eulerjs API / @eulerjs/core / JointDrive
JointDrive
Defined in: packages/core/src/joints/SixDofJoint.ts:22
A drive pushes an axis toward a target, as a spring-damper with a force limit: a motor holds a speed (targetVelocity, and by default infinite damping), a servo holds a position (targetPosition with a stiffness, and some damping to keep it from ringing). Force = stiffness × (targetPosition - position) + damping × (targetVelocity - velocity), at most maxForce, all solved implicitly so that any stiffness is stable.
Properties
| Property | Type | Description | Defined in |
|---|---|---|---|
damping? | number | In N·s/m or N·m·s/rad. Defaults to infinite without a stiffness, making a motor, and to 0 with one. | packages/core/src/joints/SixDofJoint.ts:29 |
dampingRatio? | number | - | packages/core/src/joints/SixDofJoint.ts:36 |
frequency? | number | Instead of stiffness and damping: how fast the axis springs to its target, in Hz, and how damped it is (1, the default, just doesn't overshoot), whatever mass it moves; the engine works out the stiffness and damping from the mass along the axis. | packages/core/src/joints/SixDofJoint.ts:35 |
maxForce? | number | The most force (N) or torque (N·m) the drive gives. Defaults to Infinity. | packages/core/src/joints/SixDofJoint.ts:38 |
stiffness? | number | In N/m or N·m/rad. Defaults to 0. | packages/core/src/joints/SixDofJoint.ts:27 |
targetPosition? | number | - | packages/core/src/joints/SixDofJoint.ts:23 |
targetVelocity? | number | In m/s along a linear axis, rad/s about an angular one. Defaults to 0. | packages/core/src/joints/SixDofJoint.ts:25 |