phx-constraints-forces

You can connect and actuate PHX rigid bodies by configuring fixed, revolute, prismatic, cylindrical, spherical, or gear joints with local frames, limits, and collision behavior. This skill handles the constraint logic so you can build jointed mechanisms without manual implementation.

Available compliant force elements include springs, ropes, thrusters, buoyancy, resistance, dipole and monopole fields, and one-step body forces and torques for modeling complex physical interactions in rigid-body dynamics.

Yes, you can build closed-loop read-state and actuator loops for vehicles, pendulums, and robotic mechanisms. The skill supports driving parameters with scripts and implementing per-substep control laws via function callbacks for stable simulation stepping.

Joint limits and reaction loads are configured by defining local frames and degrees-of-freedom constraints for each joint type. You can specify fixed, bushing, revolute, prismatic, or spherical joints with appropriate collision behavior and runtime parameter updates.

Stable simulation stepping for jointed chains is achieved by using per-substep callbacks and function-based control laws. This skill allows you to apply forces, update runtime parameters, and implement compliant mechanisms without manually writing the simulation loop logic.