oimo.dynamics.constraint.joint

A cylindrical joint constrains two rigid bodies to share their constraint axes, and restricts relative translation and rotation onto the constraint axis. This joint provides two degrees of freedom. You can enable lower and upper limits, motors, spring and damper effects of both translation and rotation part of the constraint.

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

A generic joint (a.k.a. 6-DoF joint) constrains two rigid bodies in highly flexible way, so that every translational and rotational axis can be locked, unlocked, springy, or powered by a motor like other joints. Note that rotation angles are measured as x-y-z Euler angles, not as z-x-z Euler angles.

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

The base class of joints. Joints are used to connect two rigid bodies in various ways. See JointType for all types of joints.

A joint configuration is used for constructions of various joints. An instance of any kind of the joint configurations can safely be reused.

A joint link is used to build a constraint graph for clustering rigid bodies. In a constraint graph, rigid bodies are nodes and constraints are edges. See also ContactLink.

The list of the types of the joints.

A prismatic joint (a.k.a. slider joint) constrains two rigid bodies to share their anchor points and constraint axes, and restricts relative translation onto the constraint axis. This joint provides one degree of freedom. You can enable lower and upper limits, a motor, a spring and damper effect of the translational part of the constraint.

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

A ragdoll joint is designed to simulate ragdoll's limbs. It constrains swing and twist angles between two rigid bodies. The two rigid bodies have constraint axes, and the swing angle is defined by the angle of two constraint axes, while the twist angle is defined by the rotation angle along the two axes. In addition to lower and upper limits of the twist angle, You can set an "elliptic cone limit" of the swing angle by specifying two swing axes (though one of them is automatically computed) and corresponding maximum swing angles. You can also enable a motor of the twist part of the constraint, spring and damper effect of the both swing and twist part of the constraint.

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

A revolute joint (a.k.a. hinge joint) constrains two rigid bodies to share their anchor points and constraint axes, and restricts relative rotation onto the constraint axis. This joint provides one degree of freedom. You can enable lower and upper limits, a motor, a spring and damper effect of the rotational part of the constraint.

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

Rotational limits and motor settings of a joint.

A spherical joint (a.k.a. ball and socket joint) constrains two rigid bodies to share their anchor points. This joint provides three degrees of freedom. You can enable a spring and damper effect of the constraint.

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

Spring and damper settings of a joint.

Translational limits and motor settings of a joint.

A universal joint constrains two rigid bodies' constraint axes to be perpendicular to each other. Rigid bodies can rotate along their constraint axes, but cannot along the direction perpendicular to two constraint axes. This joint provides two degrees of freedom. You can enable lower and upper limits, motors, spring and damper effects of the two rotational constraints.

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