关节 (Joints)

Joints provide constraints removing degrees of freedom from a body and are used to connect pairs of bodies. Each joint has an anchor point, which is by default placed between the centers of mass of connected bodies. The properties of each connection depend on the selected joint type and its parameters. Joint parameters can be divided into two groups:关节提供了限制，从而消除了物体（body）的自由度，并用于连接成对的body。每个关节都有一个锚点，默认情况下，该锚点位于连接实体的质心之间。每个连接的属性取决于所选的关节类型及其参数。联合参数可以分为两组：

• Common parameters — basic set of parameters shared by all joints. 通用参数 -所有关节共享的基本参数集。
• Type-specific parameters — a set of specific parameters for each joint type. 类型特定的参数-每种关节类型的一组特定参数。

See also也可以看看#

Assume you have two objects with physical bodies assigned. Remember that a body must have a shape assigned. To connect them using a joint via UnigineEditor, perform the following steps:假设您有两个分配了物理物体的对象。请记住，物体必须具有指定的形状。要通过 UnigineEditor 使用关节来连接它们，请执行以下步骤：

• Open the World Hierarchy window. 打開 World Hierarchy 窗口。
• Select the first body to connect.选择第一个要连接的物体
• Go to the Physics tab in the Parameters window.转到 Parameters窗口中的Physics選項卡。
• In the Joints section, choose an appropriate type of joint and click Add.

  

  Joints 部分中，选择适当的关节类型，然后单击Add。

  

• Select the second body by picking its name in the dialog window and click Ok.
  在对话框窗口中选择第二个物体的名称，然后单击Ok。
  
• Set joint parameters in the Joints section.在Joints部分中设置关节参数。

You can enable visualization of the joint by checking Helpers panel → Physics item → Joints option (Visualizer should be enabled).您可以通过选中Helpers面板→Physics项目→Joints选项（应启用Visualizer）来启用关节的可视化。

Fixed joints connect two bodies in a manner that strictly preserves their positions with respect to each other.固定关节以严格保持彼此位置的方式连接两个物体。

Fixed Joint

Fixed Joint Parameters Fixed Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Rotation 0	Specifies orientation of the first body relative to the anchor point.指定第一个实体相对于锚点的方向。
Rotation 1	Specifies orientation of the second body relative to the anchor point指定第二个实体相对于锚点的方向

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointFixed Class description. An example illustrating connection of two bodies using a fixed joint can be found here.有关更多信息，请参见JointFixed类描述。 此处。

Watch the illustration of the Fixed joint in our video tutorial on physics.在我们的物理视频教程中观看固定关节的插图。

Hinge joints allow the connected bodies to rotate along the joint's axis at the anchor point. This joint has an angular motor attached.铰链关节允许连接的实体在锚点处沿关节的轴旋转。该关节连接了一个有角度的 motor 。

Hinge Joint

Hinge Joint Parameters Hinge Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Joint axis	Coordinates of the joint axis, around which the bodies rotate.物体绕其旋转的关节轴的坐标。
Angular damping	Angular damping coefficient of the hinge joint.铰链接头的角阻尼系数。
Angular limit from	Minimum angle in the range of movement at which the hinge stops. The angle is specified in degrees in the [-180; 180] range.铰链停止运动范围内的最小角度。角度在[ -180 中以度为单位指定； 180 ]范围。
Angular limit to	Maximum angle in the range of movement at which the hinge stops. The angle is specified in degrees in the [-180; 180] range.铰链停止运动范围内的最大角度。角度在[ -180 中以度为单位指定； 180 ]范围。
Angular spring	Spring rigidity coefficient, determines how strong the joint resists rotation. If rigidity is set to 0, the spring is disabled.弹簧刚度系数确定关节抵抗旋转的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Angular angle	Target angle of the attached angular spring. The spring (if it is enabled) tries to keep the specified angle between the connected bodies.附加角弹簧的目标角度。弹簧（如果已启用）将尝试使连接的物体之间保持指定的角度。
電機參數
Angular Torque	Maximum torque of the angular motor. 0 detaches the motor.角度电机的最大扭矩。 0 拆下电动机。
Angular Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointHinge Class description. An example illustrating connection of two bodies using a hinge joint can be found here.有关更多信息，请参见JointHinge类描述。可以在此处找到使用铰链接头连接两个物体的示例。

