Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Create a new joint descriptor that builds Ball joints.
A ball joints allows three relative rotational degrees of freedom by preventing any relative translation between the anchors of the two attached rigid-bodies.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Creates a new joint descriptor that builds a Fixed joint.
A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their anchor and local frames coincide in world-space.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
The reference orientation of the joint wrt. the first rigid-body.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
The reference orientation of the joint wrt. the second rigid-body.
Creates a new joint descriptor that builds a Fixed joint.
A fixed joint removes all the degrees of freedom between the affected bodies, ensuring their anchor and local frames coincide in world-space.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
The reference orientation of the joint wrt. the first rigid-body.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
The reference orientation of the joint wrt. the second rigid-body.
Creates a new joint descriptor that builds a Prismatic joint.
A prismatic joint removes all the degrees of freedom between the affected bodies, except for the translation along one axis.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the first rigid-body it is attached to.
A vector orthogonal to axis1
. It is used to compute a basis orthonormal
to the joint's axis. If this tangent is set to the zero vector, the orthonormal
basis will be automatically computed arbitrarily.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the second rigid-body it is attached to.
A vector orthogonal to axis2
. It is used to compute a basis orthonormal
to the joint's axis. If this tangent is set to the zero vector, the orthonormal
basis will be automatically computed arbitrarily.
Creates a new joint descriptor that builds a Prismatic joint.
A prismatic joint removes all the degrees of freedom between the affected bodies, except for the translation along one axis.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the first rigid-body it is attached to.
A vector orthogonal to axis1
. It is used to compute a basis orthonormal
to the joint's axis. If this tangent is set to the zero vector, the orthonormal
basis will be automatically computed arbitrarily.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the second rigid-body it is attached to.
A vector orthogonal to axis2
. It is used to compute a basis orthonormal
to the joint's axis. If this tangent is set to the zero vector, the orthonormal
basis will be automatically computed arbitrarily.
Create a new joint descriptor that builds Revolute joints.
A revolute joint removes all degrees of freedom between the affected bodies except for the rotation along one axis.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the first rigid-body it is attached to.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the second rigid-body it is attached to.
Create a new joint descriptor that builds Revolute joints.
A revolute joint removes all degrees of freedom between the affected bodies except for the rotation along one axis.
Point where the joint is attached on the first rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the first rigid-body it is attached to.
Point where the joint is attached on the second rigid-body affected by this joint. Expressed in the local-space of the rigid-body.
Axis of the joint, expressed in the local-space of the second rigid-body it is attached to.
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Create a new joint descriptor that builds Ball joints.
A ball joints allows three relative rotational degrees of freedom by preventing any relative translation between the anchors of the two attached rigid-bodies.