Class: djointhinge2
The hinge-2 joint is the same as two hinges connected in series, with different hinge axes. An example, shown in the above picture is the steering wheel of a car, where one axis allows the wheel to be steered and the other axis allows the wheel to rotate.
The hinge-2 joint has an anchor point and two hinge axes. Axis 1 is specified relative to body 1 (this would be the steering axis if body 1 is the chassis). Axis 2 is specified relative to body 2 (this would be the wheel axis if body 2 is the wheel).
Axis 1 can have joint limits and a motor, axis 2 can only have a motor.
Axis 1 can function as a suspension axis, i.e. the constraint can be compressible along that axis.
The hinge-2 joint where axis1 is perpendicular to axis 2 is equivalent to a universal joint with added suspension.
Hierarchy
o-+ ode
o-+ djoint
o-+ djointhinge2
Methods:
Method overview:
- new ([djointgroup group])
- returns: (djointhinge2)
creates a new hinge2joint
- anchor (djointhinge2,[float x,y,z])
- returns: ([float x,y,z])
Sets/gets hinge-2 anchor.
- angle1 (djointhinge2)
- returns: ([float])
- anglerate1 (djointhinge2)
- returns: (float)
- anglerate2 (djointhinge2)
- returns: (float)
- axis1 (djointhinge2,[float x,y,z])
- returns: ([float x,y,z])
Sets/gets hinge-2 axis1. Axis 1 and axis 2 must not lie along the same line.
- axis2 (djointhinge2,[float x,y,z])
- returns: ([float x,y,z])
Sets/gets hinge-2 axis2. Axis 1 and axis 2 must not lie along the same line.
- suspensioncfm (djointhinge2,[float])
- returns: ([float])
Suspension constraint force mixing (CFM) value
- suspensionerp (djointhinge2,[float])
- returns: ([float])
Suspension error reduction parameter (ERP)
Inherited Methods:
attach,
body1,
body2,
bounce,
bounce2,
bounce3,
cfm,
cfm2,
cfm3,
delete,
feedback,
fmax,
fmax2,
fmax3,
fudgefactor,
fudgefactor2,
fudgefactor3,
geom1,
geom2,
histop,
histop2,
histop3,
lostop,
lostop2,
lostop3,
stopcfm,
stopcfm2,
stopcfm3,
stoperp,
stoperp2,
stoperp3,
velocity,
velocity2,
velocity3