Select a group/component of body type to edit body properties.

Body properties cannot be edited while simulation is running.

State

Only top level groups/components have full body properties.

Child groups/components don't have full body properties.

Select a top level group/component of body type to edit body script.

Body script cannot be edited while simulation is running.

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Select a component of joint type to edit joint properties.

Joint properties cannot be edited while simulation is running.

General Properties

Joints are the most robust on exact solver or on iterative solver with 64 passes.

Fixed

Hinge

Hinge joint has two modes:

1. Friction mode: Hinge with rotational friction. Use the Friction parameter to adjust rotational friction. The Controller parameter can be used to amplify/reduce frictional strength. Actual friction is friction • controller. Disable the Rotate Back feature to use this mode.
2. Spring mode: Hinge that rotates back to the desired starting angle. Use Stiff and Damp parameters to control spring acceleration and strength. Use Start Angle parameter to preset the desired starting angle. The Controller parameter can be used to modify the starting angle. The actual starting angle, in degrees, is start_angle • controller. Enable the Rotate Back feature to use this mode.

Motor

The maximum angular rate, in radians per second, is accel • controller / damp.

Servo

The maximum angular rate, in radians per second, is accel / damp.

Slider

Piston

Spring

The starting position can be modified by a controller. The actual starting position, in meters, is start_position • controller.

Up Vector

Ball And Socket