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

BallJoint

Downlod ZIP file

XML Encoding

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

<?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

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

#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

100

101

102

103

104

105

106

107

108

109

110

111

112

113

114

115

116

117

118

119

120

121

122

123

124

125

126

127

128

129

130

131

132

133

134

135

136

137

138

139

140

141

142

143

144

145

146

147

148

149

150

151

152

153

154

155

156

157

158

159

160

161

162

163

164

165

166

167

168

169

170

171

172

173

174

175

176

177

178

179

180

181

182

183

184

185

186

187

188

189

190

191

192

193

194

195

196

197

198

199

200

201

202

203

204

205

206

207

208

209

210

211

212

213

214

215

216

217

218

219

220

221

222

223

224

225

226

227

228

229

230

231

232

233

234

235

236

237

238

239

240

241

242

243

244

245

246

247

248

249

250

251

252

253

254

255

256

257

258

259

260

261

262

263

264

265

266

267

268

269

270

271

272

273

274

275

276

277

278

279

280

281

282

283

284

285

286

287

288

289

290

291

292

293

294

295

296

297

298

299

300

301

302

303

304

305

306

307

308

309

310

311

312

{ "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 v4.3.0

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