA - constraint orientation frame in local space of respective objects for RigidConstraintType::Fixed
-
Mn::
Matrix3x3 frameB