Preference Dialog

None.

Properties

type

const, ( r )

Type of this joint, JOINT_POINT, JOINT_HINGE, JOINT_SLIDER, JOINT_CONETWIST, or JOINT_DOF.

scene

string, ( r )

The name of the scene wherein this joint is created.

Functions

destroy

destroy();

Destroy this joint.

Parameters

N/A

Returns

N/A

Hinge Joint

Summary
Functions
setLimit
enableAngularMotor
disableMotor

Functions

setLimit

setLimit(low, high, softness, bias_factor, relaxation_factor);

Limit linear or angular movement of the joint.

Hinge Joint

Parameters

low(float) minimum angle of motion, in degrees.
high(float) maximum angle of motion, in degrees.
softness(float) 0->1, recommend ~0.8->1.  Describes % of limits where movement is free.  Beyond this softness %, the limit is gradually enforced until the “hard” (1.0) limit is reached.
bias_factor(float) 0->1, recommend 0.3 +/-0.3 or so.  Strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
relaxation_factor(float) 0->1, recommend to stay near 1.  The lower the value, the less the constraint will fight velocities which violate the angular limits.

Returns

N/A

enableAngularMotor

enableAngularMotor(target_velocity, acceleration_force );

Specifies the target motor velocity and acceleration to reach that velocity.

Parameters

target_velocity(float) target velociy.
acceleration_force(float) acceleration.

Returns

N/A

disableMotor

disableMotor();

Stop motor.

Parameters

N/A

Returns

N/A

Slider Joint

Summary
Functions
setLimit
setRestitution
enableLinearMotor
disableLinearMotor
enableAngularMotor
disableAngularMotor

Functions

setLimit

setLimit(linear_lower, linear_upper, angular_lower, angular_upper);

Limit linear or angular movement of the joint.

Slider Joint

Parameters

linear_lower(float) lower limit of linear movement, expressed in world units.
linear_upper(float) upper limit of linear movement, expressed in world units.
angular_lower(float) lower limit of angular movement, expressed in degrees.
angular_upper(float) upper limit of angular movement, expressed in degrees.

Returns

N/A

setRestitution

setRestitution(linear, angular);

Sets amount of restitution for Slider joint.

Parameters

linear(float) amount of restitution when reaching the linear limits.
angular(float) amount of restitution when reaching the angular limits

Returns

N/A

enableLinearMotor

enableLinearMotor(target_velocity, acceleration_force );

Specifies the target linear motor velocity and acceleration to reach that velocity.

Parameters

target_velocity(float) target velociy.
acceleration_force(float) acceleration.

Returns

N/A

disableLinearMotor

disableLinearMotor();

Stop linear motor.

Parameters

N/A

Returns

N/A

enableAngularMotor

enableAngularMotor(target_velocity, acceleration_force );

Specifies the target angular motor velocity and acceleration to reach that velocity.

Parameters

target_velocity(float) target velociy.
acceleration_force(float) acceleration.

Returns

N/A

disableAngularMotor

disableAngularMotor();

Stop angular motor.

Parameters

N/A

Returns

N/A

Conetwist Joint

Summary
Functions
setLimit
setMotorTarget
setMaxMotorImpulse
enableMotor
disableMotor

Functions

setLimit

setLimit(x, y, z, softness, bias_factor, relaxation_factor);

Limit linear or angular movement of the joint.

Parameters

x(float) rotational limit, in degrees, for x-axis.
y(float) rotational limit, in degrees, for y-axis.
z(float) rotational limit, in degrees, for z-axis.
softness(float) 0->1, recommend ~0.8->1.  Describes % of limits where movement is free.  Beyond this softness %, the limit is gradually enforced until the “hard” (1.0) limit is reached.
bias_factor(float) 0->1, recommend 0.3 +/-0.3 or so.  Strength with which constraint resists zeroth order (angular, not angular velocity) limit violation.
relaxation_factor(float) 0->1, recommend to stay near 1.  The lower the value, the less the constraint will fight velocities which violate the angular limits.

Returns

N/A

setMotorTarget

setMotorTarget(x, y, z);

Specifies the desired rotation of the Conetwist joint for each axis in degrees.

Parameters

x(float) angle in degrees.
y(float) angle in degrees.
z(float) angle in degrees.

Returns

N/A

setMaxMotorImpulse

setMaxMotorImpulse(max_impulse);

Specifies the maximum impulse the Conetwist joint can apply.

Parameters

max_impulse(float) maximum impulse the motor can apply toward its target.

Returns

N/A

enableMotor

enableMotor();

Start motor.

Parameters

N/A

Returns

N/A

disableMotor

disableMotor();

Stop motor.

Parameters

N/A

Returns

N/A

DOF Joint

Summary
Functions
setLinearLowerLimit
setLinearUpperLimit
setAngularLowerLimit
setAngularUpperLimit
configureAngularMotor
enableAngularMotor
disableAngularMotor

Functions

setLinearLowerLimit

setLinearLowerLimit(x, y, z);

Sets the lower end of the linear movement along the x, y, and z axes.

Parameters

x(float) linear limit, for x-axis.
y(float) linear limit, for y-axis.
z(float) linear limit, for z-axis.

Returns

N/A

setLinearUpperLimit

setLinearUpperLimit(x, y, z);

Sets the upper end of the linear movement along the x, y, and z axes.

Parameters

x(float) linear limit, for x-axis.
y(float) linear limit, for y-axis.
z(float) linear limit, for z-axis.

Returns

N/A

setAngularLowerLimit

setAngularLowerLimit(x, y, z);

Sets the lower end of the angular movement, in degrees, along the x, y, and z axes.

Parameters

x(float) rotational limit, for x-axis.
y(float) rotational limit, for y-axis.
z(float) rotational limit, for z-axis.

Returns

N/A

setAngularUpperLimit

setAngularUpperLimit(x, y, z);

Sets the upper end of the angular movement, in degrees, along the x, y, and z axes.

Parameters

x(float) rotational limit, for x-axis.
y(float) rotational limit, for y-axis.
z(float) rotational limit, for z-axis.

Returns

N/A

configureAngularMotor

configureAngularMotor(which, low_limit, high_limit, velocity, max_force);

Configure linear and angular motor of this joint.

Parameters

which(int) which angular motor to configure - 0,1,2 match x,y,z.
low_limit(float) lower limit of the motor.
high_limit(float) upper limit of the motor.
velocity(float) target velocity.
max_force(float) maximum force the motor can apply.

Returns

N/A

enableAngularMotor

enableAngularMotor(which);

Specifies which angular motor to enable, 0,1,2 match x,y,z.

Parameters

which(int) 0,1,2 match x,y,z.

Returns

N/A

disableAngularMotor

disableAngularMotor(which);

Specifies which angular motor to disable, 0,1,2 match x,y,z.

Parameters

which(int) 0,1,2 match x,y,z.

Returns

N/A

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