Watch the illustration of the Hinge joint settings in our video tutorial on physics.在我们的物理视频教程中观看铰链关节设置的图示。

Ball joints provide a point around which the connected objects can rotate.球形接头提供了一个连接对象可以围绕其旋转的点。

Ball Joint

Ball Joint Parameters Ball Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Joint axis	Coordinates of the joint axis.关节轴的坐标。
Angular limit angle	Swing angle limit, specifies how much connected bodies can bend from the joint axis.摆动角度限制，指定连接的物体可以从关节轴弯曲多少。
Angular limit from	Minimum angle in the range of twisting around the joint axis. The angle is specified in degrees in the [-180; 180] range.围绕关节轴扭转范围内的最小角度。角度在[ -180 中以度为单位指定； 180 ]范围。
Angular limit to	Maximum angle in the range of twisting around the joint axis. The angle is specified in degrees in the [-180; 180] range.在围绕关节轴的扭曲范围内的最大角度。角度在[ -180 中以度为单位指定； 180 ]范围。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointBall Class description. An example illustrating connection of two bodies using a ball joint can be found here.有关更多信息，请参考 JointBall类描述。可以在此处找到使用球形接头连接两个物体的示例。

Watch the illustration of the Ball joint settings in our video tutorial on physics.在我们的物理视频教程中观看球形关节设置的图示。

Prismatic joints allow movement along the joint axis. This joint has a linear motor attached.棱形关节允许沿关节轴移动。该关节具有连接的线性 motor 。

Prismatic Joint

Prismatic Joint Parameters Prismatic Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Joint axis	Coordinates of the joint axis.关节轴的坐标。
Linear damping	Linear damping coefficient of the prismatic joint.棱柱形接头的线性阻尼系数。
Linear limit from	Minimum distance between the bodies along the joint axis.物体之间沿关节轴的最小距离。
Linear limit to	Maximum distance between the bodies along the joint axis.物体之间沿关节轴的最大距离。
Linear spring	Spring rigidity coefficient, determines how strong the joint resists linear motion. If rigidity is set to 0, the spring is disabled.弹簧刚度系数，确定接头抵抗线性运动的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Linear distance	Target linear distance of the attached spring. The spring (if it is enabled) tries to keep the specified distance between the connected bodies.所连接弹簧的目标线性距离。弹簧（如果启用）会尝试保持连接的实体之间的指定距离。
電機參數
Linear Force	Maximum force of the attached linear motor. 0 detaches the motor.连接的直线电动机的最大力。 0 拆下电动机。
Linear Velocity	Target velocity of the attached linear motor.附加直线电机的目标速度。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointPrismatic Class description. An example illustrating connection of two bodies using a prismatic joint can be found here.有关更多信息，请参见JointPrismatic类描述。可以在此处找到使用棱镜连接两个物体的示例。

Watch the illustration of the Prismatic joint in our video tutorial on physics.在我们的物理学视频教程中观看棱柱关节的图示。

Cylindrical joints are like prismatic ones with an additional degree of freedom: rotation around the joint axis. This joint has a linear and an angular motors attached.圆柱关节就像棱柱形关节一样，具有额外的自由度：绕关节轴旋转。该关节具有线性和成角度的电动机。

