Class SphericalImpulseJoint

Hierarchy (view full)

ImpulseJoint
- SphericalImpulseJoint

Constructors

constructor

new SphericalImpulseJoint(rawSet, bodySet, handle): SphericalImpulseJoint
Parameters
- rawSet: RawImpulseJointSet
- bodySet: RigidBodySet
- handle: number
Returns SphericalImpulseJoint
Inherited from ImpulseJoint.constructor
- Defined in dynamics/impulse_joint.d.ts:72

Properties

`Protected` bodySet

bodySet: RigidBodySet

handle

handle: number

`Protected` rawSet

rawSet: RawImpulseJointSet

Methods

anchor1

anchor1(target?): Vector
The position of the first anchor of this joint.

The first anchor gives the position of the application point on the local frame of the first rigid-body it is attached to.
Parameters
- Optional target: Vector
  The object to be populated. If provided, the function returns this object instead of creating a new one.
Returns Vector
Inherited from ImpulseJoint.anchor1
- Defined in dynamics/impulse_joint.d.ts:116

anchor2

anchor2(target?): Vector
The position of the second anchor of this joint.

The second anchor gives the position of the application point on the local frame of the second rigid-body it is attached to.
Parameters
- Optional target: Vector
  The object to be populated. If provided, the function returns this object instead of creating a new one.
Returns Vector
Inherited from ImpulseJoint.anchor2
- Defined in dynamics/impulse_joint.d.ts:126

body1

body1(): RigidBody
The first rigid-body this joint it attached to.

Returns RigidBody
Inherited from ImpulseJoint.body1
- Defined in dynamics/impulse_joint.d.ts:84

body2

body2(): RigidBody
The second rigid-body this joint is attached to.

Returns RigidBody
Inherited from ImpulseJoint.body2
- Defined in dynamics/impulse_joint.d.ts:88

configureMotor

configureMotor(axis, targetPos, targetVel, stiffness, damping): void
Configures the motor of the given angular axis with both an angle and an angular-velocity target.
Parameters
- axis: JointAxis
  The angular axis (JointAxis.AngX/AngY/AngZ) to configure.
- targetPos: number
  The target angle along the axis, in radians.
- targetVel: number
  The target angular velocity along the axis, in radians per second.
- stiffness: number
  The spring-like stiffness used to reach the target angle.
- damping: number
  The damping applied to the axis' angular velocity.
Returns void
- Defined in dynamics/impulse_joint.d.ts:254

configureMotorModel

configureMotorModel(axis, model): void
Sets the motor model of one of this joint's angular axes.
Parameters
- axis: JointAxis
  The angular axis (JointAxis.AngX/AngY/AngZ) to configure.
- model: MotorModel
  The motor model to apply to that axis.
Returns void
- Defined in dynamics/impulse_joint.d.ts:219

configureMotorPosition

configureMotorPosition(axis, targetPos, stiffness, damping): void
Makes the motor of the given angular axis target a specific angle.
Parameters
- axis: JointAxis
  The angular axis (JointAxis.AngX/AngY/AngZ) to configure.
- targetPos: number
  The target angle along the axis, in radians.
- stiffness: number
  The spring-like stiffness used to reach the target angle.
- damping: number
  The damping applied to the axis' angular velocity.
Returns void
- Defined in dynamics/impulse_joint.d.ts:243

configureMotorVelocity

configureMotorVelocity(axis, targetVel, factor): void
Makes the motor of the given angular axis target a specific angular velocity.
Parameters
- axis: JointAxis
  The angular axis (JointAxis.AngX/AngY/AngZ) to configure.
- targetVel: number
  The target angular velocity along the axis, in radians per second.
- factor: number
  The strength used to reach the target velocity (a damping coefficient).
Returns void
- Defined in dynamics/impulse_joint.d.ts:234

contactsEnabled

contactsEnabled(): boolean
Indicates if contacts are enabled between colliders attached to the rigid-bodies linked by this joint.

Returns boolean
Inherited from ImpulseJoint.contactsEnabled
- Defined in dynamics/impulse_joint.d.ts:166

finalizeDeserialization

finalizeDeserialization(bodySet): void
Internal
Parameters
- bodySet: RigidBodySet
Returns void
Inherited from ImpulseJoint.finalizeDeserialization
- Defined in dynamics/impulse_joint.d.ts:75

frameX1

frameX1(target?): Rotation
The rotation quaternion that aligns this joint's first local axis to the x axis.
Parameters
- Optional target: Rotation
  The object to be populated. If provided, the function returns this object instead of creating a new one.
Returns Rotation
Inherited from ImpulseJoint.frameX1
- Defined in dynamics/impulse_joint.d.ts:99

frameX2

frameX2(target?): Rotation
The rotation matrix that aligns this joint's second local axis to the x axis.
Parameters
- Optional target: Rotation
  The object to be populated. If provided, the function returns this object instead of creating a new one.
Returns Rotation
Inherited from ImpulseJoint.frameX2
- Defined in dynamics/impulse_joint.d.ts:106

isValid

isValid(): boolean
Checks if this joint is still valid (i.e. that it has not been deleted from the joint set yet).

