eulerjs API / @eulerjs/core / SixDofJoint
SixDofJoint
Defined in: packages/core/src/joints/SixDofJoint.ts:114
The general joint: a frame fixed in each body, and for each of the six ways frame B can move relative to frame A (along its three axes, and twisting and swinging about them) whether it may, between which limits, and what drives it. Hinges, sliders, fixed joints and cone-twist joints are particular settings of it. Its settings can be changed between steps.
Extends
Extended by
Constructors
Constructor
new SixDofJoint(options): SixDofJoint;Defined in: packages/core/src/joints/SixDofJoint.ts:125
Parameters
| Parameter | Type |
|---|---|
options | SixDofJointOptions |
Returns
SixDofJoint
Overrides
Properties
| Property | Modifier | Type | Default value | Description | Inherited from | Defined in |
|---|---|---|---|---|---|---|
angular | readonly | SixAxes<AxisMotion> | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:118 |
angularDrives | readonly | SixAxes<JointDrive | undefined> | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:120 |
bodyA | readonly | Body | undefined | - | BaseJoint.bodyA | packages/core/src/joints/BaseJoint.ts:23 |
bodyB | readonly | Body | undefined | undefined | - | BaseJoint.bodyB | packages/core/src/joints/BaseJoint.ts:24 |
breakForce | public | number | undefined | - | BaseJoint.breakForce | packages/core/src/joints/BaseJoint.ts:32 |
breakTorque | public | number | undefined | - | BaseJoint.breakTorque | packages/core/src/joints/BaseJoint.ts:33 |
broken | public | boolean | false | Set once the joint has broken. | BaseJoint.broken | packages/core/src/joints/BaseJoint.ts:42 |
collideConnectedSetting | readonly | boolean | "unlessOverlapping" | undefined | As asked for, before a world decides 'unlessOverlapping'. | BaseJoint.collideConnectedSetting | packages/core/src/joints/BaseJoint.ts:30 |
force | readonly | Vector3 | ... | The force the joint put on body B over the last step (on body A, for a joint to the world), in N, world space; on the other it is the opposite. Written by the backend. | BaseJoint.force | packages/core/src/joints/BaseJoint.ts:38 |
frameA | readonly | JointFrame | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:115 |
frameB | readonly | JointFrame | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:116 |
friction | public | number | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:122 |
linear | readonly | SixAxes<AxisMotion> | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:117 |
linearDrives | readonly | SixAxes<JointDrive | undefined> | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:119 |
linearFriction | public | number | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:123 |
orientationDrive | public | OrientationDrive | undefined | undefined | - | - | packages/core/src/joints/SixDofJoint.ts:121 |
torque | readonly | Vector3 | ... | The torque the joint put on the same body over the last step, in N·m. Written by the backend. | BaseJoint.torque | packages/core/src/joints/BaseJoint.ts:40 |
Accessors
bodies
Get Signature
get bodies(): readonly Body[];Defined in: packages/core/src/joints/BaseJoint.ts:59
The bodies the joint ties together.
Returns
readonly Body[]
Inherited from
collideConnected
Get Signature
get collideConnected(): boolean;Defined in: packages/core/src/joints/BaseJoint.ts:26
Whether the two bodies collide with each other; fixed once the joint is in a world.
Returns
boolean
Inherited from
isOverloaded
Get Signature
get isOverloaded(): boolean;Defined in: packages/core/src/joints/BaseJoint.ts:64
Whether the loads of the last step are more than the joint can take.
Returns
boolean
Inherited from
roles
Get Signature
get roles(): object;Defined in: packages/core/src/joints/SixDofJoint.ts:153
The joint's base frame and the frame that moves against it: frame A on body A and frame B on body B; or, for a joint to the world, the world's frame (frameB) and body A's (frameA), so that either way what is measured is how the second body moves.
Returns
object
| Name | Type | Defined in |
|---|---|---|
base | JointFrame | packages/core/src/joints/SixDofJoint.ts:153 |
baseBody | Body | undefined | packages/core/src/joints/SixDofJoint.ts:153 |
moving | JointFrame | packages/core/src/joints/SixDofJoint.ts:153 |
movingBody | Body | packages/core/src/joints/SixDofJoint.ts:153 |
Methods
measure()
measure(): JointMeasurement;Defined in: packages/core/src/joints/SixDofJoint.ts:160
Where the moving frame is relative to the base frame (see roles), as the bodies are now.