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hingejointparameters.md

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hingejointparameters.md

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HingeJointParameters

Derived from JointParameters.

HingeJointParameters {
  SFVec3f anchor                    0 0 0   # any vector
  SFVec3f axis                      1 0 0   # unit axis
  SFFloat suspensionSpringConstant  0       # [0, inf)
  SFFloat suspensionDampingConstant 0       # [0, inf)
  SFVec3f suspensionAxis            1 0 0   # unit axis
  SFFloat stopERP                   -1      # -1 or [0, inf)
  SFFloat stopCFM                   -1      # -1 or (0, inf)
}

Description

The HingeJointParameters node can be used to specify the hinge rotation axis and various joint parameters (e.g., angular position, stop angles, spring and damping constants etc.) related to this rotation axis.

Field Summary

  • anchor: This field specifies the anchor position, i.e. a point through which the hinge axis passes. Together with the axis field inherited from the JointParameters node, the anchor field determines the hinge rotation axis in a unique way. It is expressed in relative coordinates with respect to the closest upper Pose node's frame.

  • suspensionSpringConstant: This field specifies the suspension spring constant along the suspension axis.

  • suspensionDampingConstant: This field specifies the suspension damping constant along the suspension axis.

  • suspensionAxis: This field specifies the direction of the suspension axis.

  • stopERP: This field specifies the local ERP used by joint limits. By default it imposes the global ERP (value -1) but can be different from it.

  • stopCFM: This field specifies the local CFM used by joint limits. By default it imposes the global CFM (value -1) but can be different from it.

The suspensionSpringConstant and suspensionDampingConstant fields can be used to add a linear spring and/or damping behavior along the axis defined in suspensionAxis. These fields are described in more detail in JointParameters's "Springs and Dampers" section.