R2JointDesc Struct Reference

Copyable joint configuration. More...

#include <rapier.h>

Data Fields
struct R2Pose	localFrame1
	Joint frame in body 1 local coordinates.
struct R2Pose	localFrame2
	Joint frame in body 2 local coordinates.
uint8_t	lockedAxes
	Locked joint degrees of freedom; translations precede rotations.
uint8_t	limitAxes
	Axis mask enabling corresponding limits entries.
uint8_t	motorAxes
	Axis mask enabling corresponding motors entries.
uint8_t	coupledAxes
	Axis mask sharing a coupled constraint.
struct R2JointLimits	limits [R2_JOINT_DOF_COUNT]
	Axis limits in translation-then-rotation order.
struct R2JointMotor	motors [R2_JOINT_DOF_COUNT]
	Axis motors in translation-then-rotation order.
struct R2SpringCoefficients	softness
	Spring coefficients for constraint correction.
R2Bool	contactsEnabled
	Whether connected bodies may collide.
R2Bool	enabled
	Whether this setting/object is enabled (0 or 1).
struct R2UserData	userData
	Application data; Rapier does not own pointers encoded in it.

Detailed Description

Copyable joint configuration.

Limits/motors take effect when their axis mask is enabled. Solver impulses are deliberately excluded. Applying data resets cached limit and motor impulses.

Field Documentation

contactsEnabled

R2Bool R2JointDesc::contactsEnabled

Whether connected bodies may collide.

coupledAxes

uint8_t R2JointDesc::coupledAxes

Axis mask sharing a coupled constraint.

enabled

R2Bool R2JointDesc::enabled

Whether this setting/object is enabled (0 or 1).

limitAxes

uint8_t R2JointDesc::limitAxes

Axis mask enabling corresponding limits entries.

limits

struct R2JointLimits R2JointDesc::limits[R2_JOINT_DOF_COUNT]

Axis limits in translation-then-rotation order.

localFrame1

struct R2Pose R2JointDesc::localFrame1

Joint frame in body 1 local coordinates.

localFrame2

struct R2Pose R2JointDesc::localFrame2

Joint frame in body 2 local coordinates.

lockedAxes

uint8_t R2JointDesc::lockedAxes

Locked joint degrees of freedom; translations precede rotations.

motorAxes

uint8_t R2JointDesc::motorAxes

Axis mask enabling corresponding motors entries.

motors

struct R2JointMotor R2JointDesc::motors[R2_JOINT_DOF_COUNT]

Axis motors in translation-then-rotation order.

softness

struct R2SpringCoefficients R2JointDesc::softness

Spring coefficients for constraint correction.

userData

struct R2UserData R2JointDesc::userData

Application data; Rapier does not own pointers encoded in it.

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The documentation for this struct was generated from the following file:

• rapier.h