UniversalJoint (X3DJSAIL, X3D Java Scene Access Interface Library)

All Superinterfaces:

X3DNode, X3DRigidJointNode

All Known Implementing Classes:

UniversalJointObject
```
public interface UniversalJoint
extends X3DRigidJointNode
```
Abstract node interface, defined by X3D specification to support X3D Java interoperability.

X3D node tooltip: (X3D version 3.2 or later) [X3DRigidJointNode] UniversalJoint is like a BallJoint that constrains an extra degree of rotational freedom. Contains two RigidBody nodes (containerField values body1, body2).
- Hint: useful in combination with BallJoint.
- Hint: RigidBodyPhysics component, level 2.
Package hint: This interface is defined by the X3D Java Language Binding Specification for the Scene Authoring Interface (SAI).
See Also:

SAI Java Specification: TODO, X3D Abstract Specification: UniversalJoint, X3D Tooltips: UniversalJoint, X3D Scene Authoring Hints

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`float[]`	`getAnchorPoint()` Provide array of 3-tuple float results from inputOutput SFVec3f field named anchorPoint.
`float[]`	`getAxis1()` Provide array of 3-tuple float results from inputOutput SFVec3f field named axis1.
`float[]`	`getAxis2()` Provide array of 3-tuple float results from inputOutput SFVec3f field named axis2.
`RigidBody`	`getBody1()` Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.
`float[]`	`getBody1AnchorPoint()` Provide array of 3-tuple float results from outputOnly SFVec3f field named body1AnchorPoint.
`float[]`	`getBody1Axis()` Provide array of 3-tuple float results from outputOnly SFVec3f field named body1Axis.
`RigidBody`	`getBody2()` Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.
`float[]`	`getBody2AnchorPoint()` Provide array of 3-tuple float results from outputOnly SFVec3f field named body2AnchorPoint.
`float`	`getBody2Axis()` Provide float value from outputOnly SFFloat field named body2Axis.
`java.lang.String[]`	`getForceOutput()` Provide array of String enumeration results ['"ALL"'\|'"NONE"'\|'"etc."'] from inputOutput MFString field named forceOutput.
`X3DMetadataObject`	`getMetadata()` Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
`float`	`getStop1Bounce()` Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop1Bounce.
`float`	`getStop1ErrorCorrection()` Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop1ErrorCorrection.
`float`	`getStop2Bounce()` Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop2Bounce.
`float`	`getStop2ErrorCorrection()` Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop2ErrorCorrection.
`UniversalJoint`	`setAnchorPoint(float[] newValue)` Assign 3-tuple float array to inputOutput SFVec3f field named anchorPoint.
`UniversalJoint`	`setAxis1(float[] newValue)` Assign 3-tuple float array to inputOutput SFVec3f field named axis1.
`UniversalJoint`	`setAxis2(float[] newValue)` Assign 3-tuple float array to inputOutput SFVec3f field named axis2.
`UniversalJoint`	`setBody1(RigidBody newValue)` Assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.
`UniversalJoint`	`setBody2(RigidBody newValue)` Assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.
`UniversalJoint`	`setCssClass(java.lang.String newValue)` Assign String value to inputOutput SFString field named class.
`UniversalJoint`	`setDEF(java.lang.String newValue)` Assign String value to inputOutput SFString field named DEF.
`UniversalJoint`	`setForceOutput(java.lang.String[] newValue)` Assign String enumeration array (""ALL""\|""NONE"") ['"ALL"'\|'"NONE"'\|'"etc."'] to inputOutput MFString field named forceOutput.
`UniversalJoint`	`setMetadata(X3DMetadataObject newValue)` Assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
`UniversalJoint`	`setStop1Bounce(float newValue)` Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop1Bounce.
`UniversalJoint`	`setStop1ErrorCorrection(float newValue)` Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop1ErrorCorrection.
`UniversalJoint`	`setStop2Bounce(float newValue)` Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop2Bounce.
`UniversalJoint`	`setStop2ErrorCorrection(float newValue)` Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop2ErrorCorrection.
`UniversalJoint`	`setUSE(java.lang.String newValue)` Assign String value to inputOutput SFString field named USE.

- Method Detail
  - getAnchorPoint
```
float[] getAnchorPoint()
```
    Provide array of 3-tuple float results from inputOutput SFVec3f field named anchorPoint.
    
    Tooltip: anchorPoint is joint center, specified in world coordinates. *
    
    Returns:
    
    value of anchorPoint field
  - setAnchorPoint
```
UniversalJoint setAnchorPoint(float[] newValue)
```
    Assign 3-tuple float array to inputOutput SFVec3f field named anchorPoint.
    
    Tooltip: anchorPoint is joint center, specified in world coordinates.
    
    Parameters:
    
    newValue - is new value for the anchorPoint field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getAxis1
```
float[] getAxis1()
```
    Provide array of 3-tuple float results from inputOutput SFVec3f field named axis1.
    
    Tooltip: axis1 defines axis vector of joint connection to body1.
    - Hint: 0 0 0 means motor disabled.
    Returns:
    
    value of axis1 field
  - setAxis1
```
UniversalJoint setAxis1(float[] newValue)
```
    Assign 3-tuple float array to inputOutput SFVec3f field named axis1.
    
