
# Pivots and Axes

Through the use of playgrounds this section considers how the pivot and axis parameters of the hinge joint effect the behaviour of the joint in the three physics engines 

1. Cannon.js;
2. Oimo.js;
3. Ammo.js

See [How to Use The Physics' Engines](/legacy/physics/usingPhysicsEngine) for an overall view of setting up and using the three plugins.

The examples on this page a hinge joint and a main body are added to a connected axle using

```javascript
connectedAxle.physicsImpostor.addJoint(mainBody.physicsImpostor, joint);
```
the following parameters need to be set

* mainPivot: main body pivot;
* mainAxis: main body axis ;
* connectedPivot: connected axle pivot;
* connectedAxis: connected axle axis.

In all the following playgrounds the X axis is red, the Y axis green and the Z axis blue and unless clearly stated otherwise the gravity is zero. 

The main body is a purple box and the connected axle is a yellow box. Local axes are shown for both.

The purple sphere marks the position of the main pivot and is the center of rotation for the main body around the local axis of the main body. The yellow sphere marks the position of the connected pivot which is the negative of the set value for the connected pivot. 

The initial position of the main body is set by the values of the main pivot and the connected pivot and is may be shown by the slightly larger black sphere. The radius of rotation for the main body around the main pivot is determined by the value of the connected pivot.

The main body is orientated so that the connected axis and the main axis align but can be in the opposite directions.

When the position and orientation of the bodies' imposters set by their pivots do not match the position of the bodies' meshes then, at the start, movement of the bodies can occur as the meshes reposition to that given by the pivots. 

**Note** In some instances pivot and axes in `Cannon.js` can result in the an axis or movement of the body in the opposite direction to those of `Oimo.js` and `Ammo.js`.

The first and second set of playgrounds show examples when the mass of the connected axle is zero. In the first set the connected axle is positioned at the origin with no rotation. In the second the connected axle one or both of position or rotation can be non-zero. In the third set of examples both the body and the axle have a non-zero mass.

## Playground Examples  - Connected Axle Has Zero Mass and is at the Origin with No Rotation

(A) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0),  
connectedPivot: new BABYLON.Vector3(0, 0, 0), 
mainAxis: new BABYLON.Vector3(0, 1, 0), //
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```

<Playground id="#8RQJ1R#2" title="Pivots and Axes (A Parameters)" description="Simple example of pivots and axes with A parameters."/>

----

(B) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 5, 0), //set main body position
connectedPivot: new BABYLON.Vector3(0, 0, 0),
mainAxis: new BABYLON.Vector3(0, 1, 0),
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```
<Playground id="#8RQJ1R#3" title="Pivots and Axes (B Parameters)" description="Simple example of pivots and axes with B parameters."/>

----

(C) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0),
connectedPivot: new BABYLON.Vector3(5, 0, 0), //adjust main body position and radius of rotation
mainAxis: new BABYLON.Vector3(0, 1, 0),
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```

* <Playground id="#8RQJ1R#4" title="Pivots and Axes (C Parameters)" description="Simple example of pivots and axes with C parameters."/>

----

(D) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(10, 0, 0),
connectedPivot: new BABYLON.Vector3(0, 5, 0),
mainAxis: new BABYLON.Vector3(1, 0, 0), //different axes will orientate main body to align axes.
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```
<Playground id="#8RQJ1R#5" title="Pivots and Axes (D Parameters)" description="Simple example of pivots and axes with D parameters."/>

