articulation3d
Solves the node's joint3d in reduced coordinates: the chain never drifts and can be solved for inverse kinematics, but cannot close a loop or break.
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3d · physics · 8 properties · 3D
Solves the node's joint3d in reduced coordinates: the chain never drifts and can be solved for inverse kinematics, but cannot close a loop or break.
In a scene, articulation3d is the node key that applies it. A script reaches each property below as a field on node.articulation3d: reading one asks the running component, and assigning one leaves the rest alone. The whole table is node.articulation3d.get() and node.articulation3d.set(table).
Properties
| property | type | default | description |
|---|---|---|---|
gear_offset |
float | 0 |
Where this joint stands when the gear_with joint is at 0 |
gear_ratio |
float | 1 |
How far this joint turns or slides per unit of the gear_with joint's |
gear_with |
node | — | On an articulation: another joint node of the same chain this joint follows, its first free axis tied to that joint's first free axis |
kinematic_link |
bool | false |
On an articulation: the solver never changes this joint's velocity, so the link holds its pose against its parent and moves only by solve_ik |
link_axes |
list | [] |
One record per free axis whose link moves differently from rapier's own: its damping, the inertia a rotor adds, and dry friction |
passive_rest |
float | 0 |
On an articulation: where that spring rests, in radians about a rotation axis and units along a linear one |
passive_stiffness |
float | 0 |
On an articulation: a spring on each free axis pulling it towards passive_rest; 0 is none At least 0. |
self_collision |
bool | true |
On an articulation: let the chain's links collide with each other. One setting for the whole chain, off when any of its joints says off |