Class JointUniversal

A physical connection between two bodies with two defined axis (normally e.g. (0,0,1) and rotation(1,0,0)), they share the same anchor and have free rotation, but transfer the twist. In reality used in cars to transfer the more stable stationary force on the velocity axis to the bumping, damped moving wheel. Two RigidBodies need to be defined to use it. The two motors can be defined for the two rotation axis, along with springs.

                 
                     anchor - twist is transfered between bodies
        z                   |
        ↑            -----  |  ------------
        |           |     | ↓ |            | 
 -x <---|---> x     |     | x |            |           e.g. wheel can still turn up/down, 
        |           |     |   |            |           left right but transfering it's rotation on to the wheel-axis.
        ↓            -----     ------------
       -z    
                attachedRB          connectedRB
               (e.g. wheel)       (e.g. wheel-axis)

Author

Marko Fehrenbach, HFU, 2020 | Jirka Dell'Oro-Friedl, HFU, 2021

Hierarchy (view full)

Joint
- JointUniversal

Constructors

constructor

new JointUniversal(_bodyAnchor?, _bodyTied?, _axisFirst?, _axisSecond?, _localAnchor?): JointUniversal
Parameters
- _bodyAnchor: ComponentRigidbody = null
- _bodyTied: ComponentRigidbody = null
- _axisFirst: Vector3 = ...
- _axisSecond: Vector3 = ...
- _localAnchor: Vector3 = ...
Returns JointUniversal
Overrides Joint.constructor
- Defined in Source/Core/Physics/JointUniversal.ts:50

Properties

`Static` `Readonly` baseClass

baseClass: typeof Joint = Joint

refers back to this class from any subclass e.g. in order to find compatible other resources

`Static` `Readonly` iSubclass

iSubclass: number = ...

subclasses get a iSubclass number for identification

`Static` `Readonly` subclasses

subclasses: typeof Joint[] = []

list of all the subclasses derived from this class, if they registered properly

Accessors

anchor

get anchor(): Vector3
The exact position where the two Nodes are connected. When changed after initialization the joint needs to be reconnected.

Returns Vector3
Inherited from Joint.anchor
- Defined in Source/Core/Physics/Joint.ts:79
set anchor(_value): void
Parameters
- _value: Vector3
Returns void
Inherited from Joint.anchor
- Defined in Source/Core/Physics/Joint.ts:82

axisFirst

get axisFirst(): Vector3
The axis connecting the the two Nodes e.g. Vector3(0,1,0) to have a upward connection. When changed after initialization the joint needs to be reconnected.

Returns Vector3
- Defined in Source/Core/Physics/JointUniversal.ts:62
set axisFirst(_value): void
Parameters
- _value: Vector3
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:65

axisSecond

get axisSecond(): Vector3
The axis connecting the the two Nodes e.g. Vector3(0,1,0) to have a upward connection. When changed after initialization the joint needs to be reconnected.

Returns Vector3
- Defined in Source/Core/Physics/JointUniversal.ts:74
set axisSecond(_value): void
Parameters
- _value: Vector3
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:77

bodyAnchor

get bodyAnchor(): ComponentRigidbody
Get/Set the first ComponentRigidbody of this connection. It should always be the one that this component is attached too in the sceneTree.

Returns ComponentRigidbody
Inherited from Joint.bodyAnchor
- Defined in Source/Core/Physics/Joint.ts:54
set bodyAnchor(_cmpRB): void
Parameters
- _cmpRB: ComponentRigidbody
Returns void
Inherited from Joint.bodyAnchor
- Defined in Source/Core/Physics/Joint.ts:58

bodyTied

get bodyTied(): ComponentRigidbody
Get/Set the second ComponentRigidbody of this connection.

Returns ComponentRigidbody
Inherited from Joint.bodyTied
- Defined in Source/Core/Physics/Joint.ts:66
set bodyTied(_cmpRB): void
Parameters
- _cmpRB: ComponentRigidbody
Returns void
Inherited from Joint.bodyTied
- Defined in Source/Core/Physics/Joint.ts:69

breakForce

get breakForce(): number
The amount of force needed to break the JOINT, in Newton. 0 equals unbreakable (default)

Returns number
Inherited from Joint.breakForce
- Defined in Source/Core/Physics/Joint.ts:102
set breakForce(_value): void
Parameters
- _value: number
Returns void
Inherited from Joint.breakForce
- Defined in Source/Core/Physics/Joint.ts:105

breakTorque

get breakTorque(): number
The amount of force needed to break the JOINT, while rotating, in Newton. 0 equals unbreakable (default)

Returns number
Inherited from Joint.breakTorque
- Defined in Source/Core/Physics/Joint.ts:91
set breakTorque(_value): void
Parameters
- _value: number
Returns void
Inherited from Joint.breakTorque
- Defined in Source/Core/Physics/Joint.ts:94

internalCollision

get internalCollision(): boolean
If the two connected RigidBodies collide with eath other. (Default = false) On a welding joint the connected bodies should not be colliding with each other, for best results

Returns boolean
Inherited from Joint.internalCollision
- Defined in Source/Core/Physics/Joint.ts:115
set internalCollision(_value): void
Parameters
- _value: boolean
Returns void
Inherited from Joint.internalCollision
- Defined in Source/Core/Physics/Joint.ts:118

isActive

get isActive(): boolean
Returns boolean
Inherited from Joint.isActive
- Defined in Source/Core/Component/Component.ts:36

isSingleton

get isSingleton(): boolean
Is true, when only one instance of the component class can be attached to a node

Returns boolean
Inherited from Joint.isSingleton
- Defined in Source/Core/Component/Component.ts:43

maxRotorFirst

get maxRotorFirst(): number
The Upper Limit of movement along the axis of this joint. The limiter is disable if lowerLimit > upperLimit. Axis-Angle measured in Degree.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:130
set maxRotorFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:133

maxRotorSecond

get maxRotorSecond(): number
The Upper Limit of movement along the axis of this joint. The limiter is disable if lowerLimit > upperLimit. Axis-Angle measured in Degree.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:174
set maxRotorSecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:177

minRotorFirst

get minRotorFirst(): number
The Lower Limit of movement along the axis of this joint. The limiter is disable if lowerLimit > upperLimit. Axis Angle measured in Degree.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:141
set minRotorFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:144

minRotorSecond

get minRotorSecond(): number
The Lower Limit of movement along the axis of this joint. The limiter is disable if lowerLimit > upperLimit. Axis Angle measured in Degree.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:185
set minRotorSecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:188

node

get node(): Node
Retrieves the node, this component is currently attached to

Returns Node
Inherited from Joint.node
- Defined in Source/Core/Component/Component.ts:50

rotorSpeedFirst

get rotorSpeedFirst(): number
The target rotational speed of the motor in m/s.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:152
set rotorSpeedFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:155

rotorSpeedSecond

get rotorSpeedSecond(): number
The target rotational speed of the motor in m/s.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:196
set rotorSpeedSecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:199

rotorTorqueFirst

get rotorTorqueFirst(): number
The maximum motor torque in Newton. force <= 0 equals disabled.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:163
set rotorTorqueFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:166

rotorTorqueSecond

get rotorTorqueSecond(): number
The maximum motor torque in Newton. force <= 0 equals disabled.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:207
set rotorTorqueSecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:210

springDampingFirst

get springDampingFirst(): number
The damping of the spring. 1 equals completly damped.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:86
set springDampingFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:89

springDampingSecond

get springDampingSecond(): number
The damping of the spring. 1 equals completly damped.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:108
set springDampingSecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:111

springFrequencyFirst

get springFrequencyFirst(): number
The frequency of the spring in Hz. At 0 the spring is rigid, equals no spring. The smaller the value the less restrictive is the spring.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:97
set springFrequencyFirst(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:100

springFrequencySecond

get springFrequencySecond(): number
The frequency of the spring in Hz. At 0 the spring is rigid, equals no spring. The smaller the value the less restrictive is the spring.

Returns number
- Defined in Source/Core/Physics/JointUniversal.ts:119
set springFrequencySecond(_value): void
Parameters
- _value: number
Returns void
- Defined in Source/Core/Physics/JointUniversal.ts:122

type

get type(): string
Retrieves the type of this mutable subclass as the name of the runtime class

Returns string
The type of the mutable
Inherited from Joint.type
- Defined in Source/Core/Serialization/Mutable.ts:175

