The movement of some joints can be limited. These limits let a developer create simple models of
real-world behavior: a hinge can be limited, for example, so that it only opens 270 degrees. Joints
can have one, several, or no limits depending upon their geometry.
Each limit consists of an upper and a lower limit. You can specify these limits independently to
appear either hard or soft. A hard bounce reverses the bodies’ angular velocities in a single time
step, while a soft bounce may take many time steps to complete. If the limits are soft, you can
also set their damping so that, beyond the limits, the joint behaves like a damped spring. If the
limits are hard, you can set the limit restitution between zero and one to govern the loss of
angular momentum as the bodies rebound.
Each joint has a number of constraint equations that control its behavior. You can control the settings of each of these constraints to determine their stiffness and damping. To learn more about this please see the Joint Relaxation description. Also, the hinge and prismatic joints also have a joint friction that can be used to apply a more realistic friction force to them. Please see the Joint Friction description for more details on this.
These are the available biomechanical joint types.
This project was supported by: