
Joint dynamics dialog
The joint dynamics dialog is part of the joint dialog. The dialog displays the dynamics settings and parameters of the last selected joint. If no object is selected, the dialog is inactive. If more than one joint is selected, then some parameters can be copied from the last selected joint to the other selected joints (Apply to selection-buttons. Be aware that this however only has an effect between joints of same type or mode):

[Joint dynamics dialog]
Motor enabled: enables or disables the motor of the joint. If disabled, the joint is free. Available only if the joint is in torque/force mode.
Target velocity: the target velocity for the joint motor. The target velocity will be instantaneously reached if the maximum torque/force is high enough; otherwise the target velocity is gradually approached. Available only if the joint is in torque/force mode.
Engine specific properties: allows adjusting engine-specific parameters. Refer to the Bullet or ODE documentations for more details.
Max. torque/force: the torque or force at which the joint motor operates. Available only if the joint is in torque/force mode, or in hybrid operation mode.
Position control enabled: enables or disables the position control of the joint motor (PID control). Available only if the joint is in torque/force mode.
Regulate velocity: the PID controller will adjust the joint velocity (refer to the section on joint types and operation for details). Upper limit allows limiting the regulation velocity to a maximum value.
Regulate torque/force: the PID controller will modulate the joint torque/force (refer to the section on joint types and operation for details)
Proportional / Integral / Derivative parameter: the P / I / D parameter of the PID position control. Available only if the joint is in torque/force mode, or in hybrid operation mode.
Recommended topics
Joints
Joint types and operation
Joint dialog
Dynamics module
Bullet Physics Library
Open Dynamic Engine
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