# CylindricalConstraint

A CylindricalConstraint allows its attachments to slide along one axis and rotate about another axis. It can be thought of like a combination of a PrismaticConstraint and a HingeConstraint. The sliding axis is determined by the X axis of the constraint's Attachment0. The rotation axis is centered at the constraint's Attachment1 and is angled off of the sliding constraint by the constraint's InclinationAngle.

This constraint, along with a SpringConstraint, is ideal for building vehicle suspension.

Note that if this constraint attaches one part (A) to another part (B) that is anchored or connected to an anchored part (Z), part A will not be locally simulated when interacting with a player.

When configuring this constraint, it may be helpful to study Roblox Units to understand how Roblox units compare to metric units.

#### Angular Power

If a cylindrical's AngularActuatorType is set to Motor, it attempts to rotate the attachments with the goal of reaching its AngularVelocity. You can further control this rotation through both MotorMaxAngularAcceleration and MotorMaxTorque. If a cylindrical's AngularActuatorType is set to Servo, it attempts to rotate to an angle specified by TargetAngle. This rotation is controlled by AngularSpeed, AngularResponsiveness, and ServoMaxTorque.

#### Linear Power

If a cylindrical's ActuatorType is set to Motor, it attempts to translate the attachments with the goal of reaching Velocity. You can further control this translation through both MotorMaxAcceleration and MotorMaxForce. If a cylindrical's ActuatorType is set to Servo, it attempts to translate the attachments to a set separation specified by TargetPosition. This translation is controlled by Speed, LinearResponsiveness, and ServoMaxForce.

#### Limits

You can set limits to restrict both the sliding range and rotation of a cylindrical constraint. Enabling the LimitsEnabled property exposes the LowerLimit and UpperLimit values, as well as Restitution which defines the elasticity of the attachments when they reach either limit. Enabling the AngularLimitsEnabled property exposes the LowerAngle and UpperAngle limits, as well as AngularRestitution which defines the elasticity of the attachments when they reach either limit.

#### Inclination Angle

InclinationAngle defines the direction of the rotation axis as an angle from the X axis in the XY plane of Attachment0, from -180 to 180. This lets you tilt the rotating element without changing the sliding axis.

## Summary

### Properties

Type of angular actuator.

Enables the angular limits around the rotation axis.

Specifies the sharpness of the angular servo motor in reaching the TargetAngle.

Restitution of the two limits, or how elastic they are.

Target angular speed. This value is unsigned as the servo will always move toward its target. In radians per second.

The target angular velocity of the motor in radians per second around the rotation axis.

Signed angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis.

Direction of the rotation axis as an angle from the X axis in the XY plane of Attachment0.

Lower limit for the angle (in degrees) between the reference axis and the SecondaryAxis of Attachment1 around the rotation axis.

The maximum angular acceleration of the motor in radians per second squared.

The maximum torque the motor can apply to achieve the target angular velocity.

Enable the visibility of the rotation axis.

Maximum torque the servo motor can apply.

Target angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis.

Upper limit for the angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis.

The unit vector direction of the rotation axis in world coordinates.

### Methods

### Events

## Properties

### AngularActuatorType

If a cylindrical's AngularActuatorType is set to Motor, it attempts to rotate the attachments with the goal of reaching its AngularVelocity. You can further control this rotation through both MotorMaxAngularAcceleration and MotorMaxTorque.

If a cylindrical's AngularActuatorType is set to Servo, it attempts to rotate to an angle specified by TargetAngle. This rotation is controlled by AngularSpeed, AngularResponsiveness, and ServoMaxTorque.

### AngularResponsiveness

This property specifies the sharpness of the angular servo motor in reaching the TargetAngle, when AngularActuatorType is set to Servo. Larger values correspond to a faster response and smaller values results in more damping and a slower response.

### AngularRestitution

Restitution of the two limits, or how elastic they are. Constrained between 0 and 1.

### AngularSpeed

Target angular speed. This value is unsigned as the servo will always move toward its target. In radians per second.

### AngularVelocity

The target angular velocity of the motor in radians per second around the rotation axis.

### CurrentAngle

Signed angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis. Valid range between -180 and 180.

### InclinationAngle

Direction of the rotation axis as an angle from the X axis in the XY plane of Attachment0. Valid range between -180 and 180.

### LowerAngle

Lower limit for the angle (in degrees) between the reference axis and the SecondaryAxis of Attachment1 around the rotation axis. Valid range between -180 and 180.

### MotorMaxAngularAcceleration

The maximum angular acceleration of the motor in radians per second squared.

### MotorMaxTorque

The maximum torque the motor can apply to achieve the target angular velocity. Units are mass × studs²/second².

### SoftlockAngularServoUponReachingTarget

### TargetAngle

Target angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis. Valid range between -180 and 180.

### UpperAngle

Upper limit for the angle (in degrees) between the reference axis and the secondary axis of Attachment1 around the rotation axis. Valid range between -180 and 180.