Generic6DOFJoint¶
Inherits: Joint < Spatial < Node < Object
The generic 6-degrees-of-freedom joint can implement a variety of joint types by locking certain axes' rotation or translation.
Description¶
The first 3 DOF axes are linear axes, which represent translation of Bodies, and the latter 3 DOF axes represent the angular motion. Each axis can be either locked, or limited.
Properties¶
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Methods¶
get_flag_x ( Flag flag ) const |
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get_flag_y ( Flag flag ) const |
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get_flag_z ( Flag flag ) const |
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get_param_x ( Param param ) const |
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get_param_y ( Param param ) const |
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get_param_z ( Param param ) const |
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void |
set_flag_x ( Flag flag, bool value ) |
void |
set_flag_y ( Flag flag, bool value ) |
void |
set_flag_z ( Flag flag, bool value ) |
void |
set_param_x ( Param param, float value ) |
void |
set_param_y ( Param param, float value ) |
void |
set_param_z ( Param param, float value ) |
Enumerations¶
enum Param:
Param PARAM_LINEAR_LOWER_LIMIT = 0
The minimum difference between the pivot points' axes.
Param PARAM_LINEAR_UPPER_LIMIT = 1
The maximum difference between the pivot points' axes.
Param PARAM_LINEAR_LIMIT_SOFTNESS = 2
A factor applied to the movement across the axes. The lower, the slower the movement.
Param PARAM_LINEAR_RESTITUTION = 3
The amount of restitution on the axes' movement. The lower, the more momentum gets lost.
Param PARAM_LINEAR_DAMPING = 4
The amount of damping that happens at the linear motion across the axes.
Param PARAM_LINEAR_MOTOR_TARGET_VELOCITY = 5
The velocity the linear motor will try to reach.
Param PARAM_LINEAR_MOTOR_FORCE_LIMIT = 6
The maximum force the linear motor will apply while trying to reach the velocity target.
Param PARAM_LINEAR_SPRING_STIFFNESS = 7
Param PARAM_LINEAR_SPRING_DAMPING = 8
Param PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = 9
Param PARAM_ANGULAR_LOWER_LIMIT = 10
The minimum rotation in negative direction to break loose and rotate around the axes.
Param PARAM_ANGULAR_UPPER_LIMIT = 11
The minimum rotation in positive direction to break loose and rotate around the axes.
Param PARAM_ANGULAR_LIMIT_SOFTNESS = 12
The speed of all rotations across the axes.
Param PARAM_ANGULAR_DAMPING = 13
The amount of rotational damping across the axes. The lower, the more dampening occurs.
Param PARAM_ANGULAR_RESTITUTION = 14
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
Param PARAM_ANGULAR_FORCE_LIMIT = 15
The maximum amount of force that can occur, when rotating around the axes.
Param PARAM_ANGULAR_ERP = 16
When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
Param PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = 17
Target speed for the motor at the axes.
Param PARAM_ANGULAR_MOTOR_FORCE_LIMIT = 18
Maximum acceleration for the motor at the axes.
Param PARAM_ANGULAR_SPRING_STIFFNESS = 19
Param PARAM_ANGULAR_SPRING_DAMPING = 20
Param PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = 21
Param PARAM_MAX = 22
Represents the size of the Param enum.
enum Flag:
Flag FLAG_ENABLE_LINEAR_LIMIT = 0
If enabled, linear motion is possible within the given limits.
Flag FLAG_ENABLE_ANGULAR_LIMIT = 1
If enabled, rotational motion is possible within the given limits.
Flag FLAG_ENABLE_LINEAR_SPRING = 3
Flag FLAG_ENABLE_ANGULAR_SPRING = 2
Flag FLAG_ENABLE_MOTOR = 4
If enabled, there is a rotational motor across these axes.
Flag FLAG_ENABLE_LINEAR_MOTOR = 5
If enabled, there is a linear motor across these axes.
Flag FLAG_MAX = 6
Represents the size of the Flag enum.
Property Descriptions¶
float angular_limit_x/damping = 1.0
The amount of rotational damping across the X axis.
