DcDof

Fully qualified name: omni::isaac::dynamic_control::DcDof

struct DcDof

Represents a degree of freedom in the physics simulation.

Contains all the information needed to represent and manipulate a degree of freedom, including its PhysX representation, name, path, and relationships to other objects.

Public Members

DcHandle handle = kDcInvalidHandle

Handle to this degree of freedom.

DcContext *ctx = nullptr

Pointer to the context this degree of freedom belongs to.

DcDofType type = DcDofType::eNone

Type of the degree of freedom.

DcArticulation *art = nullptr

Pointer to the articulation this degree of freedom belongs to.

std::string name

Name of the degree of freedom.

pxr::SdfPath path

USD path of the degree of freedom.

::physx::PxArticulationJointReducedCoordinate *pxArticulationJoint = nullptr

Pointer to the PhysX articulation joint this degree of freedom belongs to.

::physx::PxArticulationAxis::Enum pxAxis = ::physx::PxArticulationAxis::eTWIST

PhysX axis of this degree of freedom.

DcDriveMode driveMode = DcDriveMode::eAcceleration

Drive mode of this degree of freedom.

size_t cacheIdx = 0

Index in the PhysX articulation cache.

Used to access this DOF’s data in the articulation cache

DcHandle joint = kDcInvalidHandle

Handle to the joint this degree of freedom belongs to.