Spherical Joint

A spherical joint allows for relative rotation in the 3D space with no relative translation. More...

Collaboration diagram for Spherical Joint:

Data Structures
struct	b3SphericalJointDef
	Spherical joint definition. More...

Functions
b3JointId	b3CreateSphericalJoint (b3WorldId worldId, const b3SphericalJointDef *def)
	Create a spherical joint.
void	b3SphericalJoint_EnableConeLimit (b3JointId jointId, bool enableLimit)
	Enable/disable the spherical joint cone limit.
bool	b3SphericalJoint_IsConeLimitEnabled (b3JointId jointId)
	Is the spherical joint cone limit enabled?
float	b3SphericalJoint_GetConeLimit (b3JointId jointId)
	Get the spherical joint cone limit in radians.
void	b3SphericalJoint_SetConeLimit (b3JointId jointId, float angleRadians)
	Set the spherical joint limits in radians.
float	b3SphericalJoint_GetConeAngle (b3JointId jointId)
	Get the spherical joint current cone angle in radians.
void	b3SphericalJoint_EnableTwistLimit (b3JointId jointId, bool enableLimit)
	Enable/disable the spherical joint limit.
bool	b3SphericalJoint_IsTwistLimitEnabled (b3JointId jointId)
	Is the spherical joint limit enabled?
float	b3SphericalJoint_GetLowerTwistLimit (b3JointId jointId)
	Get the spherical joint lower limit in radians.
float	b3SphericalJoint_GetUpperTwistLimit (b3JointId jointId)
	Get the spherical joint upper limit in radians.
void	b3SphericalJoint_SetTwistLimits (b3JointId jointId, float lowerLimitRadians, float upperLimitRadians)
	Set the spherical joint limits in radians.
float	b3SphericalJoint_GetTwistAngle (b3JointId jointId)
	Get the spherical joint current twist angle in radians.
void	b3SphericalJoint_EnableSpring (b3JointId jointId, bool enableSpring)
	Enable/disable the spherical joint spring.
bool	b3SphericalJoint_IsSpringEnabled (b3JointId jointId)
	Is the spherical angular spring enabled?
void	b3SphericalJoint_SetSpringHertz (b3JointId jointId, float hertz)
	Set the spherical joint spring stiffness in Hertz.
float	b3SphericalJoint_GetSpringHertz (b3JointId jointId)
	Get the spherical joint spring stiffness in Hertz.
void	b3SphericalJoint_SetSpringDampingRatio (b3JointId jointId, float dampingRatio)
	Set the spherical joint spring damping ratio, non-dimensional.
float	b3SphericalJoint_GetSpringDampingRatio (b3JointId jointId)
	Get the spherical joint spring damping ratio, non-dimensional.
void	b3SphericalJoint_SetTargetRotation (b3JointId jointId, b3Quat targetRotation)
	Set the spherical joint spring target rotation.
b3Quat	b3SphericalJoint_GetTargetRotation (b3JointId jointId)
	Get the spherical joint spring target rotation.
void	b3SphericalJoint_EnableMotor (b3JointId jointId, bool enableMotor)
	Enable/disable a spherical joint motor.
bool	b3SphericalJoint_IsMotorEnabled (b3JointId jointId)
	Is the spherical joint motor enabled?
void	b3SphericalJoint_SetMotorVelocity (b3JointId jointId, b3Vec3 motorVelocity)
	Set the spherical joint motor velocity in radians per second.
b3Vec3	b3SphericalJoint_GetMotorVelocity (b3JointId jointId)
	Get the spherical joint motor velocity in radians per second.
b3Vec3	b3SphericalJoint_GetMotorTorque (b3JointId jointId)
	Get the spherical joint current motor torque, usually in newton-meters.
void	b3SphericalJoint_SetMaxMotorTorque (b3JointId jointId, float torque)
	Set the spherical joint maximum motor torque, usually in newton-meters.
float	b3SphericalJoint_GetMaxMotorTorque (b3JointId jointId)
	Get the spherical joint maximum motor torque, usually in newton-meters.
b3SphericalJointDef	b3DefaultSphericalJointDef (void)
	Use this to initialize your joint definition.

Detailed Description

A spherical joint allows for relative rotation in the 3D space with no relative translation.

Also called a ball-in-socket or point-to-point joint.

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Data Structure Documentation

b3SphericalJointDef

struct b3SphericalJointDef

Spherical joint definition.

A point on body B is fixed to a point on body A. Allows rotation about the shared point.

Collaboration diagram for b3SphericalJointDef:

Data Fields
b3JointDef	base	Base joint definition.
float	coneAngle	The angle for the cone limit in radians. Valid range is [0, pi].
float	dampingRatio	The spring damping ratio, non-dimensional. Non-negative number.
bool	enableConeLimit	A flag to enable the cone limit. The cone is centered on the frameA z-axis.
bool	enableMotor	A flag to enable the joint motor.
bool	enableSpring	Enable a rotational spring that attempts to align the two joint frames.
bool	enableTwistLimit	A flag to enable the twist limit. The twist is centered on the frameB z-axis.
float	hertz	The spring stiffness Hertz, cycles per second. This may be clamped internally according to the time step to maintain stability. Non-negative number.
float	lowerTwistAngle	The angle for the lower twist limit in radians. Minimum of -0.99*pi radians.
float	maxMotorTorque	The maximum motor torque, typically in newton-meters. Non-negative number.
b3Vec3	motorVelocity	The desired motor angular velocity in radians per second.
b3Quat	targetRotation	Target spring rotation, joint frame B relative to joint frame A.
float	upperTwistAngle	The angle for the upper twist limit in radians. Maximum of 0.99*pi radians.

Function Documentation

b3CreateSphericalJoint()

b3JointId b3CreateSphericalJoint	(	b3WorldId	worldId,
		const b3SphericalJointDef *	def )

Create a spherical joint.

See also

b3SphericalJointDef for details