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MdtBclLimit Struct Reference

MdtBcl Limit structure. More...

#include <MdtBclLimit.h>

List of all members.

Public Attributes
int	limited
	Set if the corresponding degree of freedom of the joint is limited. More...
int	bRelaxingToLimit
	Non-zero if the joint has overshot a limit and is relaxing back to that limit, zero if bouncing. More...
MeReal	overshoot
	The overshoot distance. More...
MeReal	position
	Relative position of the attached bodies, projected onto the relevant axis. More...
MeReal	velocity
	Relative linear or angular velocity of the attached bodies, projected onto the relevant axis. More...
MeReal	damping_thresh
	The limit hardness threshold. More...
MdtBclSingleLimit	limit [2]
	The specific properties of the lower and upper limits. More...
int	powered
	0 for non-powered joint, -1 for powered joint. More...
MeReal	desired_vel
	Powered joint, desired velocity. More...
MeReal	fmax
	Powered joint, maximum force that should be applied to reach the desired velocity. More...

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Detailed Description

MdtBcl Limit structure.

Specifies behaviour of the constraint for a motion which is otherwise unconstrained by the joint's hard constraints. This motion may be constrained at either an upper limit or a lower limit, or both, or actuated (powered) by a force-limited motor between such limits or in the absence of limits.

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Member Data Documentation

int MdtBclLimit::bRelaxingToLimit

Non-zero if the joint has overshot a limit and is relaxing back to that limit, zero if bouncing.

MeReal MdtBclLimit::damping_thresh

The limit hardness threshold.

This value depends on the timestep and is recalculated in each timestep in which a limit is exceeded. When a limit hardness exceeds this value, damping is ignored and only the restitution property is used. When the limit hardness is at or below this threshold, restitution is ignored, and the hardness and damping terms are used to simulate a damped spring.

MeReal MdtBclLimit::desired_vel

Powered joint, desired velocity.

A lower limiting velocity may be achieved if the attached bodies are subject to velocity or angular velocity damping.

MeReal MdtBclLimit::fmax

Powered joint, maximum force that should be applied to reach the desired velocity.

MdtBclSingleLimit MdtBclLimit::limit[2]

The specific properties of the lower and upper limits.

int MdtBclLimit::limited

Set if the corresponding degree of freedom of the joint is limited.

Cleared (set 0) if the degree of freedom is not limited.

MeReal MdtBclLimit::overshoot

The overshoot distance.

This is set to zero between the limits; otherwise it is the amount by which the joint has overshot its limit. This is positive beyond the upper limit, negative beyond the lower.

MeReal MdtBclLimit::position

Relative position of the attached bodies, projected onto the relevant axis.

int MdtBclLimit::powered

0 for non-powered joint, -1 for powered joint.

MeReal MdtBclLimit::velocity

Relative linear or angular velocity of the attached bodies, projected onto the relevant axis.

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

• MdtBclLimit.h

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