instantreality 1.0

Component:
Physics
Status:
fully implemented
Structure type:
concrete
Standard:
Avalon

AMotorJointD

Wrapper node for the ODE joint type angular motor (amotor). See www.ode.org for detailed description of the underlying engine.

Inheritance

Code

XML encoding
<AMotorJointD mode='0'
axisNum='3'
axis1='1 0 0'
axis2='0 1 0'
axis3='0 0 1'
axis1RelOrientation='0'
axis2RelOrientation='0'
axis3RelOrientation='0'
torque1='0'
torque2='0'
torque3='0'
loStop1='-1e20'
loStop2='-1e20'
loStop3='-1e20'
hiStop1='1e20'
hiStop2='1e20'
hiStop3='1e20'
vel1='0'
vel2='0'
vel3='0'
fmax1='0'
fmax2='0'
fmax3='0'
fudge1='1'
fudge2='1'
fudge3='1'
bounce1='0'
bounce2='0'
bounce3='0'
cfm1='1e-5'
cfm2='1e-5'
cfm3='1e-5'
stopErp1='0.2'
stopErp2='0.2'
stopErp3='0.2'
stopCfm1='0'
stopCfm2='0'
stopCfm3='0'
logFeature=''
 />
Classic encoding
AMotorJointD {
	mode 0
	axisNum 3
	axis1 1 0 0
	axis2 0 1 0
	axis3 0 0 1
	axis1RelOrientation 0
	axis2RelOrientation 0
	axis3RelOrientation 0
	torque1 0
	torque2 0
	torque3 0
	loStop1 -1e20
	loStop2 -1e20
	loStop3 -1e20
	hiStop1 1e20
	hiStop2 1e20
	hiStop3 1e20
	vel1 0
	vel2 0
	vel3 0
	fmax1 0
	fmax2 0
	fmax3 0
	fudge1 1
	fudge2 1
	fudge3 1
	bounce1 0
	bounce2 0
	bounce3 0
	cfm1 1e-5
	cfm2 1e-5
	cfm3 1e-5
	stopErp1 0.2
	stopErp2 0.2
	stopErp3 0.2
	stopCfm1 0
	stopCfm2 0
	stopCfm3 0
	logFeature [""]
}