----

(E) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0), //set main body position
connectedPivot: new BABYLON.Vector3(0, 0, 0), //adjust main body position and radius of rotation
mainAxis: new BABYLON.Vector3(0, 0, 1), //different axes will orientate main body to align axes.
connectedAxis: new BABYLON.Vector3(1, 0, 0)
```
<Playground id="#8RQJ1R#6" title="Pivots and Axes (E Parameters)" description="Simple example of pivots and axes with E parameters."/>

## Playground Examples  - Connected Axle Has Zero Mass and Position or Rotation Non-Zero

Any [translation](/typedoc/classes/babylon.transformnode#translate) or rotation of the connected axle results in the same transformation being applied to the whole hinge joint system.

(F) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0),  
connectedPivot: new BABYLON.Vector3(0, 0, 0), 
mainAxis: new BABYLON.Vector3(0, 1, 0), //
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```

* <Playground id="#8RQJ1R#7" title="Pivots and Axes (F Parameters)" description="Simple example of pivots and axes with F parameters."/>

----

(G) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0),
connectedPivot: new BABYLON.Vector3(0, 0, 0),
mainAxis: new BABYLON.Vector3(0, 1, 0),
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```
<Playground id="#8RQJ1R#8" title="Pivots and Axes (G Parameters)" description="Simple example of pivots and axes with G parameters."/>

----

(H) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(5, 0, 0),
connectedPivot: new BABYLON.Vector3(0, 0, 0), 
mainAxis: new BABYLON.Vector3(0, 1, 0),
connectedAxis: new BABYLON.Vector3(0, 1, 0)
``` 
<Playground id="#8RQJ1R#9" title="Pivots and Axes (H Parameters)" description="Simple example of pivots and axes with H parameters."/>

----

(J) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(10, 0, 0),
connectedPivot: new BABYLON.Vector3(0, 5, 0), //adjust main body position and radius of rotation
mainAxis: new BABYLON.Vector3(0, 1, 0), 
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```
<Playground id="#8RQJ1R#10" title="Pivots and Axes (J Parameters)" description="Simple example of pivots and axes with J parameters."/>

