breve Documentation: version 1.9 | ||
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breve allows Joints to be created and destroyed dynamically over the course of the simulation.
Joining MultiBodies dynamically is simple—you simply link them as always using the various Joint subclasses. The joints can be made not only to modify the structure of a single MultiBody, but also to join together distinct MultiBodies.
Breaking MultiBodies is accomplished using the Joint method break. Breaking joints can be slightly more complicated than creating them, because it can disrupt the structure of the MultiBody. There are basically three scenarios to consider here, and they are described below.
In the most straightforward case, two distinct MultiBodies are joined, and then the joint is broken, preserving the original MultiBody structures. In this case, there are no complications—the two MultiBodies remain distinct with no change in their structures.
Consider the more complicated situation, however, in which a Joint is broken such that the MultiBody loses a link and the link then finds itself without a MultiBody. We then say that the Link is "orphaned"—this is illustrated below.
An orphaned link will not appear in the simulation. It still exists as an object, however and can reenter the simulation by becoming associated with a Multibody, meaning that it either becomes the root of a new MultiBody, or it becomes attached to a link on an existing MultiBody.
In the final case, consider two linked MultiBodies, as shown below:
What happens if link 2 becomes dissociated from MultiBody 2? In the last scenario, we saw that this would cause an orphaned link. However, because "link 2" is still connected to part of MultiBody 1, MultiBody 1 will "adopt" the link and it will remain active in the simulation.
![]() | Summary on Links & Joints |
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All Links must be part of a MultiBody to be part of the simulation. If a Link becomes dissociated from its MultiBody, it will try to become part of whichever other MultiBody it is connected to. If it is not connected to another MultiBody, it is orphaned and will not exist in the simulated world. If, at a later time, it is again associated with a MultiBody, it will return to the world. |
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The Components of Physically Simulated Bodies | up | Using Terrains With Physical Simulation |