2022.1.1148.0 Double Bar Linkage Solver

1 Overview
2 Where to find
3 Feature layout
4 How to use - Part A
5 How to use - Part B

Overview

A Bar Linkage Solver is a joint setup which allows you to quickly create an bar linkage using Wheel Joints and a Prismatic Joint. Bar linkages are commonly used in hydraulic systems (such as crane arms).

The D Bar Linkage Solver can easily be used for Kinematic Synthesis (n-bar linkages by combining <4 bar link systems).

A Bar Linkage Solver controlling a piston pushing an arm

Where to find

The D Bar Linkage Solver component can be found under Mechanics > Kinematics > Add Bar Linkage Solver.

It can also be accessed from the GameObject menu or from the Hierarchy Context menu.

A new GameObject will be created if you do not have a GameObject selected. Otherwise, the D Bar Linkage Solver will be added to the selected GameObject.

Feature layout

The image below shows the complete feature layout of the D Bar Linkage Solver component.

Generic Joint Settings
Pass Priority	Priority of the kinematic chain calculations. Higher numbers are calculated earlier.
Enforce Outside Playmode	Enforces the prismatic joint in edit mode.
Prevent Kinematic Update	Removes the prismatic joint from the kinematic chain calculations.
Min Translation Delta	The minimum value the joint detects as a change in position.
Min Rotation Delta	The minimum value the joint detects as a change in rotation.
Kinematic Chaining
Show in Scene View	Shows chained connections of this object through arrows.
Show When Not Selected	Shows chained connections of this object through arrows even when the object is not selected.
Add Kinematic Transfer Relation	When a kinematic Body is dragged into this a transfer relation between them is created. Alternatively, you can select a Kinematic Body using the wheel.
Opposing Kinematic Relation	The Kinematic Body to which this relation is connected.
Relation Direction	Describes the direction of the manipulation of the Transforms. The following options are available: BIDIRECTIONAL: Allows for both kinematic transforms, when they are being manipulated, to manipulate each other equally. RECIEVE_ONLY: Allows for the joint, when it is being manipulated, to manipulate the opposing kinematic transform, but not the other way around. SEND_ONLY: Allows for the opposing kinematic transform, when it is being manipulated, to manipulate the joint, but not the other way around.
Ratio	The ratio in which the relation is applied (1 means all the applied rotation translation is equally transferred).
Invert Relation	Check to invert the direction of the relation.
Bar Linkage Triangles
Visualize in Scene View	Check to visualise triangles.
Create Triangle	Add a new triangle with a random color to the Bar Linkage Solver.
Triangle ##	Shows the ID of the triangle, the names of the two Wheel Joints in the triangle and whether the triangle is the leading triangle.
Color Picker	Change the color of the triangle.
Delete Button	Allows the user to delete the triangle from the Bar Linkage Solver.
Leading Triangle / Set as Leading	If the triangle is the leading triangle, that will be displayed. Else a button will appear to set the triangle as the leading triangle.
Moving Pivot	The Bar Linkage Solver is the Moving Pivot by default. This is a constant field and is shown for clarity.
Fix Pivot	Allows the user to assign a Wheel Joint as Fix Pivot.
Hinge Point	Allows the user to assign a Wheel Joint as Hinge Point.
Bar Linkage Solver Settings
Spline Input field	Defines the DSpline to which the Prismatic Joint is bound to.
Prismatic Joint Settings
Spline Constraint	The DSpline used to constrain this joint.
Spline Constraint Length	The length of the spline.
Current Spline Position	Normalized position of the Prismatic Joint over the spline between 0 and 1.
Target Control Point	The Spline point to be used for Update Limit ControlPoint.
Update Limit Control Point	Updates the Target Control Point to the current spline position.

How to use - Part A

To create a Kinematic Bar Linkage Solver, you first need the right setup. This setup will include several fixed arms, Wheel Joints and a Piston (this requires a DSpline). Part A of the how to use will guide you through the process of creating this system
Example of a system suitable for a Bar Linkage Solver.
Add a DWheelJoint to each of the rotational points
Make sure the Wheel Axis Direction of the Kinematic Wheel Joints are aligned with the desired rotation
After all Kinematic Wheel Joints are added, create a DSpline to control the range and postion of the Piston. Align the Spline Control Points to the Piston Rod. Holding V enables snapping to vertices in Unity
Make sure the DSpline is parented under the Piston. Your system is now set up to add a Kinematic Bar Linkage Solver

How to use - Part B

This part will show you how to add a Kinematic Bar Linkage Solver, to your previously created system. A Bar Linkage Solver requires the creation of several triangles.

Add a DKinematics Controller, this can be found under Mechanics > Add Kinematics > Add Kinematics Controller
Make sure the Kinematic Controller is placed above the system in the Hierarchy
Add a DBar Linkage Solver to the prismatic component in the system. This can be found under Mechanics > Add Kinematics > Bar Linkage Solver. The prismatic component is the piston part that controls the system
Assign the DSpline as the constraining spline for the Bar Linkage Solver
Create a Triangle
Assign the Fix Pivot and the Hinge Point for the Triangle
Turn on Enforce outside playmode, the first Triangle should work now
Create a second Triangle and follow the same steps
The D Bar Linkage Solver is now complete