GetJointForcesForAcceleration(ArticulationReducedSpace)
Returns the forces required for the body to reach the provided acceleration in reduced space.
Read time 1 minuteLast updated 11 days ago
Definition
- Type: Method
- Namespace: UnityEngine
- Assembly: UnityEngine.PhysicsModule
public ArticulationReducedSpace GetJointForcesForAcceleration(ArticulationReducedSpace acceleration)
Parameters
The desired acceleration in reduced space.
Returns
Type | Description |
|---|---|
| ArticulationReducedSpace | The forces needed for the body to reach the desired acceleration in reduced space. |
Remarks
The number of DOF in the provided acceleration must match the DOF count of the inbound joint. The calculation does not consider gravity and therefore gravity must be counteracted with ArticulationBody.GetJointGravityForces. ArticulationDrives and potential damping terms are not considered in the computation (for example, linear/angular damping or joint friction).
The returned forces can then be applied with ArticulationBody.jointForce.
Units of measurement - N (newtons) for linear and Nm (newton-meters) for angular motion.