2021.1.1560.3 Add Double Kinematics

Kinematics Overview

Mechanics	Name	Kinematic Feature	Version

Name	Kinematic Feature	Version
Gears	Double Wheel Joint Use a Double Wheel Joint combination to connect the two (or more) gears together. Any direct rotational rotational relation is possible to create, even with a rotation scale factor, an inversion or a change of axis.	Release
Pully	Double Wheel Joint A pully system is created with a Double Wheel Joint combination to connect the two (or more) pullies together. Any direct rotational rotational relation is possible to create, even with a rotation scale factor, an inversion or a change of axis.	Release
Motor	Double Wheel Joint To add a motor to a mechanical rig, a Double Wheel Joint is used to transfer the rotational motion (f.e. a stepper motor or servo) to a GameObject (f.e. a gear). Any direct rotational rotational relation is possible to create, even with a rotation scale factor, an inversion or a change of axis.	Release
Hinge	Double Wheel Joint To create a hinge, connect both objects with a Double Wheel Joint. When making hinges, use the same rotational axis and set a limit on the rotation.
Piston	Double Prismatic Joint Whenever you want to have a linear movement over a fixed axis a Double Prismatic Joint can be used. Any direct linear relation is possible even with a scale factor, inversion or change of axis. For example when creating a extracting piston, pusher or linear servo.	Release
Rack and Pinion	Double Wheel Joint & Double Prismatic Joint Any direct relation between a rotational movement and a linear movement is possible by combining the Double Wheel Joint with the Double Prismatic Joint. For example in a Rack and Pinion construction, or when rolling wheel over a rail.	Release
Crane/ Robot Arm	Double Bar Linkage Solver When a piston is used to control a hinged arm f.e. in a mechanical robot-arm or a crane, Prespective provides the Double Bar Linkage Solver solution. The solver takes into account that when applying rotational motion to the Robot- or Crane arm, the extracting piston itself will rotate when extracting/subtracting.	Release
Piston Engine	Double Crank Slider When a piston is applied in a situation to drive a rotation, for example in a combustion engine construction, a more complex kinematic rig is required. Prespective provides the Double Crack Slider solution for this.	Alpha
Camera Gimbal	Double Gyroscopic Joint To create a Camera Gimbal or any other gyroscopic construction, Prespective provide the Double Gyroscopic Joint. This kinematic constraint keeps an objects up direction constant.	Alpha
Bolt & Nut ?	Double Helical Joint Bolt and Nut?	Release
Worm Wheel?	Double Cylindrical Joint Worm Wheel?	Release
Boundary 2D	Double Complex Joint To have an object moving within the boundaries of a mechanical shape, the Double Complex Joint can be used. This kinematic relation is used to define a complex boundary in 2D.	Alpha
AGV Surface	Double Planar Joint When an object has free movement over a specific surface the Double Planar Joint can be used. For example when moving a AVG over a specific floor area. This feature constraints the motion of a Game Object to a translation over a Double Tensor Surface.	Alpha
Focus on Object	Double Look-at Joint When an object keeps constant focus towards another object, the Double Look-at Joint can be used. This feature forces the joint to look at a specific connected object in scene.	Alpha
Ball Joint	Double Ball Joint Ball Joints typically allow movement in multiple rotation directions, and are limited to a certain angle. Prespective provides the Double Ball Joint to create this mechanical setup. This feature constrains the rotation of a game object, by setting limit angles for the individual axis directions.	Alpha

Kinematics

With Prespective’s Double Kinematics tools/features it’s possible to easily rig a 3D setup f.e. a robot-arm, machine or a mechanical construction. When the kinematic rig is completed the 3D setup is ready for interactive control (f.e. link it with PLC logic). There are several Kinematic features available within Prespective and sometimes there are multiple solutions for the same mechanical challenge. On this page we provide a quick overview of which joint or solver can be used best for what situation. How a specific tool should be implemented in Unity can be seen in the specific feature’s documentation.

Kinematic Construction Diagram

To have the kinematic features to work there always needs to be Double Kinematics Controller available in the scene (top-level in the kinematic rig). Only Double Kinematic Body objects are available for making kinematic connections, there are several types of kinematic relations between kinematic bodies possible. In the diagram a (bi-directional) Double Wheel Joint relation is shown between a Kinematic Body and it’s child’s Kinematic Body.