instantreality 1.0

• Node 12
• SceneBaseNode 17
• DynamicJoint 6
• UniversalJointD 1
• CableJointD

XML encoding

<UniversalJointD 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

UniversalJointD {
	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 [""]
}

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