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：

1. Open the World Hierarchy window. 打開 World Hierarchy 窗口。
2. Select the first body to connect.选择第一个要连接的物体
3. Go to the Physics tab in the Parameters window.转到 Parameters窗口中的Physics選項卡。

4. In the Joints section, click and choose an appropriate type of joint.在Joints部分中，单击，然后选择适当的关节类型。

   

5. 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。
   
6. 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。

Common Joint Parameters通用关节参数

All joints regardless of their type have a set of common parameters:所有关节，无论其类型如何，都有一族通用的参数：

Type	Type of the joint. It can be changed after creation, while the name will remain unchanged.关节的类型。创建后可以更改，而名称将保持不变。
Collision	A flag indicating if collision detection between the connected bodies is enabled.一个标志，指示是否在连接的物体之间启用碰撞检测。
Iterations	Joints, like collisions, are calculated iteratively. This parameter specifies the number of iterations used to solve joints. Note that if this value is too low, the precision of calculations will suffer.关节像碰撞一样被迭代计算。此参数指定用于求解关节的迭代次数。请注意，如果此值太低，则会影响计算的精度。
Max Force	Maximum force that can be exerted on the joint. If this limit is exceeded, the joint breaks. The default value is inf, i.e. the joint is unbreakable.可以在关节上施加的最大力。如果超过此限制，则关节会断裂。默认值为 inf ，即关节是不可破坏的。
Max Torque	Maximum torque that can be exerted on the joint. If this limit is exceeded, the joint breaks. The default value is inf, i.e. the joint is unbreakable.可以施加在关节上的最大扭矩。如果超过此限制，则关节会断裂。默认值为 inf ，即关节是不可破坏的。
Linear Restitution	Linear stiffness of the joint. Defines how fast it compensates for linear coordinate change between two bodies. When bodies are dragged apart, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again.关节的线性刚度。定义补偿两个物体之间线性坐标变化的速度。将物体拉开时，恢复力控制施加在两个物体上的力的大小，以使它们的锚点再次对齐。 1 means that the joint is to return bodies in place throughout 1 physics tick. 1 表示关节将在整个1个物理滴答中返回到位。 0.2 means that the joint is to return bodies in place throughout 5 physics ticks. 0.2 表示关节将在整个5个物理滴答中将物体返回到位。 注意 The maximum value of 1 can lead to destabilization of physics (as too great forces are applied). 1 的最大值可能导致物理不稳定（因为施加的力过大）。
Angular Restitution	Angular stiffness of the joint. Defines how fast it compensates for change of the angle between two bodies. When bodies are turned relative each other, restitution controls the magnitude of force which is applied to both bodies so that their anchor points to become aligned again.关节的角刚度。定义补偿两个物体之间角度变化的速度。当物体彼此相对旋转时，恢复力控制施加到两个物体的力的大小，以使它们的锚点再次对齐。 1 means that the joint is to return bodies in place throughout 1 physics tick. 1 表示关节将在整个1个物理滴答中返回到位。 0.2 means that the joint is to return bodies in place throughout 5 physics ticks. 0.2 表示关节将在整个5个物理滴答中将物体返回到位。 注意 The maximum value of 1 can lead to destabilization of physics (as too great forces are applied). 1 的最大值可能导致物理不稳定（因为施加的力过大）。
Linear Softness	Linear elasticity of the joint. Defines whether linear velocities of the bodies are averaged out when the joint is stretched.关节的线弹性。定义在拉伸关节时是否将实体的线速度平均化。 0 means that the joint is rigid. Velocities of the first and the second body are independent. 0 表示关节是刚性的。第一和第二物体的速度是独立的。 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it. 1 表示关节具有弹性（果冻状）。如果第一个物体的速度发生变化，则第二个物体的速度将与其相等。
Angular Softness	Angular elasticity of the joint. Defines whether linear velocities of the bodies are averaged out when the joint is twisted.关节的角度弹性。定义在扭曲关节时是否将实体的线速度平均化。 0 means that the joint is rigid. Velocities of the first and the second body are independent. 0 表示关节是刚性的。第一和第二物体的速度是独立的。 1 means that the joint is elastic (jelly-like). If the first body changes its velocity, velocity of the second body is equalized with it. 1 表示关节具有弹性（果冻状）。如果第一个物体的速度发生变化，则第二个物体的速度将与其相等。
Anchor 0 Node	Node of the first body connected to the joint. This is the current node and it cannot be changed.连接到关节的第一个物体的节点。这是当前节点，无法更改。
Anchor 0 Position	Position of the anchor point of the first connected body in the body coordinate space.第一个连接物体的锚点在其局部坐标系中的位置。
Anchor 1 Node	Node of the second body connected to the joint. It can be changed by dragging the node that is an object having a physical body from the World Nodes hierarchy.连接到关节的第二个物体的节点。可以通过从世界节点层次结构中拖动具有物理体的节点来更改此节点。
Anchor 1 Position	Position of the anchor point of the second connected body in the body coordinate space.第二个连接物体的锚点在其局部坐标系中的位置。
Fix 0	Changes the position of Anchor 0 to match the position of Anchor 1.将 Anchor 0 的位置调整为与 Anchor 1 的位置匹配。
Fix 1	Changes the position of Anchor 1 to match the position of Anchor 0.将 Anchor 1 的位置调整为与 Anchor 0 的位置匹配。
Fix 01	Shifts both anchors to the middle of the line between them.将两个锚点移动到它们之间连线的中点位置。