----

(K) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(10, 0, 0), //set main body position
connectedPivot: new BABYLON.Vector3(0, 5, 0), //adjust main body position and radius of rotation
mainAxis: new BABYLON.Vector3(0, 0, 1), //different axes will rotate main body so stated axes align.
connectedAxis: new BABYLON.Vector3(1, 0, 0)
```
<Playground id="#8RQJ1R#11" title="Pivots and Axes (K Parameters)" description="Simple example of pivots and axes with K parameters."/>

## Playground Examples  - Connected Axle Has Non-Zero Mass and is at the Origin with No Rotation

When the position of the main body mesh is not the same as the position imposed on the impostors by the pivots or axes the body the physics will move the body from its mesh position to the position determined by the pivots and axes. This movement acts in the physics' world and so will set the hinge joint system in motion. 

In the following example the parameter setting will be applied in four situations, the last two just for fun.

  i. No Motor - main body mesh position and rotation made to be equal to that determined by pivots and axes;  
 ii. No Motor - main body mesh position and rotation different to that determined by pivots and axes;  
iii. Motor Applied - as ii.;  
 iv. Motor Applied in Non-Zero gravity - as ii.

(L) Parameter Settings
```javascript
mainPivot: new BABYLON.Vector3(0, 0, 0),  
connectedPivot: new BABYLON.Vector3(0, 0, 0), 
mainAxis: new BABYLON.Vector3(0, 1, 0),
connectedAxis: new BABYLON.Vector3(0, 1, 0)
```

<Playground id="#8RQJ1R#13" title="Pivots and Axes (L(i) Parameters)" description="Simple example of pivots and axes with L(i) parameters."/>
<Playground id="#8RQJ1R#14" title="Pivots and Axes (L(ii) Parameters)" description="Simple example of pivots and axes with L(ii) parameters."/>
<Playground id="#8RQJ1R#15" title="Pivots and Axes (L(iii) Parameters)" description="Simple example of pivots and axes with L(iii) parameters."/>
<Playground id="#8RQJ1R#16" title="Pivots and Axes (L(iv) Parameters)" description="Simple example of pivots and axes with L(iv) parameters."/>



## The Skull as a Compound Body

![Skull](/img/how_to/physics/skull.jpg)
The skull is an interesting shape to try to compound and you can see it in all its magnificence here: <Playground id="#UKNERM#0" title="Skull As A Compound Body" description="Simple example of the skull as a compound body."/>

It is roughly composed of a sphere for most of it with a box around the jaw area, with a bit of work involved to position the sphere and box as good as possible. The skull is compounded to these two covering meshes.

![Compound Skull](/img/how_to/physics/greenSkull.jpg)

**Note** Center of mass is at the origin of the compound object.

## Compound to Empty Mesh

1. Create an empty mesh to be used as a parent for the compound body;
2. Create a range of appropriately shaped standard meshes to fit over the irregular mesh;
3. Parent the standard meshes and the irregular mesh to the empty mesh;
4. Calculate or estimate the mass for each standard mesh;
5. Create physics imposters for each standard mesh with zero mass;
6. Create a physics imposter for the empty mesh, using the NoImposter property, with the total mass of all the standard meshes.

**Note** Step 3 MUST come before step 4 and step 5 before step 6.

<Playground id="#492ZK0#7" title="Skull As A Compound Body 1" description="Simple example of a skull as a compound body."/>

## Compound Covering Meshes to The Complex Mesh 

1. Create a range of appropriately shaped standard meshes to fit over the irregular mesh;
2. Parent the standard meshes to the irregular mesh;
3. Calculate or estimate the mass for each standard mesh;
4. Create physics imposters for each standard mesh with zero mass;
5. Create a physics imposter for the irregular mesh, using the NoImposter property, with the total mass of all the standard meshes.

**Note** Steps 2, 4 and 5 must be in that order.

<Playground id="#492ZK0#12" title="Skull As A Compound Body 2" description="Simple example of a skull as a compound body."/>


## Compound to One of the Covering Meshes

1. Create a range of appropriately shaped standard meshes to fit over the irregular mesh;
2. Choose one standard mesh and parent the other standard meshes and the irregular mesh to this mesh;
3. Calculate or estimate the mass for each standard mesh;
4. Create physics imposters for each standard mesh with the assumed mass;

**Note** Step 2 MUST come before step 4.

<Playground id="#492ZK0#8" title="Skull As A Compound Body 3" description="Simple example of a skull as a compound body."/>



# Joints

A joint in a physics engine is a constraining feature between two bodies. This area has the largest differences between the physics engine both in the joints available and the names used. Not all native joints are available in some plugins.

Playgrounds are available to check out the coding. In the playgrounds the physics' engine used can be changed by selecting which ones to comment out.

See [How to Use The Physics' Engines](/legacy/physics/usingPhysicsEngine) for an overall view of setting up and using the three plugins.

## Physical Joint Types

| Number | Joint                                                   | Name            | Notes                                                                           |
| ------ | ------------------------------------------------------- | --------------- | ------------------------------------------------------------------------------- |
| 1      | ![Hinge](/img/how_to/physics/hinge.jpg)                 | Hinge           | Single Axis Rotation                                                            |
| 2      | ![Ball and Socket](/img/how_to/physics/ballnsocket.jpg) | Ball and Socket | Multi Axis Rotation                                                             |
| 3      | ![Cone Twist](/img/how_to/physics/conetwist.jpg)        | Cone Twist      | Unrestricted rotation (Twist) on One Axis, Limited Rotation (in Cone) On Others |
| 4      | ![Wheel](/img/how_to/physics/wheel.jpg)                 | Wheel           | Two Axes Rotation                                                               |
| 5      | ![Slider](/img/how_to/physics/slider.jpg)               | Slider          | Single Axis Translation and Rotation                                            |
| 6      | ![Prismatic](/img/how_to/physics/prismatic.jpg)         | Prismatic       | Single Axis Translation Only                                                    |
| 7      | ![Distance](/img/how_to/physics/distance.jpg)           | Distance        | Set Bodies a Fixed Distance Apart                                               |
| 8      | ![Locked](/img/how_to/physics/locked.jpg)               | Locked          | Bodies Act As One Body                                                          |

## Babylon.js Joints

The following table lists those joints within Babylon.js and where available their equivalence to each other and their link to the native joints

| Babylon.js Joint   | Cannon Joint           | Oimo Joint         | Ammo Joint                                   | Helper Class     |
| ------------------ | ---------------------- | ------------------ | -------------------------------------------- | ---------------- |
| HingeJoint         | HingeConstraint        | HingJoint          | HingeConstraint                              | Yes              |
| BallAndSocketJoint | PointToPointConstraint | BallAndSocketJoint | Point2PointConstraint                        | no               |
| WheelJoint         | ----                   | WheelJoint         | Point2PointConstraint                        | Hinge2Joint Only |
| SliderJoint        | ----                   | SliderJoint        | SliderConstraint                             | No               |
| PrismaticJoint     | ----                   | PrismaticJoint     | ----                                         | No               |
| DistanceJoint      | DistanceConstraint     | DistanceJoint      | Point2PointConstraint with Added Constraints | Yes              |
| LockJoint          | LockConstraint         | ----               | FixedConstraint                              | No               |
| SpringJoint        | Spring                 | ----               | ----                                         | No               |

The method to form a joint and connect one body (main) to a second body (connected) is

