#[repr(i32)]pub enum PxD6Drive {
X = 0,
Y = 1,
Z = 2,
Swing = 3,
Twist = 4,
Slerp = 5,
Count = 6,
}
Expand description
Used to specify which axes of a D6 joint are driven.
Each drive is an implicit force-limited damped spring:
force = spring * (target position - position) + damping * (targetVelocity - velocity)
Alternatively, the spring may be configured to generate a specified acceleration instead of a force.
A linear axis is affected by drive only if the corresponding drive flag is set. There are two possible models for angular drive: swing/twist, which may be used to drive one or more angular degrees of freedom, or slerp, which may only be used to drive all three angular degrees simultaneously.
Variants§
X = 0
drive along the X-axis
Y = 1
drive along the Y-axis
Z = 2
drive along the Z-axis
Swing = 3
drive of displacement from the X-axis
Twist = 4
drive of the displacement around the X-axis
Slerp = 5
drive of all three angular degrees along a SLERP-path