Post

DoubleAxisHingeJoint

DoubleAxisHingeJoint

Overview

DoubleAxisHingeJoint has two independent axes located around a common anchor point. axis1 has limits and a motor, axis 2 only has a motor Contains two RigidBody nodes (containerField values body1, body2).

The DoubleAxisHingeJoint node belongs to the RigidBodyPhysics component and requires at least level 2, its default container field is joints. It is available from X3D version 3.2 or higher.

Hierarchy

1
2
3
+ X3DNode
  + X3DRigidJointNode
    + DoubleAxisHingeJoint

Fields

SFNode [in, out] metadata NULL [X3DMetadataObject]

Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.

Hint

MFString [in, out] forceOutput “NONE” [“ALL”, “NONE”, …]

forceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame.

SFVec3f [in, out] anchorPoint 0 0 0 (-∞,∞)

anchorPoint is joint center, specified in world coordinates.

SFVec3f [in, out] axis1 1 0 0 (-∞,∞)

axis1 defines axis vector of joint connection to body1.

Hint

  • 0 0 0 means motor disabled about this axis.

SFVec3f [in, out] axis2 0 1 0 (-∞,∞)

axis2 defines axis vector of joint connection to body2.

Hint

  • 0 0 0 means motor disabled about this axis.

SFFloat [in, out] minAngle1π [-π,π] not supported

minAngle1 is minimum rotation angle for hinge.

SFFloat [in, out] maxAngle1 π [-π,π] not supported

maxAngle1 is maximum rotation angle for hinge.

SFFloat [in, out] desiredAngularVelocity1 0 (-∞,∞) not supported

desiredAngularVelocity1 is goal rotation rate for hinge connection to body1.

SFFloat [in, out] desiredAngularVelocity2 0 (-∞,∞) not supported

desiredAngularVelocity2 is goal rotation rate for hinge connection to body2.

SFFloat [in, out] maxTorque1 0 (-∞,∞) not supported

maxTorque1 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity1.

SFFloat [in, out] maxTorque2 0 (-∞,∞) not supported

maxTorque2 is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity2.

SFFloat [in, out] stop1Bounce 0 [0,1] not supported

stop1Bounce is velocity factor for bounce back once stop point is reached.

Hint

  • 0 means no bounce, 1 means return velocity matches.

SFFloat [in, out] stop1ConstantForceMix 0.001 [0,∞) not supported

stop1ConstantForceMix value applies a constant force value to make colliding surfaces appear to be somewhat soft.

Hints

  • Use with suspensionForce to improve softness and numerical stability.
  • 0 means no stop adjustment, 1 means springier stop response.

SFFloat [in, out] stop1ErrorCorrection 0.8 [0,1] not supported

stop1ErrorCorrection is fraction of error correction performed during time step once stop point is reached.

Hint

  • 0 means no error correction, 1 means all error corrected in single step.

SFFloat [in, out] suspensionForce 0 [0,∞) not supported

suspensionForce describes how quickly the system resolves intersection errors due to floating-point inaccuracies.

Hints

  • Use with stop1ConstantForceMix to improve softness and numerical stability.
  • 0 means no stop adjustment, 1 means springier stop response.

SFFloat [in, out] suspensionErrorCorrection 0.8 [0,1] not supported

suspensionErrorCorrection describes how quickly the system resolves intersection errors due to floating-point inaccuracies.

Hints

  • Use with stop1ConstantForceMix to improve softness and numerical stability.
  • 0 means no stop adjustment, 1 means springier stop response.

SFVec3f [out] body1AnchorPoint

body1AnchorPoint describes anchorPoint position relative to local coordinate reference frame.

Hint

  • Can detect separation if body1AnchorPoint!=body2AnchorPoint.

Warning

  • It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.

SFVec3f [out] body2AnchorPoint

body2AnchorPoint describes anchorPoint position relative to local coordinate reference frame.

Hint

  • Can detect separation if body1AnchorPoint!=body2AnchorPoint.

Warning

  • It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.

SFVec3f [out] body1Axis

body1Axis describes report the current location of the anchor point relative to the corresponding body. This can be used to determine if the joint has broken.

Warning

  • It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.

SFVec3f [out] body2Axis

Body1Axis describes report the current location of the anchor point relative to the corresponding body. This can be used to determine if the joint has broken.

Warning

  • It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.

SFFloat [out] hinge1Angle

Output field hinge1Angle.

SFFloat [out] hinge2Angle

Output field hinge2Angle.

SFFloat [out] hinge1AngleRate

Output field hinge1AngleRate.

SFFloat [out] hinge2AngleRate

Output field hinge2AngleRate.

SFNode [in, out] body1 NULL [RigidBody]

The body1 and body2 fields indicate the two RigidBody nodes connected by this joint.

SFNode [in, out] body2 NULL [RigidBody]

The body1 and body2 fields indicate the two RigidBody nodes connected by this joint.

Advice

Hint

  • RigidBodyPhysics component, level 2.

See Also

This post is licensed under CC BY 4.0 by the author.