BallJoint

BallJoint represents an unconstrained joint between two bodies that pivot about a common anchor point. Contains two RigidBody nodes (containerField values body1, body2).

Overview

BallJoint
Hierarchy
Fields
Description
Example
Browser Compatibility
External Links

The BallJoint node belongs to the RigidBodyPhysics component and its container field is joints. It is available since X3D version 3.2 or later.

Hierarchy

+ X3DNode

+ X3DRigidJointNode

+ BallJoint

Fields

SFNode [in, out] metadata NULL [X3DMetadataObject]

Metadata are not part of the X3D world and not interpreted by the X3D browser, but they can be accessed via the ECMAScript interface.

MFString [in, out] forceOutput "NONE" ["ALL","NONE",...]

ForceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame.

SFVec3f [in, out] anchorPoint 0 0 0

AnchorPoint is joint center, specified in world coordinates.

SFVec3f [out] body1AnchorPoint

Body1AnchorPoint describes anchorPoint position relative to local coordinate reference frame.

Hint

Can detect separation if body1AnchorPoint!=body2AnchorPoint.

SFVec3f [out] body2AnchorPoint

Body2AnchorPoint describes anchorPoint position relative to local coordinate reference frame.

Hint

Can detect separation if body1AnchorPoint!=body2AnchorPoint.

SFNode [in, out] body1 NULL [RigidBody]

Input/Output field body1.

SFNode [in, out] body2 NULL [RigidBody]

Input/Output field body2.

Description

Hint

RigidBodyPhysics component, level 2.

Example

Downlod ZIP file

XML Encoding

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<?xml version="1.0" encoding="UTF-8"?>

<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.3//EN" "http://www.web3d.org/specifications/x3d-3.3.dtd">

<head>

</head>

<Scene>

</ExternProtoDeclare>

</ProtoInterface>

<TimeSensor DEF='_1'

loop='true'/>

</field>

</field>

<IS>

</IS>

<![CDATA[ecmascript:

var

height = 10,

length = 40,

numCollidables = 42,

wind = 2,

xAxis = new SFVec3f (1, 0, 0);

function initialize ()

{

var scene = Browser .currentScene;

collidables .children .length = 0;

collection .bodies .length = 0;

collection .joints .length = 0;

var anchorPoints = [ ];

for (var i = 0; i < numCollidables + 1; ++ i)

{

var

x = i / numCollidables * length,

y = Math .sin (x / length * Math .PI) * -height;

anchorPoints .push (new SFVec3f (x, y, 0));

}

for (var i = 0; i < numCollidables; ++ i)

{

var

collidableShape = scene .createNode ("CollidableShape"),

rigidBody = scene .createNode ("RigidBody"),

position = anchorPoints [i] .add (anchorPoints [i + 1]) .divide (2);

orientation = new SFRotation (xAxis, anchorPoints [i + 1] .subtract (anchorPoints [i]));

collidableShape .shape = Math .floor (i / 3) % 2 ? shape1 : shape2;

rigidBody .position = position;

rigidBody .orientation = orientation;

collidables .children .push (collidableShape);

rigidBody .geometry .push (collidableShape);

collection .bodies .push (rigidBody);

}

collection .bodies [0] .fixed = true;

collection .bodies [collection .bodies .length - 1] .fixed = true;

for (var i = 0; i < numCollidables - 1; ++ i)

{

var joint = scene .createNode ("BallJoint");

joint .anchorPoint = anchorPoints [i + 1];

joint .body1 = collection .bodies [i];

joint .body2 = collection .bodies [i + 1];

collection .joints .push (joint);

}

function set_time (value, time)

{

var force = new SFVec3f (0, 0, (Math .random () * wind * 2) - wind);

for (var i = 0; i < collection .bodies .length; ++ i)

collection .bodies [i] .forces [0] = force;

