hinge2joint.md

Hinge2Joint

Derived from HingeJoint.

Hinge2Joint {
  SFNode  jointParameters  NULL   # {HingeJointParameters, PROTO}
  SFNode  jointParameters2 NULL   # {JointParameters, PROTO}
  MFNode  device2          [ ]    # {RotationalMotor, PositionSensor, Brake, PROTO}
  # hidden fields
  SFFloat position2        0      # [0, inf)
}

Description

%figure "Hinge 2 joint"

%end

The Hinge2Joint node can be used to model a hinge2 joint, i.e. a joint allowing only rotational motions around two intersecting axes (2 degrees of freedom). These axes cross at the anchor point and need not to be perpendicular. The suspension fields defined in the HingeJointParameters node of the jointParameters field allow for spring and damping effects along the suspension axis.

Note that a universal joint boils down to a hinge2 joint with orthogonal axes and (default) zero suspension.

Typically, Hinge2Joint can be used to model a steering wheel with suspension for a car, a shoulder or a hip for a humanoid robot.

Note: A Hinge2Joint will connect only Solids having a Physics node. In other words, this joint cannot be statically based.

Field Summary

• jointParameters: This field optionally specifies a HingeJointParameters node. It contains, among others, the joint position, the axis position expressed in relative coordinates, the stop positions and suspension parameters. If the jointParameters field is left empty, default values of the HingeJointParameters node apply.

• jointParameters2: This field optionally specifies a JointParameters node. It contains, among others, the joint position, the axis position expressed in relative coordinates and the stop positions. If the jointParameters2 field is left empty, default values of the JointParameters node apply.

• device2: This field optionally specifies a RotationalMotor, an angular PositionSensor and/or a Brake device attached to the second axis. If no motor is specified, this part of the joint is passive.

Hidden Field Summary

• position2: This field is not visible from the Scene Tree, see joint's hidden position field.