DcAttractorProperties

Fully qualified name: omni::isaac::dynamic_control::DcAttractorProperties

struct DcAttractorProperties

Properties to set up a pose attractor.

Properties to set up a pose attractor

The Attractor is used to pull a rigid body towards a pose. Each pose axis can be individually selected.

Public Members

DcHandle rigidBody = kDcInvalidHandle

Rigid body to set the attractor to.

DcAxisFlags axes = 0

Axes to set the attractor, using DcTransformAxesFlags. Multiple axes can be selected using bitwise combination of each axis flag. if axis flag is set to zero, the attractor will be disabled and won’t impact in solver computational complexity.

DcTransform target = {kTransformIdentity}

Target pose to attract to.

DcTransform offset = {kTransformIdentity}

Offset from rigid body origin to set the attractor pose.

float stiffness = 1e5f

Stiffness to be used on attraction for solver. Stiffness value should be larger than the largest agent kinematic chain stifness.

float damping = 1e3f

Damping to be used on attraction solver.

float forceLimit = std::numeric_limits<float>::max()

Maximum force to be applied by drive.