Linkage Constructors

dof( DofKind, Position )

Returns

<dof> A DOF object representing a degree of freedom.

DofKind

<string> The DOF kind. "TX_DOF", "RX_DOF", and the same for Y and Z, plus NO_DOF are allowed.

Position

<number | curve> The setting of that DOF, ie. the rotation for a "RX_DOF".

joint( Anchor, DOFs )

Returns

<joint> A joint object which is an anchor plus associated DOF's.

Anchor

<anchor> The position about which the DOF has effect.

DOF

<dof | arrayOf dof> The allowed degree of freedom.

link( Model )

Returns

<link> A wrapper object that contains the model inside an instance and also contains links for parent and child joints.

Model

<object> The link geometry.

linkage( FirstJoint, JointsAndLinks )

Returns

<linkage> A grouping constructor that specifies the connectivity of the links and joints.

FirstJoint

<joint> The first joint in the linkage.

JointsAndLinks

<link | ( joint | link | arrayOf( joint | link ))...> Linkage takes a joint followed by either a link or a comma-separated series of joints, links, and nested arrays. For example,

m : linkage( joint1, aLink, array(joint2, bLink), joint3, cLink );

creates a linkage starting with joint joint1 and ending with link cLink. It also branches - bLink has two child joints, joint2 and joint3.