View source

class UniversalJointConfig

package oimo.dynamics.constraint.joint

extends JointConfig

A universal joint config is used for constructions of universal joints.

Constructor

new()

Default constructor.

Variables

limitMotor1:RotationalLimitMotor

The rotational limit and motor along the first body's constraint axis.

limitMotor2:RotationalLimitMotor

The rotational limit and motor along the second body's constraint axis.

localAxis1:Vec3

The first body's local constraint axis.

localAxis2:Vec3

The second body's local constraint axis.

springDamper1:SpringDamper

The rotational spring and damper along the first body's constraint axis.

springDamper2:SpringDamper

The rotational spring and damper along the second body's constraint axis.

Methods

init(rigidBody1:RigidBody, rigidBody2:RigidBody, worldAnchor:Vec3, worldAxis1:Vec3, worldAxis2:Vec3):UniversalJointConfig

Sets rigid bodies, local anchors from the world anchor worldAnchor, local axes from the world axes worldAxis1 and worldAxis2, and returns this.

Inherited Variables

Defined by JointConfig

allowCollision:Bool

Whether to allow the connected rigid bodies to collide each other.

breakForce:Float

The joint will be destroyed when magnitude of the constraint force exceeds the value.

Set 0 for unbreakable joints.

breakTorque:Float

The joint will be destroyed when magnitude of the constraint torque exceeds the value.

Set 0 for unbreakable joints.

localAnchor1:Vec3

The local position of the first rigid body's anchor point.

localAnchor2:Vec3

The local position of the second rigid body's anchor point.

positionCorrectionAlgorithm:Int

The type of the position correction algorithm for the joint.

See PositionCorrectionAlgorithm for details.

rigidBody1:RigidBody

The first rigid body attached to the joint.

rigidBody2:RigidBody

The second rigid body attached to the joint.

solverType:Int

The type of the constraint solver for the joint.

See ConstraintSolverType for details.

Inherited Methods