```javascript
var joint = new BABYLON.PhysicsJoint(
  BABYLON.PhysicsJoint.TYPE_OF_JOINT,
  jointData
);

mainImpostor.addJoint(connectedImpostor, joint);
```

where the `jointData` object contains the properties for the joint.

### Hinge Joint

For a hinge the only component of any force that produces movement is one perpendicular to the axis of the hinge. It is possible however that a large impulse in another direction can produce a reaction between the two bodies that does produce an impulse component in the perpendicular direction.

The `jointData` object for a hinge contains the following properties

- mainAxis: Vector3; the axis for the main body.
- connectedAxis: Vector3; the axis for the connected body, usually the same as the main axis.
- mainPivot: Vector3; the pivot point for the main body.
- connectedPivot: vector3; the pivot point for the connected body, the negative of the connected body's position.

A hinge joint can also be created with a helper class

```javascript
var joint1 = new BABYLON.HingeJoint(jointData);
```

**_PhysicsJoint Playground_**

- <Playground id="#UFVU18#32" title="Hinge As A Sphere 1" description="Simple example of using a hinge as a sphere with PhysicsJoint."/>

**_Helper Class Playground_**

- <Playground id="#F15U0G#55" title="Hinge As A Sphere 2" description="Simple example of using a hinge as a sphere with the helper class."/>

Since a hinge gives movement about only one axis it would seem to make sense to replace the representation of the hinge with a cylinder. Doing this, reshaping the box and keeping the sphere mesh imposter as a sphere does produce changes.

In this case, for all the physics' engines whatever the direction of impulse set it is applied in a direction perpendicular to the hinge axis.

**_PhysicsJoint Playground_**

- <Playground id="#UFVU18#33" title="Hinge As A Cylinder 1" description="Simple example of using a hinge as a cylinder with PhysicsJoint."/>

**_Helper Class Playground_**

- <Playground id="#F15U0G#56" title="Hinge As A Cylinder 2" description="Simple example of using a hinge as a cylinder with the helper class."/>

You can, of course, use a cylinder impostor for the cylinder mesh

**_PhysicsJoint Playground_**

- <Playground id="#RHBQY9#13" title="Hinge As A Cylinder 3 (box and cylinder)" description="Simple example of using a hinge as a cylinder with PhysicsJoint."/>

**_Helper Class Playground_**

- <Playground id="#RHBQY9#14" title="Hinge As A Cylinder 4 (box and cylinder)" description="Simple example of using a hinge as a cylinder with the helper class."/>

### Ball And Socket Joint

For a ball and socket joint a force can produce rotation about all three axes.

The positioning of the connected body is determined by the connected pivot. The `jointData` object for a ball and socket contains the following properties

- mainPivot: Vector3; the pivot point for the main body.
- connectedPivot: vector3; the pivot point for the connected body, the negative of the connected body's position.

**_PhysicsJoint Playground_**

- <Playground id="#RHBQY9#15" title="Ball and Socket" description="Simple example of a ball and socket joint with box and sphere imposters."/>

### Wheel Joint

For a wheel the force produces rotation about two axes.

The `jointData` object for a hinge contains the following properties

- mainAxis: Vector3; the first axis.
- connectedAxis: Vector3; the second axis.
- mainPivot: Vector3; the pivot point for the main body.
- connectedPivot: vector3; the pivot point for the connected body, the negative of the connected body's position.

**Note** In the `Oimo.js` playgrounds changing the contact point of the force will not produce a spin around the axis perpendicular to the sphere's surface.

**_PhysicsJoint Playground_**

- <Playground id="#UFVU18#7" title="Oimo.js Wheel Joint Example" description="Simple example of creating a wheel joint in Oimo with box and sphere imposters."/>

The `PhysicsJoint` called `Hinge2Joint` can be used as an alternative. Note however that there is no helper call `WheelJoint` and the helper must be

