PrismaticJoint constructor

PrismaticJoint(
  1. JointConfig config,
  2. dynamic lowerTranslation,
  3. dynamic upperTranslation
)

A prismatic joint allows only for relative translation of rigid bodies along the axis.

config configuration profile of the joint

lowerTranslation the min movment the joint will travel

upperTranslation the max movment the joint will travel

Implementation

PrismaticJoint(JointConfig config, lowerTranslation, upperTranslation ):super(config){
  type = JointType.prismatic;

  localAxis1 = config.localAxis1.clone()..normalize();
  localAxis2 = config.localAxis2.clone()..normalize();

  ac = AngularConstraint(this, Quaternion(0,0,0,1).setFromUnitVectors(localAxis1, localAxis2));

  limitMotor = LimitMotor(nor, true);
  limitMotor.lowerLimit = lowerTranslation;
  limitMotor.upperLimit = upperTranslation;

  t3 = Translational3Constraint(this, limitMotor, LimitMotor(tan, true), LimitMotor(bin, true));
}