}

]]>

</Script>

</ProtoBody>

</ProtoDeclare>

<WorldInfo

title='joint'/>

<Background

skyAngle='1.5708'

skyColor='0.023 0.023 0.023, 0.123 0.123 0.123'

groundAngle='1.5708'

groundColor='0.644 0.644 0.644, 0.123 0.123 0.123'/>

<Viewpoint

description='Initial View'

position='40.3866 2.76442 19.9419'

orientation='-0.222617064202885 0.972555389929286 0.0676583789724734 0.605768124697577'

centerOfRotation='23.1547 -1.56525 -5.78873'/>

<Material DEF='Metal10_3'

ambientIntensity='0.00714286'

diffuseColor='0.314286 0.0743647 0'

specularColor='1 0.766841 0'

shininess='0.0484848'/>

</Appearance>

</fieldValue>

</ProtoInstance>

</fieldValue>

<Material DEF='Metal31'

ambientIntensity='0.0955322'

diffuseColor='0.372322 0.371574 0.373173'

specularColor='0.890909 0.887832 0.890909'

shininess='0.127551'/>

</Appearance>

</fieldValue>

</ProtoInstance>

</fieldValue>

</ProtoInstance>

</Scene>

</X3D>

Classic Encoding

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#X3D V3.3 utf8 Titania V4.1.1

PROFILE Full

META "comment" "World of Titania"

META "created" "Thu, 17 May 2018 17:06:06 GMT"

META "creator" "Holger Seelig"

META "generator" "Titania V4.1.1, http://titania.create3000.de"

META "identifier" "file:///home/holger/Projekte/Server/create3000.de/media/htdocs/components/RigidBodyPhysics/BallJoint/BallJoint.O.x3d"

META "modified" "Fri, 18 May 2018 13:00:04 GMT"

EXTERNPROTO ChainElement [

initializeOnly SFNode appearance

]

"ChainElement.x3d#ChainElement"

PROTO Chain [

initializeOnly SFNode shape1 NULL

initializeOnly SFNode shape2 NULL

]

{

DEF Collidables Group { }

DEF _1 TimeSensor {

loop TRUE

}

DEF BallJointsScript Script {

inputOnly SFTime set_time

initializeOnly SFNode shape1 IS shape1

initializeOnly SFNode shape2 IS shape2

initializeOnly SFNode collidables USE Collidables

initializeOnly SFNode collection RigidBodyCollection { }

url "ecmascript:

var

height = 10,

length = 40,

numCollidables = 42,

wind = 2,

xAxis = new SFVec3f (1, 0, 0);

function initialize ()

{

var scene = Browser .currentScene;

collidables .children .length = 0;

collection .bodies .length = 0;

collection .joints .length = 0;

var anchorPoints = [ ];

for (var i = 0; i < numCollidables + 1; ++ i)

{

var

x = i / numCollidables * length,

y = Math .sin (x / length * Math .PI) * -height;

anchorPoints .push (new SFVec3f (x, y, 0));

}

for (var i = 0; i < numCollidables; ++ i)

{

var

collidableShape = scene .createNode (\"CollidableShape\"),

rigidBody = scene .createNode (\"RigidBody\"),

position = anchorPoints [i] .add (anchorPoints [i + 1]) .divide (2);

orientation = new SFRotation (xAxis, anchorPoints [i + 1] .subtract (anchorPoints [i]));

collidableShape .shape = Math .floor (i / 3) % 2 ? shape1 : shape2;

rigidBody .position = position;

rigidBody .orientation = orientation;

collidables .children .push (collidableShape);

rigidBody .geometry .push (collidableShape);

collection .bodies .push (rigidBody);

}

collection .bodies [0] .fixed = true;

collection .bodies [collection .bodies .length - 1] .fixed = true;

for (var i = 0; i < numCollidables - 1; ++ i)

{

var joint = scene .createNode (\"BallJoint\");

joint .anchorPoint = anchorPoints [i + 1];

joint .body1 = collection .bodies [i];

joint .body2 = collection .bodies [i + 1];

collection .joints .push (joint);

}

function set_time (value, time)

{

var force = new SFVec3f (0, 0, (Math .random () * wind * 2) - wind);

for (var i = 0; i < collection .bodies .length; ++ i)

collection .bodies [i] .forces [0] = force;

}

ROUTE _1.cycleTime TO BallJointsScript.set_time

}

WorldInfo {

title "joint"

}

Background {

skyAngle 1.5708

skyColor [ 0.023 0.023 0.023, 0.123 0.123 0.123 ]

groundAngle 1.5708

groundColor [ 0.644 0.644 0.644, 0.123 0.123 0.123 ]