```javascript
var joint1 = new BABYLON.Hinge2Joint(jointData);
```

When this helper class is used with `Ammo.js` it forms a `BallAndSocketJoint` not a `WheelJoint`. So a change of contact point can produce a spin around the axis perpendicular to the sphere's surface when using `Ammo.js`.

**_Helper Class Playgrounds_**

- <Playground id="#F15U0G#26" title="Oimo.js Hinge2" description="Simple Oimo.js example of a hinge2 with box and sphere imposters."/>
- <Playground id="#F15U0G#64" title="Ammo.js Hinge2" description="Simple Ammo.js example of a hinge2 with box and sphere imposters."/>

### Slider Joint

Currently `Oimo.js` only. Any component of force in the direction of the slider axis will move the body along this axis. Any component of force perpendicular to the slider axis will rotate the body around the axis.

The `jointData` object for a slider contains the following properties

- mainAxis:Vector3, slider and rotational axis
- collision: Boolean, true if the main and connected bodies react at collision.

**_PhysicsJoint Playgrounds_**

- <Playground id="#UFVU18#17" title="Oimo.js Slier Example" description="Simple Oimo.js example of a slider with box and sphere imposters."/>

### Prismatic Joint

Currently `Oimo.js` only. Only the component of force in the direction of the axis will move the body and the movement will be a translation only along this axis.

The `jointData` object for a slider contains the following properties

- mainAxis:Vector3, prismatic axis
- collision: Boolean, true if the main and connected bodies react at collision.

**_PhysicsJoint Playgrounds_**

- <Playground id="#UFVU18#18" title="Oimo.js Prismatic Joint" description="Simple Oimo.js example of a prismatic Joint with box and sphere imposters."/>

### Distance Joint

The `jointData` object for a distance joint contains the following properties

- maxDistance: number.

**_PhysicsJoint Playgrounds_**

- <Playground id="#UFVU18#34" title="Distance Joint 1" description="Simple example of a distance joint with box and sphere imposters."/>

**_Helper Class Playgrounds_**

- <Playground id="#F15U0G#57" title="Distance Joint 2" description="Simple example of a distance joint with box and sphere imposters, created with the helper class."/>

### LockJoint

`Cannon.js` only. The two connected bodies act as one body.

**_PhysicsJoint Playgrounds_**

- <Playground id="#UFVU18#19" title="Cannon.js Lock Joint Example" description="Simple Cannon.js example of a lock joint using box imposters."/>

### Spring

`Cannon,js` Only. The `jointData` object for a spring contains the following properties

- length: number.
- stiffness: number.
- damping: number.

**_PhysicsJoint Playgrounds_**

- <Playground id="#UFVU18#36" title="Cannon.js Spring Joint Example" description="Simple Cannon.js example of a spring joint with box imposters."/>

## Motors

A motor requires a target speed (angular velocity) and the maximum force (torque) that can be applied by the motor. It is possible to set a torque that is insufficient for it to reach the target speed. Depending on the shape and mass of the body the torque has to overcome the moment of inertia of the body. A too low value for the torque will make the body struggle and stutter to reach the target speed. Even attempting to simulate a virtual motor in zero gravity with no friction and a zero mass for the axel joint turning a cylinder can make determining an appropriate value for the torque difficult. Since moment of inertia, which determines torque, also depends on the volume of the body it is a good idea to keep linear dimensions around 10 or less though it is probably worth experimenting to get obtain what you need. Adding gravity, friction and further bodies, that the motored body has to move, makes it even more difficult. Sometimes in your project all you will want is for the motor to turn. This can be achieved by just setting the target speed (the motor will be over torqued by default), as in