Returns boolean
Inherited from ImpulseJoint.isValid
- Defined in dynamics/impulse_joint.d.ts:80

setAnchor1

setAnchor1(newPos): void
Sets the position of the first anchor of this joint.

The first anchor gives the position of the application point on the local frame of the first rigid-body it is attached to.
Parameters
- newPos: Vector
Returns void
Inherited from ImpulseJoint.setAnchor1
- Defined in dynamics/impulse_joint.d.ts:133

setAnchor2

setAnchor2(newPos): void
Sets the position of the second anchor of this joint.

The second anchor gives the position of the application point on the local frame of the second rigid-body it is attached to.
Parameters
- newPos: Vector
Returns void
Inherited from ImpulseJoint.setAnchor2
- Defined in dynamics/impulse_joint.d.ts:140

setContactsEnabled

setContactsEnabled(enabled): void
Controls whether contacts are computed between colliders attached to the rigid-bodies linked by this joint.
Parameters
- enabled: boolean
Returns void
Inherited from ImpulseJoint.setContactsEnabled
- Defined in dynamics/impulse_joint.d.ts:161

setFrameX1

setFrameX1(rot): void
Sets the rotation quaternion that aligns this joint's first local axis to the x axis.
Parameters
- rot: Rotation
Returns void
Inherited from ImpulseJoint.setFrameX1
- Defined in dynamics/impulse_joint.d.ts:144

setFrameX2

setFrameX2(rot): void
Sets the rotation quaternion that aligns this joint's second local axis to the x axis.
Parameters
- rot: Rotation
Returns void
Inherited from ImpulseJoint.setFrameX2
- Defined in dynamics/impulse_joint.d.ts:148

setLocalFrame1

setLocalFrame1(anchor, rot): void
Sets the full local frame (anchor position and rotation) for the first rigid-body attachment.
Parameters
- anchor: Vector
- rot: Rotation
Returns void
Inherited from ImpulseJoint.setLocalFrame1
- Defined in dynamics/impulse_joint.d.ts:152

setLocalFrame2

setLocalFrame2(anchor, rot): void
Sets the full local frame (anchor position and rotation) for the second rigid-body attachment.
Parameters
- anchor: Vector
- rot: Rotation
Returns void
Inherited from ImpulseJoint.setLocalFrame2
- Defined in dynamics/impulse_joint.d.ts:156

setMotorMaxForce

setMotorMaxForce(axis, maxForce): void
Sets the maximum force/torque the motor of the given angular axis can deliver.
Parameters
- axis: JointAxis
  The angular axis (JointAxis.AngX/AngY/AngZ) to configure.
- maxForce: number
  The maximum torque the axis motor can deliver.
Returns void
- Defined in dynamics/impulse_joint.d.ts:226

type

type(): JointType
The type of this joint given as a string.

Returns JointType
Inherited from ImpulseJoint.type
- Defined in dynamics/impulse_joint.d.ts:92

`Static` newTyped

newTyped(rawSet, bodySet, handle): ImpulseJoint
Parameters
- rawSet: RawImpulseJointSet
- bodySet: RigidBodySet
- handle: number
Returns ImpulseJoint
Inherited from ImpulseJoint.newTyped
- Defined in dynamics/impulse_joint.d.ts:73

Class SphericalImpulseJoint

Hierarchy (view full)

Index

Constructors

Properties

Methods

Constructors

constructor

Parameters

Returns SphericalImpulseJoint

Properties

Protected bodySet

handle

Protected rawSet

Methods

anchor1

Parameters

Returns Vector

anchor2

Parameters

Returns Vector

body1

Returns RigidBody

body2

Returns RigidBody

configureMotor

Parameters

Returns void

configureMotorModel

Parameters

Returns void

configureMotorPosition

Parameters

Returns void

configureMotorVelocity

Parameters

Returns void

contactsEnabled

Returns boolean

finalizeDeserialization

Parameters

Returns void

frameX1

Parameters

Returns Rotation

frameX2

Parameters

Returns Rotation

isValid

Returns boolean

setAnchor1

Parameters

Returns void

setAnchor2

Parameters

Returns void

setContactsEnabled

Parameters

Returns void

setFrameX1

Parameters

Returns void

setFrameX2

Parameters

Returns void

setLocalFrame1

Parameters

Returns void

setLocalFrame2

Parameters

Returns void

setMotorMaxForce

Parameters

Returns void

type

Returns JointType

Static newTyped

Parameters

Returns ImpulseJoint

Settings

`Protected` bodySet

`Protected` rawSet

`Static` newTyped