CableJointD
Wrapper node for the a cable-type joint. This type is an extention not existing in the original ODE library.
Inheritance
Code
XML encoding
<CableJointD anchor='0 0 0' axis1='0 0 0' axis2='0 0 0' torque1='0' torque2='0' vel1='0' vel2='0' loStop1='-1e20' loStop2='-1e20' hiStop1='1e20' hiStop2='1e20' fmax1='0' fmax2='0' fudge1='1' fudge2='1' bounce1='0' bounce2='0' cfm1='1e-5' cfm2='1e-5' stopErp1='0.2' stopErp2='0.2' stopCfm1='0' stopCfm2='0' logFeature='' />
Classic encoding
CableJointD { anchor 0 0 0 axis1 0 0 0 axis2 0 0 0 torque1 0 torque2 0 vel1 0 vel2 0 loStop1 -1e20 loStop2 -1e20 hiStop1 1e20 hiStop2 1e20 fmax1 0 fmax2 0 fudge1 1 fudge2 1 bounce1 0 bounce2 0 cfm1 1e-5 cfm2 1e-5 stopErp1 0.2 stopErp2 0.2 stopCfm1 0 stopCfm2 0 logFeature [""] }
Interface
Filter: X3D only | Avalon only | All
id | Name | DataType | PartType | Default | ValueType | Description |
---|---|---|---|---|---|---|
anchor | SFVec3f | inputOutput | 0 0 0 | anchor point of the joint. | ||
axis1 | SFVec3f | inputOutput | 0 0 0 | first axis of rotation. | ||
axis2 | SFVec3f | inputOutput | 0 0 0 | second axis of rotation. | ||
bodies | MFNode | initializeOnly | Node | the two bodies connected by this joint | ||
bounce1 | SFFloat | initializeOnly | 0 | [0, 1] | bounciness at stop1 | |
bounce2 | SFFloat | initializeOnly | 0 | bounciness at stop1 | ||
cfm1 | SFFloat | initializeOnly | 1e-5 | (0, 1] | CFM on axis1. See ode docs for explanation of CFM (Constraint Force Mixing). | |
cfm2 | SFFloat | initializeOnly | 1e-5 | (0, 1] | CFM on axis2. See ode docs for explanation of CFM (Constraint Force Mixing). | |
fmax1 | SFFloat | initializeOnly | 0 | (-inf, inf) | maximum force applied to reach the desired velocity on axis1 | |
fmax2 | SFFloat | initializeOnly | 0 | [0, inf) | maximum force applied to reach the desired velocity on axis2 | |
force1Feedback | SFVec3f | outputOnly | returns the computed force applied to body1 on each simulation step | |||
force2Feedback | SFVec3f | inputOnly | returns the computed force applied to body2 on each simulation step | |||
fudge1 | SFFloat | initializeOnly | 1 | [0, 1] | fudge factor at stops on axis1. If joint gets jumpy at stops try reducing this. | |
fudge2 | SFFloat | initializeOnly | 1 | [0, 1] | fudge factor at stops on axis1. If joint gets jumpy at stops try reducing this. | |
hiStop1 | SFFloat | inputOutput | 1e20 | (-inf, inf) | high stop angle on axis1 | |
hiStop2 | SFFloat | inputOutput | 1e20 | (-inf, inf) | high stop angle on axis2 | |
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 | ||
loStop1 | SFFloat | inputOutput | -1e20 | (-inf, inf) | low stop angle on axis1 | |
loStop2 | SFFloat | inputOutput | -1e20 | (-inf, inf) | low stop angle on axis2 | |
metadata | SFNode | inputOutput | MetadataObject | container for payload metadata inside MetadataSet element | ||
stopCfm1 | SFFloat | initializeOnly | 0 | (0, 1] | CFM (Constraint Force Mixing) at stops on axis1. See ode docs for details on CFM. | |
stopCfm2 | SFFloat | initializeOnly | 0 | (0, 1] | CFM (Constraint Force Mixing) at stops on axis2. See ode docs for details on CFM. | |
stopErp1 | SFFloat | initializeOnly | 0.2 | (0, 1] | ERP (Error Reduction Parameter) at stops on axis1. See ode docs for details on ERPs. | |
stopErp2 | SFFloat | initializeOnly | 0.2 | (0, 1] | ERP (Error Reduction Parameter) at stops on axis2. See ode docs for details on ERPs. | |
torque1 | SFFloat | inputOutput | 0 | (-inf, inf) | get/set torque on axis1 | |
torque1Feedback | SFVec3f | outputOnly | returns the computed torque applied to body1 on each simulation step | |||
torque2 | SFFloat | inputOutput | 0 | (-inf, inf) | get/set torque on axis2 | |
torque2Feedback | SFVec3f | outputOnly | returns the computed torque applied to body2 on each simulation step | |||
vel1 | SFFloat | initializeOnly | 0 | (-inf, inf) | get/set velocity on axis1 | |
vel2 | SFFloat | initializeOnly | 0 | (-inf, inf) | get/set velocity on axis1 |