}

Viewpoint {

description "Initial View"

position 40.3866 2.76442 19.9419

orientation -0.222617064202885 0.972555389929286 0.0676583789724734 0.605768124697577

centerOfRotation 23.1547 -1.56525 -5.78873

}

Chain {

shape1 DEF _2 ChainElement {

appearance Appearance {

material DEF Metal10_3 Material {

ambientIntensity 0.00714286

diffuseColor 0.314286 0.0743647 0

specularColor 1 0.766841 0

shininess 0.0484848

}

shape2 DEF _4 ChainElement {

appearance DEF _5 Appearance {

material DEF Metal31 Material {

ambientIntensity 0.0955322

diffuseColor 0.372322 0.371574 0.373173

specularColor 0.890909 0.887832 0.890909

shininess 0.127551

}

JSON Encoding

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{ "X3D": {

"encoding": "UTF-8",

"@profile": "Full",

"@version": "3.3",

"@xsd:noNamespaceSchemaLocation": "http://www.web3d.org/specifications/x3d-3.3.xsd",

"JSON schema": "http://www.web3d.org/specifications/x3d-3.3-JSONSchema.json",

"head": {

"meta": [

{

"@name": "comment",

"@content": "World of Titania"

{

"@name": "created",

"@content": "Thu, 17 May 2018 17:06:06 GMT"

{

"@name": "creator",

"@content": "Holger Seelig"

{

"@name": "generator",

"@content": "Titania V4.1.1, http://titania.create3000.de"

{

"@name": "identifier",

"@content": "file:///home/holger/Projekte/Server/create3000.de/media/htdocs/components/RigidBodyPhysics/BallJoint/BallJoint.O.x3d"

{

"@name": "modified",

"@content": "Fri, 18 May 2018 13:00:04 GMT"

}

]

"Scene": {

"-children": [

{ "ExternProtoDeclare":

{

"@name":"ChainElement",

"field": [

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "appearance"

}

"@url": [ "ChainElement.x3d#ChainElement" ]

}

{ "ProtoDeclare":

{

"@name":"Chain",

"ProtoInterface": {

"field": [

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape1"

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape2"

}

]

"ProtoBody": {

"-children": [

{ "Group":

{

"@DEF": "Collidables"

}

{ "TimeSensor":

{

"@DEF": "_1",

"@loop": true

}

{ "Script":

{

"@DEF": "BallJointsScript",

"field": [

{

"@accessType": "inputOnly",

"@type": "SFTime",

"@name": "set_time"

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape1"

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape2"

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "collidables",

"-children": [

{ "Group":

{

"@USE": "Collidables"

}

]

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "collection",

"-children": [

{ "RigidBodyCollection":

{

}

]

}

"#sourceText": [

"ecmascript:",

"",

"var",

"\theight = 10,",

"\tlength = 40,",

"\tnumCollidables = 42,",

"\twind = 2,",

"\txAxis = new SFVec3f (1, 0, 0);",

"",

"function initialize ()",

"{",

"\tvar scene = Browser .currentScene;",

"",

"\tcollidables .children .length = 0;",

"\tcollection .bodies .length = 0;",

"\tcollection .joints .length = 0;",

"",

"\tvar anchorPoints = [ ];",

"",

"\tfor (var i = 0; i < numCollidables + 1; ++ i)",

"\t{",

"\t\tvar",

"\t\t\tx = i / numCollidables * length,",

"\t\t\ty = Math .sin (x / length * Math .PI) * -height;",

"\t\t\t",

"\t\tanchorPoints .push (new SFVec3f (x, y, 0));",

"\t}",

"",

"\tfor (var i = 0; i < numCollidables; ++ i)",

"\t{",

"\t\tvar",

"\t\t\tcollidableShape = scene .createNode (\"CollidableShape\"),",

"\t\t\trigidBody = scene .createNode (\"RigidBody\"),",

"\t\t\tposition = anchorPoints [i] .add (anchorPoints [i + 1]) .divide (2);",

"\t\t\torientation = new SFRotation (xAxis, anchorPoints [i + 1] .subtract (anchorPoints [i]));",

