JointSixDof

The JointSixDof class represents a configurable six degrees of freedom joint between bodies in the Scene. It provides independent control over translation and rotation along the X, Y, and Z axes. The joint can operate as a servo motor with specified linear or angular velocity.

info

The Z axis is the recommended rotation axis for suspension-style setups.

#include <scene/TellusimJointSixDof.h>

Inheritance

• Inherits from Joint

Constructors

explicit JointSixDof(const char *name = nullptr)
explicit JointSixDof(Body &body, const char *name = nullptr)
JointSixDof(Body &body_0, Body &body_1, const char *name = nullptr)

Methods

Linear lock mask.

void setLinearLock(AxisMask axes)
AxisMask getLinearLock() const
bool hasLinearLock(AxisMask axis) const

---

Angular lock mask.

void setAngularLock(AxisMask axes)
AxisMask getAngularLock() const
bool hasAngularLock(AxisMask axis) const

---

Linear servo mask.

void setLinearServo(AxisMask servo)
AxisMask getLinearServo() const
bool hasLinearServo(AxisMask axis) const

---

Angular servo mask.

void setAngularServo(AxisMask servo)
AxisMask getAngularServo() const
bool hasAngularServo(AxisMask axis) const

---

Current linear position.

void setLinearPosition(Vector3f position)
const Vector3f getLinearPosition() const

---

Current linear velocity.

void setLinearVelocity(Vector3f velocity)
const Vector3f getLinearVelocity() const

---

Current angular rotation.

void setAngularRotation(Vector3f rotation)
const Vector3f getAngularRotation() const

---

Current angular velocity.

void setAngularVelocity(Vector3f velocity)
const Vector3f getAngularVelocity() const

---

Linear friction.

void setLinearFriction(Vector3f friction)
const Vector3f getLinearFriction() const

---

Angular friction.

void setAngularFriction(Vector3f friction)
const Vector3f getAngularFriction() const

---

Linear restitution.

void setLinearRestitution(Vector3f restitution)
const Vector3f getLinearRestitution() const

---

Linear stiffness.

void setLinearStiffness(Vector3f stiffness)
const Vector3f getLinearStiffness() const
AxisMask hasLinearStiffness() const
bool hasLinearStiffness(AxisMask axis) const

---

Linear damping.

void setLinearDamping(Vector3f damping)
const Vector3f getLinearDamping() const

---

Linear position range.

void setMinPosition(Vector3f min_position)
void setMaxPosition(Vector3f max_position)
void setPositionRange(Vector3f min_position, Vector3f max_position)
const Vector3f getMinPosition() const
const Vector3f getMaxPosition() const
AxisMask hasPositionRange() const
bool hasPositionRange(AxisMask axis) const

---

Angular restitution.

void setAngularRestitution(Vector3f restitution)
const Vector3f getAngularRestitution() const

---

Angular stiffness.

void setAngularStiffness(Vector3f stiffness)
const Vector3f getAngularStiffness() const
AxisMask hasAngularStiffness() const
bool hasAngularStiffness(AxisMask axis) const

---

Angular damping.

void setAngularDamping(Vector3f damping)
const Vector3f getAngularDamping() const

---

Angular rotation range.

void setMinRotation(Vector3f min_rotation)
void setMaxRotation(Vector3f max_rotation)
void setRotationRange(Vector3f min_rotation, Vector3f max_rotation)
const Vector3f getMinRotation() const
const Vector3f getMaxRotation() const
AxisMask hasRotationRange() const
bool hasRotationRange(AxisMask axis) const

---

Servo motor position.

void setLinearMotorPosition(Vector3f position)
const Vector3f getLinearMotorPosition() const
void setLinearMotorPositionX(float32_t x)
void setLinearMotorPositionY(float32_t y)
void setLinearMotorPositionZ(float32_t z)

---

Linear motor velocity.

void setLinearMotorVelocity(Vector3f velocity)
const Vector3f getLinearMotorVelocity() const
void setLinearMotorVelocityX(float32_t x)
void setLinearMotorVelocityY(float32_t y)
void setLinearMotorVelocityZ(float32_t z)

---

Linear motor force.

void setLinearMotorForce(Vector3f force)
const Vector3f getLinearMotorForce() const
void setLinearMotorForceX(float32_t x)
void setLinearMotorForceY(float32_t y)
void setLinearMotorForceZ(float32_t z)

---

Linear motor stiffness.

void setLinearMotorStiffness(Vector3f stiffness)
const Vector3f getLinearMotorStiffness() const

---

Linear motor damping.

void setLinearMotorDamping(Vector3f damping)
const Vector3f getLinearMotorDamping() const

---

Servo motor rotation.

void setAngularMotorRotation(Vector3f rotation)
const Vector3f getAngularMotorRotation() const
void setAngularMotorRotationX(float32_t x)
void setAngularMotorRotationY(float32_t y)
void setAngularMotorRotationZ(float32_t z)

---

Angular motor velocity.

void setAngularMotorVelocity(Vector3f velocity)
const Vector3f getAngularMotorVelocity() const
void setAngularMotorVelocityX(float32_t x)
void setAngularMotorVelocityY(float32_t y)
void setAngularMotorVelocityZ(float32_t z)

---

Angular motor torque.

void setAngularMotorTorque(Vector3f torque)
const Vector3f getAngularMotorTorque() const
void setAngularMotorTorqueX(float32_t x)
void setAngularMotorTorqueY(float32_t y)
void setAngularMotorTorqueZ(float32_t z)

---

Angular motor stiffness.

void setAngularMotorStiffness(Vector3f stiffness)
const Vector3f getAngularMotorStiffness() const

---

Angular motor damping.

void setAngularMotorDamping(Vector3f damping)
const Vector3f getAngularMotorDamping() const

---

Updated flags.

bool isAxesUpdated() const
bool isFrictionUpdated() const
bool isLimitsUpdated() const
bool isMotorUpdated() const

Enums

AxisMask

Name	Value
AxisMaskNone	0
AxisMaskX	(1 << 0)
AxisMaskY	(1 << 1)
AxisMaskZ	(1 << 2)
AxisMaskAll	(AxisMaskX | AxisMaskY | AxisMaskZ)