solidreference.md

SolidReference

SolidReference {
  SFString solidName ""   # any string
}

Description

A SolidReference can be used inside the endPoint field of a Joint node to refer either to an existing Solid or to the static environment. Mechanical loops can be closed this way. The only constraint when referring to a Solid is that both Solid and Joint must be descendants of a common upper Solid.

Field Summary

• solidName: This field specifies either the static environment (if the value is <static environment>) or the name of an existing Solid node to be linked with the Joint's closest upper Solid node. Referring to the Joint closest upper Solid node or to a Solid node which has no common upper Solid with the Joint is prohibited.

Mechanical Loop Example

The SolidReference node is particularly useful to create closed mechanical loops, here is a very simple example:

HingeJoint {
  jointParameters HingeJointParameters {
    anchor 0 0 1
  }
  endPoint Solid {
    name "front axle"
  }
}
HingeJoint {
  jointParameters HingeJointParameters {
    anchor 0 0 -1
  }
  endPoint SolidReference {
    solidName "front axle"
  }
}