The lower, the longer an impulse from one side takes to travel to the other side.
bool angular_limit_x/enabled = true
If true, rotation across the X axis is limited.
float angular_limit_x/erp = 0.5
When rotating across the X axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
float angular_limit_x/force_limit = 0.0
The maximum amount of force that can occur, when rotating around the X axis.
float angular_limit_x/lower_angle = 0.0
The minimum rotation in negative direction to break loose and rotate around the X axis.
float angular_limit_x/restitution = 0.0
The amount of rotational restitution across the X axis. The lower, the more restitution occurs.
float angular_limit_x/softness = 0.5
The speed of all rotations across the X axis.
float angular_limit_x/upper_angle = 0.0
The minimum rotation in positive direction to break loose and rotate around the X axis.
float angular_limit_y/damping = 1.0
The amount of rotational damping across the Y axis. The lower, the more dampening occurs.
bool angular_limit_y/enabled = true
If true, rotation across the Y axis is limited.
float angular_limit_y/erp = 0.5
When rotating across the Y axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
float angular_limit_y/force_limit = 0.0
The maximum amount of force that can occur, when rotating around the Y axis.
float angular_limit_y/lower_angle = 0.0
The minimum rotation in negative direction to break loose and rotate around the Y axis.
float angular_limit_y/restitution = 0.0
The amount of rotational restitution across the Y axis. The lower, the more restitution occurs.
float angular_limit_y/softness = 0.5
The speed of all rotations across the Y axis.
float angular_limit_y/upper_angle = 0.0
The minimum rotation in positive direction to break loose and rotate around the Y axis.
float angular_limit_z/damping = 1.0
The amount of rotational damping across the Z axis. The lower, the more dampening occurs.
bool angular_limit_z/enabled = true
If true, rotation across the Z axis is limited.
float angular_limit_z/erp = 0.5
When rotating across the Z axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
float angular_limit_z/force_limit = 0.0
The maximum amount of force that can occur, when rotating around the Z axis.
float angular_limit_z/lower_angle = 0.0
The minimum rotation in negative direction to break loose and rotate around the Z axis.
float angular_limit_z/restitution = 0.0
The amount of rotational restitution across the Z axis. The lower, the more restitution occurs.
float angular_limit_z/softness = 0.5
The speed of all rotations across the Z axis.
float angular_limit_z/upper_angle = 0.0
The minimum rotation in positive direction to break loose and rotate around the Z axis.
bool angular_motor_x/enabled = false
If true, a rotating motor at the X axis is enabled.
float angular_motor_x/force_limit = 300.0
Maximum acceleration for the motor at the X axis.
float angular_motor_x/target_velocity = 0.0
Target speed for the motor at the X axis.
bool angular_motor_y/enabled = false
If true, a rotating motor at the Y axis is enabled.
float angular_motor_y/force_limit = 300.0
Maximum acceleration for the motor at the Y axis.
float angular_motor_y/target_velocity = 0.0
Target speed for the motor at the Y axis.
bool angular_motor_z/enabled = false
If true, a rotating motor at the Z axis is enabled.
float angular_motor_z/force_limit = 300.0
Maximum acceleration for the motor at the Z axis.
float angular_motor_z/target_velocity = 0.0
Target speed for the motor at the Z axis.
float angular_spring_x/damping = 0.0
There is currently no description for this property. Please help us by contributing one!
bool angular_spring_x/enabled = false
There is currently no description for this property. Please help us by contributing one!
float angular_spring_x/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float angular_spring_x/stiffness = 0.0
There is currently no description for this property. Please help us by contributing one!
float angular_spring_y/damping = 0.0
There is currently no description for this property. Please help us by contributing one!
bool angular_spring_y/enabled = false
There is currently no description for this property. Please help us by contributing one!
float angular_spring_y/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float angular_spring_y/stiffness = 0.0
There is currently no description for this property. Please help us by contributing one!
float angular_spring_z/damping = 0.0
There is currently no description for this property. Please help us by contributing one!
bool angular_spring_z/enabled = false
There is currently no description for this property. Please help us by contributing one!
float angular_spring_z/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float angular_spring_z/stiffness = 0.0
There is currently no description for this property. Please help us by contributing one!
float linear_limit_x/damping = 1.0
The amount of damping that happens at the X motion.
bool linear_limit_x/enabled = true
If true, the linear motion across the X axis is limited.
float linear_limit_x/lower_distance = 0.0
The minimum difference between the pivot points' X axis.
float linear_limit_x/restitution = 0.5
The amount of restitution on the X axis movement. The lower, the more momentum gets lost.
float linear_limit_x/softness = 0.7
A factor applied to the movement across the X axis. The lower, the slower the movement.
float linear_limit_x/upper_distance = 0.0
The maximum difference between the pivot points' X axis.
float linear_limit_y/damping = 1.0
The amount of damping that happens at the Y motion.
