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Class Joint

Hierarchy

Index

Constructors

constructor

  • Parameters

    Returns Joint

  • Parameters

    Returns Joint

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

  • 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

  • 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

  • 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

  • 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

  • The unique integer identifier of the first rigid-body this joint it attached to.

    Returns RigidBodyHandle

  • The unique integer identifier of the first rigid-body this joint it attached to.

    Returns RigidBodyHandle

bodyHandle2

  • The unique integer identifier of the second rigid-body this joint is attached to.

    Returns RigidBodyHandle

  • The unique integer identifier of the second rigid-body this joint is attached to.

    Returns RigidBodyHandle

frameX1

  • The rotation quaternion that aligns this joint's first local axis to the x axis.

    Returns Rotation

  • The rotation quaternion that aligns this joint's first local axis to the x axis.

    Returns Rotation

frameX2

  • The rotation matrix that aligns this joint's second local axis to the x axis.

    Returns Rotation

  • The rotation matrix that aligns this joint's second local axis to the x axis.

    Returns Rotation

isValid

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

    Returns boolean

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

    Returns boolean

type

  • The type of this joint given as a string.

    Returns JointType

  • The type of this joint given as a string.

    Returns JointType

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