Cylindrical Joint

Cylindrical Joint Parameters Cylindrical Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Joint axis	Coordinates of the joint axis.关节轴的坐标。
Linear damping	Linear damping coefficient of the cylindrical joint.圆柱接头的线性阻尼系数。
Linear limit from	The minimum distance between the bodies along the joint axis.物体之间沿关节轴的最小距离。
Linear limit to	The maximum distance between the bodies along the joint axis.物体之间沿关节轴的最大距离。
Linear spring	Spring rigidity coefficient, determines how strong the joint resists linear motion. If rigidity is set to 0, the spring is disabled.弹簧刚度系数，确定接头抵抗线性运动的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Linear distance	A target linear distance of the attached spring. The spring (if it is enabled) tries to keep the specified distance between the connected bodies.所连接弹簧的目标线性距离。弹簧（如果启用）会尝试保持连接的实体之间的指定距离。
Angular damping	Angular damping coefficient of the cylindrical joint.圆柱接头的角阻尼系数。
Angular limit from	The minimum angle in the range of twisting around the joint axis. The angle is specified in degrees in the [-180; 180] range.围绕关节轴扭转范围内的最小角度。角度在[ -180 中以度为单位指定； 180 ]范围。
Angular limit to	The maximum angle in the range of twisting around the joint axis. The angle is specified in degrees in the [-180; 180] range.在围绕关节轴的扭曲范围内的最大角度。角度在[ -180 中以度为单位指定； 180 ]范围。
Angular spring	Spring rigidity coefficient, determines how strong the joint resists rotation. If rigidity is set to 0, the spring is disabled.弹簧刚度系数确定关节抵抗旋转的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Angular angle	A target angle of the attached angular spring. The spring (if it is enabled) tries to keep the specified angle between the connected bodies.所连接的角弹簧的目标角度。弹簧（如果已启用）将尝试使连接的物体之间保持指定的角度。
電機參數
Angular Torque	Maximum torque of the angular motor. 0 detaches the motor.角度电机的最大扭矩。 0 拆下电动机。
Angular Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。
Linear Force	Maximum force of the attached linear motor. 0 detaches the motor.连接的直线电动机的最大力。 0 拆下电动机。
Linear Velocity	Target velocity of the attached linear motor.附加直线电机的目标速度。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointCylindrical Class description. An example illustrating connection of two bodies using a cylindrical joint can be found here.有关更多信息，请参见JointCylindrical类描述。 此处。

Watch the illustration of the Cylindrical joint in our video tutorial on physics.在我们的物理视频教程中观看圆柱关节的插图。

Wheel joints are used to create ray-cast vehicle wheels. It connects two rigid bodies: the first body is a frame, the second one is a wheel. There is no need to assign a shape to the wheel: ray casting is used to detect collision of the wheel with a surface. This joint has an angular motor attached.车轮节用于制造射线铸型的车轮。它连接两个刚性实体：第一个实体是框架，第二个实体是轮子。无需为车轮指定形状：射线投射用于检测车轮与表面的碰撞。该关节连接了一个有角度的 motor 。

Wheel Joint

Wheel Joint Parameters Wheel Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Suspension axis (Axis 0) 悬架轴（Axis 0）	Coordinates of a vertical axis, which acts like a cylindrical joint providing steering and damping.垂直轴的坐标，其作用类似于提供转向和阻尼的圆柱关节。
Wheel spindle axis (Axis 1) 车轮主轴轴（Axis 1）	Coordinates of a horizontal axis, around which the wheel rotates. They are set in the following fields:车轮绕其旋转的水平轴的坐标。它们在以下字段中设置： Axis 10 — in the coordinate system of the frame (which is body 0) Axis 10-在框架的坐标系中（即body 0） Axis 11 — in the coordinate system of the wheel (which is body 1) Axis 11-在车轮坐标系中（即body 1）
Linear damping	Linear damping coefficient of the suspension.悬架的线性阻尼系数。
Linear limit from	Lower suspension ride limit.悬架行驶下限。
Linear limit to	Upper suspension ride limit.悬架行驶上限。
Linear spring	Suspension spring rigidity coefficient, determines how strong the joint resists vertical linear motion. If rigidity is set to 0, the spring is disabled.悬架弹簧刚度系数确定关节抵抗垂直线性运动的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Linear distance	Target suspension height. The suspension spring (if it is enabled) tries to keep the specified height.目标悬架高度。悬架弹簧（如果启用）会尝试保持指定的高度。
Angular damping	Angular damping coefficient of wheel rotation.车轮旋转的角阻尼系数。
電機參數
Angular Torque	Maximum torque of the angular motor. 0 detaches the motor.角度电机的最大扭矩。 0 拆下电动机。
Angular Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointWheel Class description. For an example illustrating the use of wheel joints see the Creating a Car with Wheel Joints article.有关更多信息，请参见JointWheel类描述。有关说明使用车轮节的示例，请参见使用车轮节创建汽车文章。

Watch how to simulate a wheel using the Wheel joint in our video tutorial on physics.在我们的物理视频教程中，观看如何使用Wheel关节模拟车轮。

警告

This joint type is deprecated and will be removed in the upcoming releases. It is recommended to use the Wheel Joint instead.此联合类型已被弃用，并将在以后的版本中删除。建议改用车轮接头。

Suspension joints are used to create wheel suspension for vehicles. It connects two rigid bodies: the first body is a frame, the second one is a wheel. This joint has an angular motor attached.悬架用于制造车辆的车轮悬架。它连接两个刚性实体：第一个实体是框架，第二个实体是轮子。该关节连接了一个有角度的 motor 。

注意

The order of the bodies, connected using a suspension joint, matters!