To organize the joints, the following options are available:为了组织关节，提供了以下选项：

	Adds a new joint.添加新关节。
	A pair of buttons to move the joint up or down in the list.一对按钮，用于在列表中向上或向下移动关节。
	Deletes the selected joint(s).删除所选关节。

To disable a joint, uncheck the checkbox:要禁用某个关节，请取消选中复选框：

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

In addition to the common parameters, fixed joints also have the following constraint parameters:除了通用参数外，固定关节还具有以下约束参数：

Fixed Joint ParametersFixed Joint的参数

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

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

In addition to the common parameters, hinge joints also have the following constraint parameters:除了通用参数外，铰链关节还具有以下约束参数：

Hinge Joint Parameters Hinge Joint参数

Anchor 0 Axis	Axis of the first connected body represented by a normalized vector.第一个连接物体的轴，由归一化向量表示。
Anchor 1 Axis	Axis of the second connected body represented by a normalized vector.第二个连接物体的轴，由归一化向量表示。
Damping	Angular damping coefficient of the hinge joint.铰链接头的角阻尼系数。
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。
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。
Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。
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。
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。
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。

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

In addition to the common parameters, ball joints also have the following constraint parameters:除了通用参数外，球形接头还具有以下约束参数：

Ball Joint Parameters Ball Joint参数

Anchor 0 Axis	Axis of the first connected body represented by a normalized vector.第一个连接物体的轴，由归一化向量表示。
Anchor 1 Axis	Axis of the second connected body represented by a normalized vector.第二个连接物体的轴，由归一化向量表示。
Damping	Angular damping coefficient of the ball joint.球形接头的角阻尼系数。
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。
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。
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。

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

In addition to the common parameters, prismatic joints also have the following constraint parameters:除了通用参数外，棱形关节还具有以下约束参数：

Prismatic Joint Parameters Prismatic Joint参数

Anchor 0 Axis	Axis of the first connected body represented by a normalized vector.第一个连接物体的轴，由归一化向量表示。
Anchor 0 Rotation	Orientation of the first body relative to the anchor point.第一个实体相对于锚点的方向。
Anchor 1 Rotation	Orientation of the second body relative to the anchor point.第二个实体相对于锚点的方向
Damping	Linear damping coefficient of the prismatic joint.棱柱形接头的线性阻尼系数。
From	Minimum distance between the bodies along the joint axis.物体之间沿关节轴的最小距离。
To	Maximum distance between the bodies along the joint axis.物体之间沿关节轴的最大距离。
Velocity	Target velocity of the attached linear motor.附加直线电机的目标速度。
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。
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。
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。

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

In addition to the common parameters, cylindrical joints also have the following constraint parameters:除了通用参数外，圆柱关节还具有以下约束参数：

Cylindrical Joint Parameters Cylindrical Joint参数

Anchor 0 Axis	Axis of the first connected body represented by a normalized vector.第一个连接物体的轴，由归一化向量表示。
Anchor 1 Axis	Axis of the second connected body represented by a normalized vector.第二个连接物体的轴，由归一化向量表示。
Linear Damping	Linear damping coefficient of the cylindrical joint.圆柱接头的线性阻尼系数。
Linear 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 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 Velocity	Target velocity of the attached linear motor.附加直线电机的目标速度。
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 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。
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。
Angular Damping	Angular damping coefficient of the cylindrical joint.圆柱接头的角阻尼系数。
Angular 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 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 Velocity	Target velocity of the attached angular motor.附加角电机的目标速度。
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 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。
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。