"\t\t",

"\t\tcollidableShape .shape = Math .floor (i / 3) % 2 ? shape1 : shape2;\t",

"\t\trigidBody .position = position;",

"\t\trigidBody .orientation = orientation;",

"\t\t\t",

"\t\tcollidables .children .push (collidableShape);",

"\t\trigidBody .geometry .push (collidableShape);",

"\t\tcollection .bodies .push (rigidBody);",

"\t}",

"",

"\tcollection .bodies [0] .fixed = true;",

"\tcollection .bodies [collection .bodies .length - 1] .fixed = true;",

"\t",

"\tfor (var i = 0; i < numCollidables - 1; ++ i)",

"\t{",

"\t\tvar joint = scene .createNode (\"BallJoint\");",

"\t",

"\t\tjoint .anchorPoint = anchorPoints [i + 1];",

"\t\tjoint .body1 = collection .bodies [i];",

"\t\tjoint .body2 = collection .bodies [i + 1];",

"\t\t\t\t",

"\t\tcollection .joints .push (joint);",

"\t}",

"}",

"",

"function set_time (value, time)",

"{",

"\tvar force = new SFVec3f (0, 0, (Math .random () * wind * 2) - wind);",

"\t",

"\tfor (var i = 0; i < collection .bodies .length; ++ i)",

"\t\tcollection .bodies [i] .forces [0] = force;",

"}"

"IS": {

"connect": [

{

"@nodeField": "shape1",

"@protoField": "shape1"

{

"@nodeField": "shape2",

"@protoField": "shape2"

}

]

}

{ "ROUTE":

{

"@fromNode": "_1",

"@fromField": "cycleTime",

"@toNode": "BallJointsScript",

"@toField": "set_time"

}

]

}

{ "WorldInfo":

{

"@title": "joint"

}

{ "Background":

{

"@skyAngle": [ 1.5708 ],

"@skyColor": [ 0.023, 0.023, 0.023, 0.123, 0.123, 0.123 ],

"@groundAngle": [ 1.5708 ],

"@groundColor": [ 0.644, 0.644, 0.644, 0.123, 0.123, 0.123 ]

}

{ "Viewpoint":

{

"@description": "Initial View",

"@position": [ 40.3866, 2.76442, 19.9419 ],

"@orientation": [ -0.222617064202885, 0.972555389929286, 0.0676583789724734, 0.605768124697577 ],

"@centerOfRotation": [ 23.1547, -1.56525, -5.78873 ]

}

{ "ProtoInstance":

{

"@name": "Chain",

"fieldValue": [

{

"@name": "shape1",

"-children": [

{ "ProtoInstance":

{

"@DEF": "_2",

"@name": "ChainElement",

"fieldValue": [

{

"@name": "appearance",

"-children": [

{ "Appearance":

{

"-material": { "Material":

{

"@DEF": "Metal10_3",

"@ambientIntensity": 0.00714286,

"@diffuseColor": [ 0.314286, 0.0743647, 0 ],

"@specularColor": [ 1, 0.766841, 0 ],

"@shininess": 0.0484848

}

]

}

]

}

]

{

"@name": "shape2",

"-children": [

{ "ProtoInstance":

{

"@DEF": "_4",

"@name": "ChainElement",

"fieldValue": [

{

"@name": "appearance",

"-children": [

{ "Appearance":

{

"@DEF": "_5",

"-material": { "Material":

{

"@DEF": "Metal31",

"@ambientIntensity": 0.0955322,

"@diffuseColor": [ 0.372322, 0.371574, 0.373173 ],

"@specularColor": [ 0.890909, 0.887832, 0.890909 ],

"@shininess": 0.127551

}

]

}

]

}

]

}

]

}

]

}

Browser Compatibility

Titania	X_ITE
yes	yes

External Links

X3D Specification

Titania X3D Editor

Bring Colours to Your Life.

Titania v4.3.4

Bring Colours to Your Life.

X3D Reference

BallJoint

BallJoint

Hierarchy

Fields

SFNode [in, out] metadata NULL [X3DMetadataObject]

MFString [in, out] forceOutput "NONE" ["ALL","NONE",...]

SFVec3f [in, out] anchorPoint 0 0 0

SFVec3f [out] body1AnchorPoint

Hint

SFVec3f [out] body2AnchorPoint

Hint

SFNode [in, out] body1 NULL [RigidBody]

SFNode [in, out] body2 NULL [RigidBody]

Description

Hint

Example

XML Encoding

Classic Encoding

JSON Encoding

Browser Compatibility

External Links

Cookies and other Technologies