Defines

Joint types
[Constants]

Defines

#define JOINT_6DOF   1
#define JOINT_6DOFSPRING   2
#define JOINT_HINGE   3
#define JOINT_POINT2POINT   0

Define Documentation

#define JOINT_POINT2POINT   0

Point to point joint limits the translation so that the local pivot points of 2 rigid bodies match in worldspace. A chain of rigid bodies can be connected using this joint.

p2p.png

Point to point joint

#define JOINT_6DOF   1

This generic joint can emulate a variety of standard joints, by configuring each of the 6 degrees of freedom (dof). The first 3 dof axis are linear axis, which represent translation of rigid bodies, and the latter 3 dof axis represent the angular motion. Each axis can be either locked, free or limited. On construction of a new joint of this type, all axis are locked. Afterwards the axis can be reconfigured. Note that several combinations that include free and/or limited angular degrees of freedom are undefined.

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#define JOINT_6DOFSPRING   2

This is a generic 6 DOF joint that allows to set spring motors to any translational and rotational DOF DOF index used in xJoint6dofSpringParam() means: 0 : translation X 1 : translation Y 2 : translation Z 3 : rotation X, range [-PI+epsilon, PI-epsilon] 4 : rotation Y, range [-PI/2+epsilon, PI/2-epsilon] 5 : rotation Z, range [-PI+epsilon, PI-epsilon]

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#define JOINT_HINGE   3

Hinge joint restricts two additional angular degrees of freedom, so the body can only rotate around one axis, the hinge axis. This can be useful to represent doors or wheels rotating around one axis. The user can specify limits and motor for the hinge.

hinge.png

Hinge joint


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