DcJoint

Fully qualified name: omni::isaac::dynamic_control::DcJoint

struct DcJoint

Represents a joint in the physics simulation.

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

Public Members

DcHandle handle = kDcInvalidHandle

Handle to this joint.

DcContext *ctx = nullptr

Pointer to the context this joint belongs to.

DcJointType type = DcJointType::eNone

Type of the joint.

DcArticulation *art = nullptr

Pointer to the articulation this joint belongs to, if any.

Will only be set if joint is an articulation joint

std::string name

Name of the joint.

pxr::SdfPath path

USD path of the joint.

::physx::PxArticulationJointReducedCoordinate *pxArticulationJoint = nullptr

Pointer to the PhysX articulation joint.

Only reduced coordinate articulation joints are supported for now

DcHandle parentBody = kDcInvalidHandle

Handle to the parent body of this joint.

DcHandle childBody = kDcInvalidHandle

Handle to the child body of this joint.

std::vector<DcHandle> dofs

Handles to the degrees of freedom of this joint.