Class UnitImpulseJoint

Hierarchy (view full)

ImpulseJoint
- UnitImpulseJoint
  - PrismaticImpulseJoint
  - RevoluteImpulseJoint

Constructors

constructor

new UnitImpulseJoint(rawSet, bodySet, handle): UnitImpulseJoint
Parameters
- rawSet: RawImpulseJointSet
- bodySet: RigidBodySet
- handle: number
Returns UnitImpulseJoint
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(targetPos, targetVel, stiffness, damping): void
Parameters
- targetPos: number
- targetVel: number
- stiffness: number
- damping: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:196

configureMotorModel

configureMotorModel(model): void
Parameters
- model: MotorModel
Returns void
- Defined in dynamics/impulse_joint.d.ts:192

configureMotorPosition

configureMotorPosition(targetPos, stiffness, damping): void
Parameters
- targetPos: number
- stiffness: number
- damping: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:195

configureMotorVelocity

configureMotorVelocity(targetVel, factor): void
Parameters
- targetVel: number
- factor: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:194

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

limitsEnabled

limitsEnabled(): boolean
Are the limits enabled for this joint?

Returns boolean
- Defined in dynamics/impulse_joint.d.ts:176

limitsMax

limitsMax(): number
The max limit of this joint.

Returns number
- Defined in dynamics/impulse_joint.d.ts:184

limitsMin

limitsMin(): number
The min limit of this joint.

Returns number
- Defined in dynamics/impulse_joint.d.ts:180

`Protected` `Optional` rawAxis

rawAxis(): RawJointAxis
The axis left free by this joint.

Returns RawJointAxis
- Defined in dynamics/impulse_joint.d.ts:172

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

setLimits

setLimits(min, max): void
Sets the limits of this joint.
Parameters
- min: number
  The minimum bound of this joint’s free coordinate.
- max: number
  The maximum bound of this joint’s free coordinate.
Returns void
- Defined in dynamics/impulse_joint.d.ts:191

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(maxForce): void
Parameters
- maxForce: number
Returns void
- Defined in dynamics/impulse_joint.d.ts:193

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