```javascript
joint.setMotor(speed);
```

At other times it will be important to set a value for the torque that limits the motor operation, you can do this with

```javascript
joint.setMotor(speed, force);
```

The table below shows the joints that a motor can be added to.

| Babylon.js Joint                 | Cannon Motor | Oimo Motor | Ammo Motor |
| -------------------------------- | ------------ | ---------- | ---------- |
| BABYLON.PhysicsJoint.HingeJoint  | Yes          | Yes        | Yes        |
| BABYLON.PhysicsJoint.WheelJoint  | No           | Yes        | No         |
| BABYLON.PhysicsJoint.Hinge2Joint | No           | Yes        | No         |
| BABYLON.PhysicsJoint.SliderJoint | No           | Yes        | No         |

To add a motor to one of these joints simply replace `PhysicsJoint` with `MotorEnabledJoint` and set the motor on the joint.

```javascript
var joint = new BABYLON.PhysicsJoint(
  BABYLON.PhysicsJoint.TYPE_OF_JOINT,
  jointData
);

mainImpostor.addJoint(connectedImpostor, joint);
```

becomes

```javascript
var joint = new BABYLON.MotorEnabledJoint(BABYLON.PhysicsJoint.TYPE_OF_JOINT, jointData);

mainImpostor.addJoint(connectedImpostor, joint);

joint.setMotor(target speed, maximum torque)
```

The helper classes for `HingeJoint` and `Hinge2Joint` are already motorised and only `setMotor` is needed.

## Playground Examples

### Hinge Motor Speed Only

**_MotorEnabledJoint Playground_**

- <Playground id="#UFVU18#35" title="Hinge Motor 1" description="Simple example of a hinge motor."/>

**_Helper Class Playground_**

- <Playground id="#F15U0G#58" title="Hinge Motor 2" description="Simple example of a hinge motor, created with the helper class."/>

### Hinge Motor Speed and Torque (Force)

Different engines use differing scales for the torque and a little trial and error is often necessary to determine the required effect.

- For Cannon.js try starting with torque values between 1/100 to 1/10 of the total mass value;
- For Ammo.js try starting with torque values between 1/100 and 1/10 of total mass value;
- For Oimo.js try starting with torque values about 1 to 10 times the total mass value.

In the hinge motor playgrounds below there are two wheels you can try out different torque values for each wheel to see how they vary. Note that they are in zero gravity, with zero friction and the axel has zero mass. In other situations torque values may need a larger factor than those given above.

**_MotorEnabledJoint Playground_**

- <Playground id="#WWNQ10#19" title="Hinge Motor 3" description="Simple example of a hinge motor (play with torque values)."/>

**_Helper Class Playground_**

- <Playground id="#WWNQ10#20" title="Hinge Motor 4" description="Simple example of a hinge motor created with the helper class (play with torque values)."/>

### Wheel (Hinge2) Motor

**_MotorEnabledJoint Playgrounds_**

- <Playground id="#UFVU18#28" title="Oimo.js Wheel Z Axis" description="Simple Oimo.js example of a wheel (hinge2) along the Z axis."/>
- <Playground id="#UFVU18#29" title="Oimo.js Wheel Y Axis" description="Simple Oimo.js example of a wheel (hinge2) along the Y axis."/>
- <Playground id="#UFVU18#30" title="Oimo.js Wheel X Axis" description="Simple Oimo.js example of a wheel (hinge2) along the X axis."/>

### Slider Motor

The motor rotates the body around the slider axis.

**_MotorEnabledJoint Playground_**

- <Playground id="#UFVU18#31" title="Oimo.js Slider X Axis" description="Simple Oimo.js example of a slider along the X axis."/>