• If the bodies are connected using UnigineEditor:If the bodies are connected using UnigineEditor:

  1. Select the vehicle frame.Select the vehicle frame.
  2. Add a suspension joint.Add a suspension joint.
  3. Specify the wheel to be attached.Specify the wheel to be attached.

• If the bodies are connected programmatically:If the bodies are connected programmatically:

  • b0 is a frame.b0 is a frame.
  • b1 is a wheel.b1 is a wheel.

If the bodies are connected using UnigineEditor:Select the vehicle frame.Add a suspension joint.Specify the wheel to be attached.If the bodies are connected programmatically:b0 is a frame.b1 is a wheel.车身的顺序，通过悬架连接事项！

• If the bodies are connected using UnigineEditor:如果物体使用 UnigineEditor 连接：

  1. Select the vehicle frame.选择车架。
  2. Add a suspension joint.添加悬架接头。
  3. Specify the wheel to be attached.指定要安装的轮子。

• If the bodies are connected programmatically:如果物体以编程方式连接：

  • b0 is a frame. b0是一个框架。
  • b1 is a wheel. b1 是一個輪子.

Suspension Joint

Suspension Joint Parameters Suspension Joint参数

The basic constraint parameters of this joint include:此关节的基本约束参数包括：

Suspension axis (Axis 0) 悬架轴（Axis 0）	Coordinates of a vertical axis, which acts like a cylindrical joint providing steering and damping.垂直轴的坐标，其作用类似于提供转向和阻尼的圆柱关节。
Wheel spindle axis (Axis 1) 车轮主轴轴（Axis 1）	Coordinates of a horizontal axis, around which the wheel rotates. They are set in the following fields:车轮绕其旋转的水平轴的坐标。它们在以下字段中设置： Axis 10 — in the coordinate system of the frame (which is body 0) Axis 10-在框架的坐标系中（即body 0） Axis 11 — in the coordinate system of the wheel (which is body 1) Axis 11-在车轮坐标系中（即body 1）
Linear damping	Linear damping coefficient of the suspension.悬架的线性阻尼系数。
Linear limit from	Lower suspension ride limit.悬架行驶下限。
Linear limit to	Upper suspension ride limit.悬架行驶上限。
Linear spring	Suspension spring rigidity coefficient, determines how strong the joint resists vertical linear motion. If rigidity is set to 0, the spring is disabled.悬架弹簧刚度系数确定关节抵抗垂直线性运动的强度。如果将刚度设置为 0 ，则会禁用弹簧。
Linear distance	Target suspension height. The suspension spring (if it is enabled) tries to keep the specified height.目标悬架高度。悬架弹簧（如果启用）会尝试保持指定的高度。
Angular damping	Angular damping coefficient of wheel rotation.车轮旋转的角阻尼系数。
電機參數
Angular Torque	Maximum torque of the angular motor. 0 detaches the motor.角度电机的最大扭矩。 0 拆下电动机。
Angular Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。

This joint also has a set of common parameters shared by all joint types.此关节还具有一组由所有关节类型共享的通用参数。

For more information refer to JointSuspension Class description. An example illustrating connection of two bodies using a suspension joint can be found here.有关更多信息，请参见JointSuspension类描述。可以在此处找到使用悬架关节连接两个物体的示例。

For the difference between the Suspension and Wheel joints, see our video tutorial on physics.有关悬架和车轮关节之间的区别，请参见我们的有关物理的视频教程。

Path joint is used to attach a rigid body to a path body and to make it move along this path. This joint can be used to make a train move along the tracks. This joint has a linear motor attached.路径关节用于将刚体附加到路径体，并使其沿该路径移动。该接头可用于使火车沿着轨道移动。该关节具有连接的线性 motor 。