Set the projection on the joint.

PHY SET 6DOF JOINT PROJECTION ID, mode, distance#

ID

Integer
identification number of the joint

mode

Integer
the project mode, this can only be set to 1 at this moment in time

distance#

Float
the distance above which to project the joint

The 6DOF joint provides the ability to correct large joint errors by projecting the joint back to the valid configuration. Projection is provided for joint errors on locked DOFs and limit violations on limited DOFs ( with a couple of exceptions ). The 6DOF joint provides projection for the following cases: free linear motion, limited linear motion, free and limited twist motion, both swing axes locked, swing 1 locked and swing 2 limted, swing 2 locked and swing 1 limited, swing 1 and swing 2 locked. The 6DOF joint does not provide projection for: swing 1 limited and swing 2 free, swing 2 limited and swing 1 free. By default joint proiection is disabled. To enable it use this command.

In some cases projection may negatively influence the behavior of a system, depending on how the system is tuned. This is particularly true for small projection distances when the solver fights with the way the joint is projected. Obtaining the best configuration is generally a matter of experimentation.

No example code is provided for this command