Version: 2022.1
LanguageEnglish
  • C#

ArticulationReducedSpace Constructor

Suggest a change

Success!

Thank you for helping us improve the quality of Unity Documentation. Although we cannot accept all submissions, we do read each suggested change from our users and will make updates where applicable.

Close

Submission failed

For some reason your suggested change could not be submitted. Please <a>try again</a> in a few minutes. And thank you for taking the time to help us improve the quality of Unity Documentation.

Close

Cancel

Declaration

public ArticulationReducedSpace(float a);

Declaration

public ArticulationReducedSpace(float a, float b);

Declaration

public ArticulationReducedSpace(float a, float b, float c);

Parameters

a Coordinate of the first degree of freedom.
b Coordinate of the second degree of freedom.
c Coordinate of the third degree of freedom.

Description

Stores coordinates in reduced space.

Used in conjunction with joint parameter accessors in reduced coordinate space, for instance: ArticulationBody.jointPosition.

Currently, an articulation body can have up to three degrees of freedom:

  • a fixed joint has no degrees of freedom;
  • a revolute joint has one rotational degree of freedom -- rotation around the X axis, called twist;
  • a prismatic joint has one translational degree of freedom -- translation along X, Y, or Z axis;
  • a spherical joint has up to three, depending on the amount of unlocked motions. Currently, if only one axis is unlocked, then the amount of degrees of freedom will be reported as 1, and 3 otherwise. The order of axes is as follows: first is twist, then the two swing values.