instantreality 1.0

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

HingeJointD

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

Inheritance

Code

XML encoding
<HingeJointD anchor='0 0 0'
axis='0 0 0'
torque='0'
vel='0'
loStop='-1e20'
hiStop='1e20'
fmax='0'
fudge='1'
bounce='0'
cfm='1e-5'
stopErp='0.2'
stopCfm='0'
logFeature=''
 />
Classic encoding
HingeJointD {
	anchor 0 0 0
	axis 0 0 0
	torque 0
	vel 0
	loStop -1e20
	hiStop 1e20
	fmax 0
	fudge 1
	bounce 0
	cfm 1e-5
	stopErp 0.2
	stopCfm 0
	logFeature [""]
}

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 axis SFVec3f inputOutput 0 0 0 axis of rotation
MFNode bodies MFNode initializeOnly Node the two bodies connected by this joint
SFFloat bounce SFFloat inputOutput 0 [0, 1] bounciness at stops.
SFFloat cfm SFFloat inputOutput 1e-5 (0, 1] CFM (Constraint Force Mixing). See ode docs for explanation of CFM.
SFFloat fmax SFFloat inputOutput 0 [0, inf] maximum force applied to achieve the desired velocity
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 fudge SFFloat inputOutput 1 [0, 1] correction factor. If joint is "jumpy" at stops try to reduce this.
SFFloat hiStop SFFloat inputOutput 1e20 (-inf, inf) high stop angle
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 loStop SFFloat inputOutput -1e20 (-inf, inf) low stop angle
SFNode metadata SFNode inputOutput MetadataObject container for payload metadata inside MetadataSet element
SFFloat stopCfm SFFloat inputOutput 0 (0, 1] CFM (Constraint Force Mixing) at stops. See ode docs for explanation of CFM.
SFFloat stopErp SFFloat inputOutput 0.2 (0, 1] ERP (Error Reduction Parameter) at stops. See ode docs for explanation of ERPs.
SFFloat torque SFFloat inputOutput 0 (-inf, inf) get/set torque
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
SFFloat vel SFFloat inputOutput 0 (-inf, inf) get/set velocity