Mechanisms

The above picture illustrates a ball joint and a hinge, respectively. By default, AgX supports the following joints and mechanisms,

  • BallJoint
  • DistanceJoint
  • Hinge
  • HookeJoint
  • LockJoint
  • Prismatic
  • OrthoDualHinge
  • CylindricalJoint
  • AngularLockJoint

Constraint modeling is very general in AgX and built upon a framework of elementary and secondary constraints, and allows the user to modify, extend or create entirely new constraints. All constraints can have limits with realistic material parameters and compliance, and be driven by constraint motors. It is also possible to formulate multibody constraints, involving more bodies than just two.