Methods

activate

activate(_on): void
De- / Activate this component. Inactive components will not be processed by the renderer.
Parameters
- _on: boolean
Returns void
Inherited from Joint.activate
- Defined in Source/Core/Component/Component.ts:57

addEventListener

addEventListener(_type, _handler, _options?): void
See EventTarget.addEventListener for reference. Works with EventListenerUnified and EventUnified
Parameters
- _type: string
- _handler: EventListenerUnified
- Optional _options: boolean | AddEventListenerOptions
Returns void
Inherited from Joint.addEventListener
- Defined in Source/Core/Event/Event.ts:91

attachToNode

attachToNode(_container): void
Tries to attach the component to the given node, removing it from the node it was attached to if applicable
Parameters
- _container: Node
Returns void
Inherited from Joint.attachToNode
- Defined in Source/Core/Component/Component.ts:65

connect

connect(): void
Initializing and connecting the two rigidbodies with the configured joint properties is automatically called by the physics system. No user interaction needed.

Returns void
Inherited from Joint.connect
- Defined in Source/Core/Physics/Joint.ts:168

connectChild

connectChild(_name): void
Connect a child node with the given name to the joint.
Parameters
- _name: string
Returns void
Inherited from Joint.connectChild
- Defined in Source/Core/Physics/Joint.ts:126

connectNode

connectNode(_node): void
Connect the given node to the joint. Tieing its rigidbody to the nodes rigidbody this component is attached to.
Parameters
- _node: Node
Returns void
Inherited from Joint.connectNode
- Defined in Source/Core/Physics/Joint.ts:141

deserialize

deserialize(_serialization): Promise<Serializable>
Recreates this instance of Serializable with the information from the given Serialization.
Parameters
- _serialization: Serialization
Returns Promise<Serializable>
Overrides Joint.deserialize
- Defined in Source/Core/Physics/JointUniversal.ts:230

disconnect

disconnect(): void
Disconnecting the two rigidbodies and removing them from the physics system, is automatically called by the physics system. No user interaction needed.

Returns void
Inherited from Joint.disconnect
- Defined in Source/Core/Physics/Joint.ts:186

dispatchEvent

dispatchEvent(_event): boolean
See EventTarget.dispatchEvent for reference. Works with with EventUnified
Parameters
- _event: EventUnified
Returns boolean
Inherited from Joint.dispatchEvent
- Defined in Source/Core/Event/Event.ts:105

`Optional` drawGizmos

drawGizmos(_cmpCamera?): void
Override this to draw visual aids for this component inside the editors render view. Use Gizmos inside the override to draw stuff.
Parameters
- Optional _cmpCamera: ComponentCamera
Returns void
Inherited from Joint.drawGizmos
- Defined in Source/Core/Component/Component.ts:83

`Optional` drawGizmosSelected

drawGizmosSelected(_cmpCamera?): void
See drawGizmos. Only displayed while the corresponding node is selected.
Parameters
- Optional _cmpCamera: ComponentCamera
Returns void
Inherited from Joint.drawGizmosSelected
- Defined in Source/Core/Component/Component.ts:88

getMetaAttributeTypes

getMetaAttributeTypes(): MetaAttributeTypes
Retrieves the specified attribute types from the metadata of this instance's class.

Returns MetaAttributeTypes
Inherited from Joint.getMetaAttributeTypes
- Defined in Source/Core/Serialization/Mutable.ts:265

getMetadata

getMetadata(): Metadata
Retrieves the metadata of this instance's class.

Returns Metadata
Inherited from Joint.getMetadata
- Defined in Source/Core/Serialization/Mutable.ts:272

getMutator

getMutator(): Mutator
Collect applicable attributes of the instance and copies of their values in a Mutator-object. By default, a mutator cannot be extended, since extensions are not available in the object the mutator belongs to. A mutator may be reduced by the descendants of Mutable to contain only the properties needed.

Returns Mutator
Overrides Joint.getMutator
- Defined in Source/Core/Physics/JointUniversal.ts:250

getMutatorAttributeTypes

getMutatorAttributeTypes(_mutator): MutatorAttributeTypes
Returns an associative array with the same attributes as the given mutator, but with the corresponding types as string-values. Does not recurse into objects! This will return the decorated meta-type instead of the runtime-type of the object, if available.
Parameters
- _mutator: Mutator
Returns MutatorAttributeTypes
Inherited from Joint.getMutatorAttributeTypes
- Defined in Source/Core/Physics/Joint.ts:223

