Joints and Physics

Gizmo uses a consistent, robotics-oriented joint model.

Joint Types

Joint	Common Use
Revolute	Doors, lids, knobs, levers, wheels
Prismatic	Drawers, sliders, pistons, gripper jaws
Spherical	Gimbals, shoulders, ball joints
Fixed	Welded or rigid attachments

Joint axes are authored in the asset-local frame.

Object	Joint
Cabinet door	Revolute, vertical Z-axis hinge
Drawer	Prismatic, forward/back axis
Oven or dishwasher door	Revolute, bottom hinge
Knob or dial	Revolute around stem direction
Wheel	Revolute around wheel normal

For each primitive, Gizmo computes: