Hi all, according to this link:
https://docs.nvidia.com/gameworks/content/gameworkslibrary/physx/guide/Manual/Joints.html#drives
,the drive will apply a force (that here should be torque for precision) to make a joint reach targetPosition with targetVelocity.
Since I understand that impulse technically means torque value multiplied by time, in order to exert a torque per tick, I would need to calculate it from the impulse upon the tick interval. I have some questions regarding this:
(1) Could this calculated force be directly applied as Angular Impulse or Torque in this function: FBodyInstance::AddAngularImpulseInRadians and FBodyInstance::AddTorqueInRadians ?
(2) Do I also have to multiply the torque/impulse with the body mass?
(3) The note The drive model may also be configured to generate a proportional acceleration instead of a force, factoring in the masses of the actors to which the joint is attached. has the same meaning with the second parameter (bVelChange), in which no matter what mass is, it would yield the same acceleration (velocity change)?
Please correct my understanding if it is wrong and if you know the answers, please help!
Thank you!