getMutatorForAnimation

getMutatorForAnimation(_extendable?): MutatorForAnimation
Collect the attributes of the instance and their values applicable for animation. Basic functionality is identical to getMutator, returned mutator should then be reduced by the subclassed instance
Parameters
- _extendable: boolean = false
Returns MutatorForAnimation
Inherited from Joint.getMutatorForAnimation
- Defined in Source/Core/Serialization/Mutable.ts:219

getMutatorForUserInterface

getMutatorForUserInterface(_extendable?): MutatorForUserInterface
Collect the attributes of the instance and their values applicable for the user interface. Basic functionality is identical to getMutator, returned mutator should then be reduced by the subclassed instance
Parameters
- _extendable: boolean = false
Returns MutatorForUserInterface
Inherited from Joint.getMutatorForUserInterface
- Defined in Source/Core/Serialization/Mutable.ts:227

getOimoJoint

getOimoJoint(): Joint
Returns the original Joint used by the physics engine. Used internally no user interaction needed. Only to be used when functionality that is not added within FUDGE is needed.

Returns Joint
Inherited from Joint.getOimoJoint
- Defined in Source/Core/Physics/Joint.ts:197

isConnected

isConnected(): boolean
Check if connection is dirty, so when either rb is changed disconnect and reconnect. Internally used no user interaction needed.

Returns boolean
Inherited from Joint.isConnected
- Defined in Source/Core/Physics/Joint.ts:160

mutate

mutate(_mutator, _selection?, _dispatchMutate?): Promise<void>
Updates the attribute values of the instance according to the state of the mutator. The mutation may be restricted to a subset of the mutator and the event dispatching suppressed. Uses mutateBase, but can be overwritten in subclasses
Parameters
- _mutator: Mutator
- _selection: string[] = null
- _dispatchMutate: boolean = true
Returns Promise<void>
Overrides Joint.mutate
- Defined in Source/Core/Physics/JointUniversal.ts:238

removeEventListener

removeEventListener(_type, _handler, _options?): void
See EventTarget.removeEventListener for reference. Works with EventListenerUnified and EventUnified
Parameters
- _type: string
- _handler: EventListenerUnified
- Optional _options: boolean | AddEventListenerOptions
Returns void
Inherited from Joint.removeEventListener
- Defined in Source/Core/Event/Event.ts:98

serialize

serialize(): Serialization
If the two connected RigidBodies collide with eath other. (Default = false)

Returns Serialization
Overrides Joint.serialize
- Defined in Source/Core/Physics/JointUniversal.ts:222

updateMutator

updateMutator(_mutator): void
Updates the values of the given mutator according to the current state of the instance
Parameters
- _mutator: Mutator
Returns void
Inherited from Joint.updateMutator
- Defined in Source/Core/Serialization/Mutable.ts:280

`Static` getMutatorFromPath

getMutatorFromPath(_mutator, _path): Mutator
Decorator allows to attach Mutable functionality to existing classes.
Parameters
- _mutator: Mutator
- _path: string[]
Returns Mutator
Inherited from Joint.getMutatorFromPath
- Defined in Source/Core/Serialization/Mutable.ts:160

Class JointUniversal

Author

Hierarchy (view full)

Index

Constructors

Properties

Accessors

Methods

Constructors

constructor

Parameters

Returns JointUniversal

Properties

Static Readonly baseClass

Static Readonly iSubclass

Static Readonly subclasses

Accessors

anchor

Returns Vector3

Parameters

Returns void

axisFirst

Returns Vector3

Parameters

Returns void

axisSecond

Returns Vector3

Parameters

Returns void

bodyAnchor

Returns ComponentRigidbody

Parameters

Returns void

bodyTied

Returns ComponentRigidbody

Parameters

Returns void

breakForce

Returns number

Parameters

Returns void

breakTorque

Returns number

Parameters

Returns void

internalCollision

Returns boolean

Parameters

Returns void

isActive

Returns boolean

isSingleton

Returns boolean

maxRotorFirst

Returns number

Parameters

Returns void

maxRotorSecond

Returns number

Parameters

Returns void

minRotorFirst

Returns number

Parameters

Returns void

minRotorSecond

Returns number

Parameters

Returns void

node

Returns Node

rotorSpeedFirst

Returns number

Parameters

Returns void

rotorSpeedSecond

Returns number

Parameters

Returns void

rotorTorqueFirst

`Static` `Readonly` baseClass

`Static` `Readonly` iSubclass

`Static` `Readonly` subclasses

`Optional` drawGizmos

`Optional` drawGizmosSelected