    Tooltip: axis1 defines axis vector of joint connection to body1. Hint: 0 0 0 means motor disabled.
    
    Parameters:
    
    newValue - is new value for the axis1 field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getAxis2
```
float[] getAxis2()
```
    Provide array of 3-tuple float results from inputOutput SFVec3f field named axis2.
    
    Tooltip: axis2 defines axis vector of joint connection to body2.
    - Hint: 0 0 0 means motor disabled.
    Returns:
    
    value of axis2 field
  - setAxis2
```
UniversalJoint setAxis2(float[] newValue)
```
    Assign 3-tuple float array to inputOutput SFVec3f field named axis2.
    
    Tooltip: axis2 defines axis vector of joint connection to body2. Hint: 0 0 0 means motor disabled.
    
    Parameters:
    
    newValue - is new value for the axis2 field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getBody1
```
RigidBody getBody1()
```
    Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body1.
    
    Specified by:
    
    getBody1 in interface X3DRigidJointNode
    
    Returns:
    
    value of body1 field
  - setBody1
```
UniversalJoint setBody1(RigidBody newValue)
```
    Assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body1.
    
    Specified by:
    
    setBody1 in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the body1 field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getBody1AnchorPoint
```
float[] getBody1AnchorPoint()
```
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body1AnchorPoint.
    
    Returns:
    
    value of body1AnchorPoint field
  - getBody1Axis
```
float[] getBody1Axis()
```
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body1Axis.
    
    Returns:
    
    value of body1Axis field
  - getBody2
```
RigidBody getBody2()
```
    Provide RigidBody instance (using a properly typed node) from inputOutput SFNode field body2.
    
    Specified by:
    
    getBody2 in interface X3DRigidJointNode
    
    Returns:
    
    value of body2 field
  - setBody2
```
UniversalJoint setBody2(RigidBody newValue)
```
    Assign RigidBody instance (using a properly typed node) to inputOutput SFNode field body2.
    
    Specified by:
    
    setBody2 in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the body2 field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getBody2AnchorPoint
```
float[] getBody2AnchorPoint()
```
    Provide array of 3-tuple float results from outputOnly SFVec3f field named body2AnchorPoint.
    
    Returns:
    
    value of body2AnchorPoint field
  - getBody2Axis
```
float getBody2Axis()
```
    Provide float value from outputOnly SFFloat field named body2Axis.
    
    Returns:
    
    value of body2Axis field
  - getForceOutput
```
java.lang.String[] getForceOutput()
```
    Provide array of String enumeration results ['"ALL"'|'"NONE"'|'"etc."'] from inputOutput MFString field named forceOutput.
    
    Tooltip: forceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame. *
    
    Specified by:
    
    getForceOutput in interface X3DRigidJointNode
    
    Returns:
    
    value of forceOutput field
  - setForceOutput
```
UniversalJoint setForceOutput(java.lang.String[] newValue)
```
    Assign String enumeration array (""ALL""|""NONE"") ['"ALL"'|'"NONE"'|'"etc."'] to inputOutput MFString field named forceOutput.
    
    Tooltip: forceOutput controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame.
    
    Specified by:
    
    setForceOutput in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the forceOutput field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getMetadata
```
X3DMetadataObject getMetadata()
```
    Provide X3DMetadataObject instance (using a properly typed node) from inputOutput SFNode field metadata.
    
    Specified by:
    
    getMetadata in interface X3DNode
    
    Specified by:
    
    getMetadata in interface X3DRigidJointNode
    
    Returns:
    
    value of metadata field
    
    See Also:
    
    X3D Scene Authoring Hints: Metadata Nodes
  - setMetadata
```
UniversalJoint setMetadata(X3DMetadataObject newValue)
```
    Assign X3DMetadataObject instance (using a properly typed node) to inputOutput SFNode field metadata.
    
    Specified by:
    
    setMetadata in interface X3DNode
    
    Specified by:
    
    setMetadata in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the metadata field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
    
    See Also:
    
    X3D Scene Authoring Hints: Metadata Nodes
  - getStop1Bounce
```
float getStop1Bounce()
```
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop1Bounce.
    
    Tooltip: [0,1] stop1Bounce is velocity factor for bounce back once stop point is reached.
    - Hint: 0 means no bounce, 1 means return velocity matches.
    Returns:
    
    value of stop1Bounce field
  - setStop1Bounce
```
UniversalJoint setStop1Bounce(float newValue)
```
    Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop1Bounce.
    
    Tooltip: [0,1] stop1Bounce is velocity factor for bounce back once stop point is reached. Hint: 0 means no bounce, 1 means return velocity matches.
    
    Parameters:
    
    newValue - is new value for the stop1Bounce field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getStop1ErrorCorrection
```
float getStop1ErrorCorrection()
```
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop1ErrorCorrection.
    
    Tooltip: [0,1] stop1ErrorCorrection is fraction of error correction performed during time step once stop point is reached.
    - Hint: 0 means no error correction, 1 means all error corrected in single step.
    Returns:
    
    value of stop1ErrorCorrection field
  - setStop1ErrorCorrection
```
UniversalJoint setStop1ErrorCorrection(float newValue)
```
    Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop1ErrorCorrection.
    
