DcD6JointProperties

Fully qualified name: omni::isaac::dynamic_control::DcD6JointProperties

struct DcD6JointProperties

Properties to set up a D6 Joint.

Properties to set up a D6 Joint

The Joint is used to connect two rigid bodies.

Public Members

char *name = {nullptr}

Name of the joint.

DcHandle body0 = kDcInvalidHandle

Rigid body to set the joint to.

DcHandle body1 = kDcInvalidHandle

Rigid body to set the joint to.

DcAxisFlags axes = kDcAxisNone

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

DcTransform pose0 = {kTransformIdentity}

Offset from Rigid Body 0 to Joint.

DcTransform pose1 = {kTransformIdentity}

Offset from Rigid Body 1 to Joint.

DcJointType jointType

Joint type being defined.

bool hasLimits[6]

Flag for determining if joint has limits or is locked.

bool softLimit = {true}

Whether joint limits are progressively harder (soft limits) or rigid.

float lowerLimit

lower joint limit, same for all axes

float upperLimit

upper joint limit, same for all axes

float limitStiffness = {1e5f}

Joint Stiffness.

float limitDamping = {1e3f}

Joint Damping.

float stiffness = {1e5f}

Joint Stiffness.

float damping = {1e3f}

Joint Damping.

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

Joint Breaking Force.

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

Joint Breaking torque.