bool linear_limit_y/enabled = true
If true, the linear motion across the Y axis is limited.
float linear_limit_y/lower_distance = 0.0
The minimum difference between the pivot points' Y axis.
float linear_limit_y/restitution = 0.5
The amount of restitution on the Y axis movement. The lower, the more momentum gets lost.
float linear_limit_y/softness = 0.7
A factor applied to the movement across the Y axis. The lower, the slower the movement.
float linear_limit_y/upper_distance = 0.0
The maximum difference between the pivot points' Y axis.
float linear_limit_z/damping = 1.0
The amount of damping that happens at the Z motion.
bool linear_limit_z/enabled = true
If true, the linear motion across the Z axis is limited.
float linear_limit_z/lower_distance = 0.0
The minimum difference between the pivot points' Z axis.
float linear_limit_z/restitution = 0.5
The amount of restitution on the Z axis movement. The lower, the more momentum gets lost.
float linear_limit_z/softness = 0.7
A factor applied to the movement across the Z axis. The lower, the slower the movement.
float linear_limit_z/upper_distance = 0.0
The maximum difference between the pivot points' Z axis.
bool linear_motor_x/enabled = false
If true, then there is a linear motor on the X axis. It will attempt to reach the target velocity while staying within the force limits.
float linear_motor_x/force_limit = 0.0
The maximum force the linear motor can apply on the X axis while trying to reach the target velocity.
float linear_motor_x/target_velocity = 0.0
The speed that the linear motor will attempt to reach on the X axis.
bool linear_motor_y/enabled = false
If true, then there is a linear motor on the Y axis. It will attempt to reach the target velocity while staying within the force limits.
float linear_motor_y/force_limit = 0.0
The maximum force the linear motor can apply on the Y axis while trying to reach the target velocity.
float linear_motor_y/target_velocity = 0.0
The speed that the linear motor will attempt to reach on the Y axis.
bool linear_motor_z/enabled = false
If true, then there is a linear motor on the Z axis. It will attempt to reach the target velocity while staying within the force limits.
float linear_motor_z/force_limit = 0.0
The maximum force the linear motor can apply on the Z axis while trying to reach the target velocity.
float linear_motor_z/target_velocity = 0.0
The speed that the linear motor will attempt to reach on the Z axis.
float linear_spring_x/damping = 0.01
There is currently no description for this property. Please help us by contributing one!
bool linear_spring_x/enabled = false
There is currently no description for this property. Please help us by contributing one!
float linear_spring_x/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float linear_spring_x/stiffness = 0.01
There is currently no description for this property. Please help us by contributing one!
float linear_spring_y/damping = 0.01
There is currently no description for this property. Please help us by contributing one!
bool linear_spring_y/enabled = false
There is currently no description for this property. Please help us by contributing one!
float linear_spring_y/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float linear_spring_y/stiffness = 0.01
There is currently no description for this property. Please help us by contributing one!
float linear_spring_z/damping = 0.01
There is currently no description for this property. Please help us by contributing one!
bool linear_spring_z/enabled = false
There is currently no description for this property. Please help us by contributing one!
float linear_spring_z/equilibrium_point = 0.0
There is currently no description for this property. Please help us by contributing one!
float linear_spring_z/stiffness = 0.01
There is currently no description for this property. Please help us by contributing one!
Method Descriptions¶
bool get_flag_x ( Flag flag ) const
There is currently no description for this method. Please help us by contributing one!
bool get_flag_y ( Flag flag ) const
There is currently no description for this method. Please help us by contributing one!
bool get_flag_z ( Flag flag ) const
There is currently no description for this method. Please help us by contributing one!
float get_param_x ( Param param ) const
There is currently no description for this method. Please help us by contributing one!
float get_param_y ( Param param ) const
There is currently no description for this method. Please help us by contributing one!
float get_param_z ( Param param ) const
There is currently no description for this method. Please help us by contributing one!
void set_flag_x ( Flag flag, bool value )
There is currently no description for this method. Please help us by contributing one!
void set_flag_y ( Flag flag, bool value )
There is currently no description for this method. Please help us by contributing one!
void set_flag_z ( Flag flag, bool value )
There is currently no description for this method. Please help us by contributing one!
void set_param_x ( Param param, float value )
There is currently no description for this method. Please help us by contributing one!
void set_param_y ( Param param, float value )
There is currently no description for this method. Please help us by contributing one!
void set_param_z ( Param param, float value )
There is currently no description for this method. Please help us by contributing one!