docsby gkjohnson

Joint

extendsFrame

A frame representing a kinematic joint with any combination of degrees of freedom. Each degree of freedom is an offset applied on top of the frame transform. Only links may be added as children and a joint may only have a single child.

On this page

Properties

child: Link | null

readonly

The child link of the joint, whether added directly or through makeClosure.

isClosure: boolean

readonly

Whether the child relationship is a closure made with makeClosure.

rotationDoFCount: number

readonly

Number of rotation degrees of freedom set on the joint.

translationDoFCount: number

readonly

Number of translation degrees of freedom set on the joint.

dof: Array<number>

readonly

The degrees of freedom set on the joint in DOF order.

dofFlags: Uint8Array

readonly

Flags indexed by DOF value that are 1 when the degree of freedom is set.

dofValues: Float32Array

readonly

Current values of each degree of freedom indexed by DOF value. If modified directly setMatrixDoFNeedsUpdate must be called.

dofTarget: Float32Array

readonly

Target value of each degree of freedom indexed by DOF value. The solver moves the joint toward these when targetSet is true.

dofRestPose: Float32Array

readonly

Rest pose of each degree of freedom indexed by DOF value. The solver moves the joint toward these when restPoseSet is true and it does not compromise the other goals.

minDoFLimit: Float32Array

readonly

Minimum limit of each degree of freedom indexed by DOF value.

maxDoFLimit: Float32Array

readonly

Maximum limit of each degree of freedom indexed by DOF value.

targetSet: boolean = false

Whether the solver should move the joint toward dofTarget.

restPoseSet: boolean = false

Whether the solver should move the joint toward dofRestPose.

matrixDoF: Float32Array

readonly

Transform offset produced by the current degree of freedom values.

Methods

clearDoF

clearDoF(): void

Removes all degrees of freedom from the joint.

setDoF

setDoF(
	// The `DOF` fields to set.
	...dof: number
): void

Sets the degrees of freedom of the joint and resets all related values and limits. Arguments must be in X, Y, Z, EX, EY, EZ order without duplicates.

setDoFValues

setDoFValues(
	// One value per degree of freedom.
	...values: number
): void

Sets the value of every degree of freedom in dof order, clamped to the joint limits.

setDoFValue

setDoFValue(
	// The `DOF` field to set.
	dof: number,
	value: number
): boolean

Sets the value of a degree of freedom, clamped to the joint limits.

getDoFValue

getDoFValue(
	// The `DOF` field to get.
	dof: number
): number

Returns the value of a degree of freedom.

getDoFQuaternion

getDoFQuaternion( target: Array<number> | Float32Array ): void

Writes the rotation degree of freedom values as a quaternion into target.

getDoFEuler

getDoFEuler( target: Array<number> | Float32Array ): void

Writes the rotation degree of freedom values as Euler angles into target.

getDoFPosition

getDoFPosition( target: Array<number> | Float32Array ): void

Writes the translation degree of freedom values into target.

setRestPoseValues

setRestPoseValues(
	// One value per degree of freedom.
	...values: number
): void

Sets the rest pose of every degree of freedom in dof order, clamped to the joint limits.

setRestPoseValue

setRestPoseValue(
	// The `DOF` field to set.
	dof: number,
	value: number
): boolean

Sets the rest pose of a degree of freedom, clamped to the joint limits.

getRestPoseValue

getRestPoseValue(
	// The `DOF` field to get.
	dof: number
): number

Returns the rest pose of a degree of freedom.

getRestPoseQuaternion

getRestPoseQuaternion( target: Array<number> | Float32Array ): void

Writes the rotation rest pose as a quaternion into target.

getRestPoseEuler

getRestPoseEuler( target: Array<number> | Float32Array ): void

Writes the rotation rest pose as Euler angles into target.

getRestPosePosition

getRestPosePosition( target: Array<number> | Float32Array ): void

Writes the translation rest pose into target.

setTargetValues

setTargetValues(
	// One value per degree of freedom.
	...values: number
): void

Sets the target of every degree of freedom in dof order, clamped to the joint limits.

setTargetValue

setTargetValue(
	// The `DOF` field to set.
	dof: number,
	value: number
): void

Sets the target of a degree of freedom, clamped to the joint limits.

getTargetValue

getTargetValue(
	// The `DOF` field to get.
	dof: number
): number

Returns the target of a degree of freedom.

getTargetQuaternion

getTargetQuaternion( target: Array<number> | Float32Array ): void

Writes the rotation target as a quaternion into target.

getTargetEuler

getTargetEuler( target: Array<number> | Float32Array ): void

Writes the rotation target as Euler angles into target.

getTargetPosition

getTargetPosition( target: Array<number> | Float32Array ): void

Writes the translation target into target.

setMinLimits

setMinLimits(
	// One value per degree of freedom.
	...values: number
): void

Sets the minimum limit of every degree of freedom in dof order.

setMinLimit

setMinLimit(
	// The `DOF` field to set.
	dof: number,
	value: number
): void

Sets the minimum limit of a degree of freedom and clamps the current value to it.

getMinLimit

getMinLimit(
	// The `DOF` field to get.
	dof: number
): number

Returns the minimum limit of a degree of freedom.

setMaxLimits

setMaxLimits(
	// One value per degree of freedom.
	...values: number
): void

Sets the maximum limit of every degree of freedom in dof order.

setMaxLimit

setMaxLimit(
	// The `DOF` field to set.
	dof: number,
	value: number
): void

Sets the maximum limit of a degree of freedom and clamps the current value to it.

getMaxLimit

getMaxLimit(
	// The `DOF` field to get.
	dof: number
): number

Returns the maximum limit of a degree of freedom.

setMatrixDoFNeedsUpdate

setMatrixDoFNeedsUpdate(): void

Flags the joint as needing its degree of freedom matrix and world matrix updated.

makeClosure

makeClosure( child: Link ): void

Connects the given link to this joint as a closure. The link is not added to children and keeps its own parent, but is set as child and the joint is appended to the link's closureJoints. The solver constrains all six axes between the joint and the link to keep the closure closed.

addChild

addChild( child: Link ): void

Adds a link as the child of this joint. Throws if the child is not a link or the joint already has a child.

Inherited

From Frame

Properties
Methods