UF_MOTION_joint_s (view source)
 
Defined in: uf_motion_types.h
 
Also known as:
 


Data Members

name [ UF_OBJ_NAME_BUFSIZE ]
char
The name of the joint. If NULL,
a default name will be created.

jt_type
UF_MOTION_joint_type_t
The type of the joint. See the
UF_MOTION_joint_type_t enum.

snap_links
logical
If TRUE, the joint "snaps" the two
links into position using the link
orientations.

link_1
tag_t
The first link associated with
the joint.

link_2
tag_t
The second link associated with
the joint. It can be NULL_TAG
for grounded joints.

direction_1
tag_t
Smart direction tag that defines
the direction of link_1. See
uf_so.h for creation methods.

direction_2
tag_t
Smart direction tag that defines
the direction of link_2. It can
be NULL_TAG for grounded joints.
See uf_so.h for creation methods.

origin_1
tag_t
Optional point location on link_1.
This point should be defined if link_1
has no center of mass.

origin_2
tag_t
Optional point location on link_2.
This point should be defined if link_2
has no center of mass.

screw_ratio
double
Used only for UF_MOTION_screw_joint.
This is the pitch of the screw's
threads. It defines how much
link_2 translates along the joint's
Z axis relative to link_1 for each
full turn of rotation.