#include <joint.h>
Inheritance diagram for ctConstrainedRevoluteJoint:
Public Methods | |
ctConstrainedRevoluteJoint (ctArticulatedBody *in, ctVector3 &in_offset, ctArticulatedBody *out, ctVector3 &out_offset, ctVector3 &paxis) | |
virtual real | get_actuator_magnitude (real external_f, real inertail_comp) |
internal force generated at joint. More... | |
void | set_constraint (real pmax_angle, real pmin_angle) |
void | set_spring_constant (real pk) |
void | set_damping_constant (real pk) |
Public Attributes | |
real | max_angle |
real | min_angle |
real | k |
!me tweak these for better stability, depending on your situation. Spring konstant. | |
real | damping_k |
Damping konstant. |
adjust spring and damping constants on a per joint basis to get it behaving right. e.g. if your joint is bouncing back at the constrained angle, then reduce spring_constant.
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internal force generated at joint. can be used to simulate a robotic motor or muscle force on a limb. Reimplemented from ctJoint. |