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Class UnitJoint

Hierarchy

Index

Constructors

constructor

Properties

handle

handle: JointHandle

Protected rawSet

rawSet: RawJointSet

Methods

anchor1

  • The position of the first anchor of this joint.

    The first anchor gives the position of the points application point on the local frame of the first rigid-body it is attached to.

    Returns Vector

anchor2

  • The position of the second anchor of this joint.

    The second anchor gives the position of the points application point on the local frame of the second rigid-body it is attached to.

    Returns Vector

axis1

  • The first axis of this joint, if any.

    For joints where an application axis makes sense (e.g. the revolute and prismatic joins), this returns the application axis on the first rigid-body this joint is attached to, expressed in the local-space of this first rigid-body.

    Returns Vector

axis2

  • The second axis of this joint, if any.

    For joints where an application axis makes sense (e.g. the revolute and prismatic joins), this returns the application axis on the second rigid-body this joint is attached to, expressed in the local-space of this second rigid-body.

    Returns Vector

bodyHandle1

bodyHandle2

configureMotor

  • configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number): void
  • configureMotor(targetPos: number, targetVel: number, stiffness: number, damping: number): void
  • Parameters

    • targetPos: number
    • targetVel: number
    • stiffness: number
    • damping: number

    Returns void

  • Parameters

    • targetPos: number
    • targetVel: number
    • stiffness: number
    • damping: number

    Returns void

configureMotorModel

  • Parameters

    Returns void

  • Parameters

    Returns void

configureMotorPosition

  • configureMotorPosition(targetPos: number, stiffness: number, damping: number): void
  • configureMotorPosition(targetPos: number, stiffness: number, damping: number): void
  • Parameters

    • targetPos: number
    • stiffness: number
    • damping: number

    Returns void

  • Parameters

    • targetPos: number
    • stiffness: number
    • damping: number

    Returns void

configureMotorVelocity

  • configureMotorVelocity(targetVel: number, factor: number): void
  • configureMotorVelocity(targetVel: number, factor: number): void
  • Parameters

    • targetVel: number
    • factor: number

    Returns void

  • Parameters

    • targetVel: number
    • factor: number

    Returns void

isValid

  • isValid(): boolean
  • Checks if this joint is still valid (i.e. that it has not been deleted from the joint set yet).

    Returns boolean

limitsEnabled

  • limitsEnabled(): boolean
  • limitsEnabled(): boolean
  • Are the limits enabled for this joint?

    Returns boolean

  • Are the limits enabled for this joint?

    Returns boolean

limitsMax

  • limitsMax(): number
  • limitsMax(): number
  • The max limit of this joint.

    Returns number

  • The max limit of this joint.

    Returns number

limitsMin

  • limitsMin(): number
  • limitsMin(): number
  • The min limit of this joint.

    Returns number

  • The min limit of this joint.

    Returns number

type

  • The type of this joint given as a string.

    Returns JointType

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