R2JointMotor Struct Reference

Position/velocity motor settings for one joint axis. More...

#include <rapier.h>

Data Fields
R2Real	targetVel
	Motor target velocity (length per second or radians per second).
R2Real	targetPos
	Motor target position (length or radians).
R2Real	stiffness
	Nonnegative motor spring stiffness.
R2Real	damping
	Nonnegative motor damping.
R2Real	maxForce
	Nonnegative maximum force or torque.
uint32_t	model
	Motor model: 0 acceleration-based, 1 force-based.

Detailed Description

Position/velocity motor settings for one joint axis.

Field Documentation

damping

R2Real R2JointMotor::damping

Nonnegative motor damping.

maxForce

R2Real R2JointMotor::maxForce

Nonnegative maximum force or torque.

model

uint32_t R2JointMotor::model

Motor model: 0 acceleration-based, 1 force-based.

stiffness

R2Real R2JointMotor::stiffness

Nonnegative motor spring stiffness.

targetPos

R2Real R2JointMotor::targetPos

Motor target position (length or radians).

targetVel

R2Real R2JointMotor::targetVel

Motor target velocity (length per second or radians per second).

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

• rapier.h