JointύX̓p[^^l


[] : A - B  | ͈(ړ:ԋ^]:]x)

 A < B  | ͈͂Ő
 A = B  | wlŃbN(̂Ƃ̋YȂǂɂ芮SȃbN͕s\) 
 A > B  | Ȃ(t[)

ȕt6DOF
[΂] : olvZŎgWl

ConeTwist
[^p[^]
dp_x  : damping(0) - fixThresh(1)  | 0-0 ƕvZ\܂
dp_z  : (Œ)[^[L(0:OFF/1:ON) - [^[CpXl

]  : X/Y/Z ̉]͈(+-p)  | x:60 -> -60~+60

mɂ (pX)ɑ΂āA
 X : P
 Y : ]͈͂̊g-(c)
 Z : ]͈͂̊g-c()
ƂdlɂȂ܂(̎[]Œ֊ȈՐݒ\(+-XYZ))

[p[^^[^[p]
fc  : softness, biasFactor, relaxationFactor  | Jointp[^(W:1/0.3/1)
MtA : [^[ĽŒ?px(X/Y/Z)

(Œ)[^[̋(_)
E]͈͂Z60(x)ȏKv(Ȃꍇ͉]͈͂)
EwpxŌŒ肵Ă܂(dlH)

A]ړI͉L Hinge ł̃[^[gp𐄏

Slider
ړ^] "X"  (Joint̕ύXőΉ)
[]Œ֊ȈՐݒ\(+-XYZ)

[[^[]
ړ^]()  : [^[L(0:OFF/1:ON), [^[x, [^[ő

Sliderɂ]͔͈͂ɂĂ͐삵܂

Hinge
] "Z"  (Joint̕ύXőΉ)
[]Œ֊ȈՐݒ\(+-XYZ)

[p[^^[^[]
fc  : softness, biasFactor, relaxationFactor  | Jointp[^(W:0.9/0.3/1)
]  : ][^[L(0:OFF/1:ON), [^[x, [^[ő

]t[(-180~+180^1~0Ȃ)ɂă[^[gƌp]\

