BallJoint.wrl

# A BallJoint node can be used to simulate a rotating motion with 3 DOF (ball and socket).
# parent: Hinge2Joint

BallJoint {
  field SFNode jointParameters  NULL  # BallJointParameters specifying the joint anchor and spring and damper constants, minStop, maxStop related to the first axis
  field SFNode jointParameters2 NULL  # JointParameters specifying spring and damper constants, minStop, maxStop related to the second axis
  field SFNode jointParameters3 NULL  # JointParameters specifying spring and damper constants, minStop, maxStop related to the third axis
  field MFNode device           []    # rotational motor, position sensor and brake associated to the first rotational axis
  field MFNode device2          []    # rotational motor, position sensor and brake associated to the second rotational axis
  field MFNode device3          []    # rotational motor, position sensor and brake associated to the third rotational axis
  field SFNode endPoint         NULL  # either a Solid child, or a (non-child) reference to an existing Solid: SolidReference
  # hidden fields
  hiddenField SFFloat position  0     # current position of the first rotational axis (rad)
  hiddenField SFFloat position2 0     # current position of the second rotational axis (rad)
  hiddenField SFFloat position3 0     # current position of the third rotational axis (rad)
}