Class SixDOFJointDrive

Specifies parameters for a drive that will attempt to move the joint bodies to the specified drive position and velocity.

Index

Constructors

Properties

_damping _forceLimit _isAccelerationEnabled _isEnabled _stiffness

Accessors

damping forceLimit isAccelerationEnabled isEnabled stiffness

Methods

assign clone isEqual isEqual

Constructors

constructor

new SixDOFJointDrive(
    isEnabled?: boolean,
    stiffness?: number,
    damping?: number,
    forceLimit?: number,
    isAccelerationEnabled?: boolean,
): SixDOFJointDrive
Parameters
- OptionalisEnabled: boolean
- Optionalstiffness: number
- Optionaldamping: number
- OptionalforceLimit: number
- OptionalisAccelerationEnabled: boolean
Returns SixDOFJointDrive

Properties

`Protected`_damping

_damping: number

`Protected`_forceLimit

_forceLimit: number

`Protected`_isAccelerationEnabled

_isAccelerationEnabled: boolean

`Protected`_isEnabled

_isEnabled: boolean

`Protected`_stiffness

_stiffness: number

Accessors

damping

get damping(): number

Damping strength. Force propertional to the velocity error.

Returns number
set damping(value: number): void
Parameters
- value: number
Returns void

forceLimit

get forceLimit(): number

Maximum force the drive can apply.

Returns number
set forceLimit(value: number): void
Parameters
- value: number
Returns void

isAccelerationEnabled

get isAccelerationEnabled(): boolean

If true the drive will generate acceleration instead of forces. Acceleration drives are easier to tune as they account for the masses of the actors to which the joint is attached.

Returns boolean
set isAccelerationEnabled(value: boolean): void
Parameters
- value: boolean
Returns void

isEnabled

get isEnabled(): boolean

Whether the drive is enabled.

Returns boolean
set isEnabled(value: boolean): void
Parameters
- value: boolean
Returns void

stiffness

get stiffness(): number

Spring strength. Force proportional to the position error.

Returns number
set stiffness(value: number): void
Parameters
- value: number
Returns void

Methods

assign

assign(other: Immutable<SixDOFJointDrive>): SixDOFJointDrive
Copies all properties defined by the prototype of SixDOFJointDrive from other to this instance.
Parameters
- other: Immutable<SixDOFJointDrive>
Returns SixDOFJointDrive

clone

clone(): SixDOFJointDrive

Clones this instance and returns a new SixDOFJointDrive with identical values.

Returns SixDOFJointDrive

isEqual

isEqual(
this: Immutable<SixDOFJointDrive>,
other: Immutable<SixDOFJointDrive>,
): boolean
Determines if this SixDOFJointDrive instance is equal to the other instance.
Parameters
- this: Immutable<SixDOFJointDrive>
- other: Immutable<SixDOFJointDrive>
Returns boolean

`Static`isEqual

isEqual(
lhs: Immutable<SixDOFJointDrive>,
rhs: Immutable<SixDOFJointDrive>,
): boolean
Determines if both SixDOFJointDrive instances are equal.
Parameters
- lhs: Immutable<SixDOFJointDrive>
- rhs: Immutable<SixDOFJointDrive>
Returns boolean