SixDOF Constraint

Configures every relative translation and rotation axis as fixed, free or limited, with per-axis friction and motors.

SixDOF is the most flexible managed joint. Use it when Fixed, Hinge, Slider, Cone or SwingTwist cannot express the intended mechanism. Its power also makes correct frame, axis and unit documentation essential.

Syntax#

jolt_sixdof(body_a, body_b, anchor_x, anchor_y, anchor_z, options=undefined)

Frame and general options#

Axis options#

Constants#

Axis methods#

Rotation semantics#

• Rotation X is Jolt twist. Rotation Y and Z are coupled swing dimensions, not independent Euler clamps.
• CONE swing requires limited Y/Z ranges symmetric around zero and creates an elliptical cone.
• PYRAMID permits asymmetric Y/Z ranges.
• Linear values use world units; high-level angular limits and angular velocities use degrees.

Motor methods#

Soft limits and solver state#

Example: slider-like Z motion#

var joint = jolt_sixdof(body_a, body_b, 0, 0, 2, {
    linear_z: { min:0, max:3 },
    collision: false
});

Example: driven translation axis#

joint.set_axis_free(JOLT_SIXDOF_TRANSLATION_X);
joint.set_axis_motor_limit(JOLT_SIXDOF_TRANSLATION_X, 120);
joint.set_axis_motor_spring(JOLT_SIXDOF_TRANSLATION_X, 3, 0.8);
joint.set_target_position(2, 0, 0);
joint.set_axis_motor_state(JOLT_SIXDOF_TRANSLATION_X, JOLT_MOTOR_POSITION);

Validation and lifecycle#

• The creator requires two different live bodies, a finite anchor and two finite, non-zero, non-parallel frame axes.
• Every limited axis needs finite ordered min/max values; angular values must remain within -180..180 degrees.
• Per-axis friction is force for translations and torque for rotations.
• Runtime mutations wake connected bodies; getters do not.
• Destroying either body invalidates the constraint. destroy() and jolt_stop() are safe and ordered.
• There is currently no jolt_sixdof_world() convenience creator.

Verified operation contracts#

These contracts distinguish units, return values, errors and lifetime according to the current implementation. Check results: false, 0 and undefined can mean different things for different methods.