Interface

Filter: X3D only | Avalon only | All
id Name DataType PartType Default ValueType Description
SFVec3f axis1 SFVec3f inputOutput 1 0 0 axis1
SFInt32 axis1RelOrientation SFInt32 inputOutput 0 [0, 2] Reference frame of axis1 orientation. 0: The axis is anchored to the global frame. 1: The axis is anchored to the first body. 2: The axis is anchored to the second body.
SFVec3f axis2 SFVec3f inputOutput 0 1 0 axis2
SFInt32 axis2RelOrientation SFInt32 inputOutput 0 [0, 2] Reference frame of axis2 orientation. 0: The axis is anchored to the global frame. 1: The axis is anchored to the first body. 2: The axis is anchored to the second body.
SFVec3f axis3 SFVec3f inputOutput 0 0 1 axis3
SFInt32 axis3RelOrientation SFInt32 inputOutput 0 [0, 2] Reference frame of axis3 orientation. 0: The axis is anchored to the global frame. 1: The axis is anchored to the first body. 2: The axis is anchored to the second body.
SFInt32 axisNum SFInt32 inputOutput 3 [0, 3] Number of axes used.
MFNode bodies MFNode initializeOnly Node the two bodies connected by this joint
SFFloat bounce1 SFFloat inputOutput 0 [0, 1] bounciness for stops on axis1
SFFloat bounce2 SFFloat inputOutput 0 [0, 1] bounciness for stops on axis1
SFFloat bounce3 SFFloat inputOutput 0 [0, 1] bounciness for stops on axis1
SFFloat cfm1 SFFloat inputOutput 1e-5 (0, 1] CFM (constraint force mixing) when not at a stop on axis1. See ODE docs for explanation of the CFM concept.
SFFloat cfm2 SFFloat inputOutput 1e-5 (0, 1] CFM (constraint force mixing) when not at a stop on axis2. See ODE docs for explanation of the CFM concept.
SFFloat cfm3 SFFloat inputOutput 1e-5 (0, 1] CFM (constraint force mixing) when not at a stop on axis3. See ODE docs for explanation of the CFM concept.
SFFloat fmax1 SFFloat inputOutput 0 [0, inf) maximum force applied to axis1
SFFloat fmax2 SFFloat inputOutput 0 [0, inf) maximum force applied to axis2
SFFloat fmax3 SFFloat inputOutput 0 [0, inf) maximum force applied to axis3
SFVec3f force1Feedback SFVec3f outputOnly returns the computed force applied to body1 on each simulation step
SFVec3f force2Feedback SFVec3f inputOnly returns the computed force applied to body2 on each simulation step
SFFloat fudge1 SFFloat inputOutput 1 [0, 1] correction factor. If joint is "jumpy" at stops try to reduce this.
SFFloat fudge2 SFFloat inputOutput 1 [0, 1] correction factor. If joint is "jumpy" at stops try to reduce this [0,1].
SFFloat fudge3 SFFloat inputOutput 1 [0, 1] correction factor. If joint is "jumpy" at stops try to reduce this.
SFFloat hiStop1 SFFloat inputOutput 1e20 (-inf, inf) high stop angle for axis1
SFFloat hiStop2 SFFloat inputOutput 1e20 (-inf, inf) high stop angle for axis1
SFFloat hiStop3 SFFloat inputOutput 1e20 (-inf, inf) high stop angle for axis1
MFString logFeature MFString inputOutput state, child, parent, route, eventIn, eventOut controls the logging of changes, state: log state changes (e.g. live), child: log child add/remove, parent: log parent add/remove, route: log route add/remove; eventIn: log receiving of events, eventOut: log sending of events: guiView, runtime system should create node-view, guiEdit: runtime system should create node-editeverything: log everything
SFFloat loStop1 SFFloat inputOutput -1e20 (-inf, inf) lower stop angle for axis1
SFFloat loStop2 SFFloat inputOutput -1e20 (-inf, inf) lower stop angle for axis2
SFFloat loStop3 SFFloat inputOutput -1e20 (-inf, inf) lower stop angle for axis3
SFNode metadata SFNode inputOutput MetadataObject container for payload metadata inside MetadataSet element
SFInt32 mode SFInt32 inputOutput 0 [0, 1] See documentation of ODE for details. 0: is user mode (axes and joint angle settings are entirely controlled by the user); 1: is euler mode (Euler angles are automatically computed. The axis a1 is also automatically computed. The AMotor axes must be set correctly when in this mode. When this mode is initially set the current relative orientations of the bodies will correspond to all euler angles at zero.).
SFFloat stopCfm1 SFFloat inputOutput 0 (0, 1] CFM (constraint force mixing) when at a stop on axis1. See ODE docs for explanation of the CFM concept.
SFFloat stopCfm2 SFFloat inputOutput 0 (0, 1] CFM (constraint force mixing) when at a stop on axis2. See ODE docs for explanation of the CFM concept.
SFFloat stopCfm3 SFFloat inputOutput 0 (0, 1] CFM (constraint force mixing) when at a stop on axis3. See ODE docs for explanation of the CFM concept.
SFFloat stopErp1 SFFloat inputOutput 0.2 (0, 1] ERP (error reduction parameter) for stops on axis1. See ODE docs for explanation of the ERP concept.
SFFloat stopErp2 SFFloat inputOutput 0.2 (0, 1] ERP (error reduction parameter) for stops on axis2. See ODE docs for explanation of the ERP concept.
SFFloat stopErp3 SFFloat inputOutput 0.2 (0, 1] ERP (error reduction parameter) for stops on axis3. See ODE docs for explanation of the ERP concept.
SFFloat torque1 SFFloat inputOutput 0 (-inf, inf) torque on axis1
SFVec3f torque1Feedback SFVec3f outputOnly returns the computed torque applied to body1 on each simulation step
SFFloat torque2 SFFloat inputOutput 0 (-inf, inf) torque on axis2
SFVec3f torque2Feedback SFVec3f outputOnly returns the computed torque applied to body2 on each simulation step
SFFloat torque3 SFFloat inputOutput 0 (-inf, inf) torque on axis3
SFFloat vel1 SFFloat inputOutput 0 (-inf, inf) angular velocity on axis1
SFFloat vel2 SFFloat inputOutput 0 (-inf, inf) angular velocity on axis2
SFFloat vel3 SFFloat inputOutput 0 (-inf, inf) angular velocity on axis3