    Tooltip: [0,1] stop1ErrorCorrection is fraction of error correction performed during time step once stop point is reached. Hint: 0 means no error correction, 1 means all error corrected in single step.
    
    Parameters:
    
    newValue - is new value for the stop1ErrorCorrection field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getStop2Bounce
```
float getStop2Bounce()
```
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop2Bounce.
    
    Tooltip: [0,1] stop2Bounce is velocity factor for bounce back once stop point is reached.
    - Hint: 0 means no bounce, 1 means return velocity matches.
    Returns:
    
    value of stop2Bounce field
  - setStop2Bounce
```
UniversalJoint setStop2Bounce(float newValue)
```
    Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop2Bounce.
    
    Tooltip: [0,1] stop2Bounce is velocity factor for bounce back once stop point is reached. Hint: 0 means no bounce, 1 means return velocity matches.
    
    Parameters:
    
    newValue - is new value for the stop2Bounce field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - getStop2ErrorCorrection
```
float getStop2ErrorCorrection()
```
    Provide float value within allowed range of [0,1] from inputOutput SFFloat field named stop2ErrorCorrection.
    
    Tooltip: [0,1] stop2ErrorCorrection is fraction of error correction performed during time step once stop point is reached.
    - Hint: 0 means no error correction, 1 means all error corrected in single step.
    Returns:
    
    value of stop2ErrorCorrection field
  - setStop2ErrorCorrection
```
UniversalJoint setStop2ErrorCorrection(float newValue)
```
    Assign float value within allowed range of [0,1] to inputOutput SFFloat field named stop2ErrorCorrection.
    
    Tooltip: [0,1] stop2ErrorCorrection is fraction of error correction performed during time step once stop point is reached. Hint: 0 means no error correction, 1 means all error corrected in single step.
    
    Parameters:
    
    newValue - is new value for the stop2ErrorCorrection field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - setDEF
```
UniversalJoint setDEF(java.lang.String newValue)
```
    Assign String value to inputOutput SFString field named DEF.
    
    Tooltip: DEF defines a unique ID name for this node, referenceable by other nodes. Hint: descriptive DEF names improve clarity and help document a model. Hint: well-defined names can simplify design and debugging through improved author understanding. Hint: X3D Scene Authoring Hints, Naming Conventions http://www.web3d.org/x3d/content/examples/X3dSceneAuthoringHints.html#NamingConventions
    
    Note that setting the DEF value clears the USE value.
    
    Specified by:
    
    setDEF in interface X3DNode
    
    Specified by:
    
    setDEF in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the DEF field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - setUSE
```
UniversalJoint setUSE(java.lang.String newValue)
```
    Assign String value to inputOutput SFString field named USE.
    
    Tooltip: USE means reuse an already DEF-ed node ID, excluding all child nodes and all other attributes (except for containerField, which can have a different value). Hint: USE references to previously defined DEF geometry (instead of duplicating nodes) can improve performance. Warning: do NOT include any child nodes, a DEF attribute, or any other attribute values (except for containerField) when defining a USE attribute. Warning: each USE value must match a corresponding DEF value that is defined earlier in the scene.
    
    Note: each USE node is still an independent object, with the USE value matching the DEF value in the preceding object.
    
    Warning: invoking the setUSE() method on this node resets all other fields to their default values (except for containerField) and also releases all child nodes.
    
    Warning: no other operations can be performed to modify a USE node other than setting an alternate containerField value.
    
    Specified by:
    
    setUSE in interface X3DNode
    
    Specified by:
    
    setUSE in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the USE field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).
  - setCssClass
```
UniversalJoint setCssClass(java.lang.String newValue)
```
    Assign String value to inputOutput SFString field named class.
    
    Tooltip: The class attribute is a space-separated list of classes, reserved for use by CSS cascading stylesheets. Warning: currently the class attribute is only supported in XML encoding of X3D scenes. Hint: W3C Cascading Style Sheets https://www.w3.org/Style/CSS
    
    Specified by:
    
    setCssClass in interface X3DNode
    
    Specified by:
    
    setCssClass in interface X3DRigidJointNode
    
    Parameters:
    
    newValue - is new value for the class field.
    
    Returns:
    
    UniversalJoint - namely this same object to allow sequential method pipelining (i.e. consecutive method invocations on the same object).

Interface UniversalJoint

Method Summary

Method Detail

getAnchorPoint

setAnchorPoint

getAxis1

setAxis1

getAxis2

setAxis2

getBody1

setBody1

getBody1AnchorPoint

getBody1Axis

getBody2

setBody2

getBody2AnchorPoint

getBody2Axis

getForceOutput

setForceOutput

getMetadata

setMetadata

getStop1Bounce

setStop1Bounce

getStop1ErrorCorrection

setStop1ErrorCorrection

getStop2Bounce

setStop2Bounce

getStop2ErrorCorrection

setStop2ErrorCorrection

setDEF

setUSE

setCssClass