instantreality 1.0

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

Hinge2JointD

Wrapper node for the ODE joint type hinge2. See www.ode.org for detailed description of the underlying engine.

Inheritance

Code

XML encoding
<Hinge2JointD logFeature=''
suspensionCfm2='1e-5'
suspensionErp2='1'
suspensionCfm1='1e-5'
suspensionErp1='1'
stopCfm1='0'
stopCfm2='0'
stopErp2='0.2'
stopErp1='0.2'
cfm2='1e-5'
fudge2='1'
bounce1='0'
bounce2='0'
cfm1='1e-5'
fmax2='0'
fudge1='1'
fmax1='0'
hiStop2='1e20'
hiStop1='1e20'
loStop1='-1e20'
loStop2='-1e20'
vel2='0'
torque2='0'
vel1='0'
axis2='1 0 0'
torque1='0'
anchor='0 0 0'
axis1='0 -1 0'
 />
Classic encoding
Hinge2JointD {
	logFeature [""]
	suspensionCfm2 1e-5
	suspensionErp2 1
	suspensionCfm1 1e-5
	suspensionErp1 1
	stopCfm1 0
	stopCfm2 0
	stopErp2 0.2
	stopErp1 0.2
	cfm2 1e-5
	fudge2 1
	bounce1 0
	bounce2 0
	cfm1 1e-5
	fmax2 0
	fudge1 1
	fmax1 0
	hiStop2 1e20
	hiStop1 1e20
	loStop1 -1e20
	loStop2 -1e20
	vel2 0
	torque2 0
	vel1 0
	axis2 1 0 0
	torque1 0
	anchor 0 0 0
	axis1 0 -1 0
}

Interface

Filter: X3D only | Avalon only | All
id Name DataType PartType Default ValueType Description
SFVec3f anchor SFVec3f inputOutput 0 0 0 anchor point of the joint
SFVec3f axis1 SFVec3f inputOutput 0 -1 0 axis1
SFVec3f axis2 SFVec3f inputOutput 1 0 0 axis2
SFFloat torque1 SFFloat inputOutput 0 (-inf, inf) get/set torque of axis1
SFFloat torque2 SFFloat inputOutput 0 (-inf, inf) get/set torque of axis2
SFFloat vel1 SFFloat inputOutput 0 (-inf, inf) get/set velocity of axis1
SFFloat vel2 SFFloat inputOutput 0 (-inf, inf) get/set velocity of axis2
SFFloat loStop1 SFFloat inputOutput -1e20 (-inf, inf) low stop angle on axis1
SFFloat loStop2 SFFloat inputOutput -1e20 (-inf, inf) low stop angle on axis2
SFFloat hiStop1 SFFloat inputOutput 1e20 (-inf, inf) high stop angle on axis1
SFFloat hiStop2 SFFloat inputOutput 1e20 (-inf, inf) high stop angle on axis2
SFFloat fmax1 SFFloat inputOutput 0 [0, inf) maximum force that will be used to achieve the desired velocity
SFFloat fmax2 SFFloat inputOutput 0 [0, inf) maximum force that will be used to achieve the desired velocity
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.
SFFloat bounce1 SFFloat inputOutput 0 [0, 1] bounciness at stops on axis1.
SFFloat bounce2 SFFloat inputOutput 0 [0, 1] bounciness at stops on axis2.
SFFloat cfm1 SFFloat inputOutput 1e-5 (0, 1] CFM on axis1 (see ode docs for explanation of CFM (Constraint Force Mixing)
SFFloat cfm2 SFFloat inputOutput 1e-5 (0, 1] CFM on axis2 (see ode docs for explanation of CFM (Constraint Force Mixing)
SFFloat stopErp1 SFFloat inputOutput 0.2 (0, 1] ERP (Error Reduction Parameter) at stops on axis1. See ode docs for details on ERPs.
SFFloat stopErp2 SFFloat inputOutput 0.2 (0, 1] ERP (Error Reduction Parameter) at stops on axis2. See ode docs for details on ERPs.
SFFloat stopCfm1 SFFloat inputOutput 0 (0, 1] CFM (Constraint Force Mixing) at stops on axis1. See ode docs for details on CFM.
SFFloat stopCfm2 SFFloat inputOutput 0 (0, 1] CFM (Constraint Force Mixing) at stops on axis2. See ode docs for details on CFM.
SFFloat suspensionErp1 SFFloat inputOutput 1 (0, 1] Suspension on axis1. See ode docs for details on ERPs.
SFFloat suspensionErp2 SFFloat inputOutput 1 (0, 1] Suspension on axis2. See ode docs for details on ERPs.
SFFloat suspensionCfm1 SFFloat inputOutput 1e-5 (0, 1] Suspension on axis1. See ode docs for details on CFM.
SFFloat suspensionCfm2 SFFloat inputOutput 1e-5 (0, 1] Suspension on axis2. See ode docs for details on CFM.
SFFloat angle1 SFFloat outputOnly Hinge2 angel 1 in rad
SFFloat angle1Rate SFFloat outputOnly Angle1 rate
SFFloat angle2Rate SFFloat outputOnly Angle2 rate
MFNode bodies MFNode initializeOnly Node the two bodies connected by this joint
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
SFVec3f torque1Feedback SFVec3f outputOnly returns the computed torque applied to body1 on each simulation step
SFVec3f torque2Feedback SFVec3f outputOnly returns the computed torque applied to body2 on each simulation step
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