Generic6DOFJoint
Inherits: Joint < Spatial < Node < Object
Category: Core
Brief Description
The generic 6 degrees of freedom joint can implement a variety of joint-types by locking certain axes’ rotation or translation.
Properties
Enumerations
enum Param:
- PARAM_LINEAR_LOWER_LIMIT = 0 — The minimum difference between the pivot points’ axes.
- PARAM_LINEAR_UPPER_LIMIT = 1 — The maximum difference between the pivot points’ axes.
- PARAM_LINEAR_LIMIT_SOFTNESS = 2 — A factor applied to the movement across the axes The lower, the slower the movement.
- PARAM_LINEAR_RESTITUTION = 3 — The amount of restitution on the axes movement The lower, the more momentum gets lost.
- PARAM_LINEAR_DAMPING = 4 — The amount of damping that happens at the linear motion across the axes.
- PARAM_LINEAR_MOTOR_TARGET_VELOCITY = 5 — The velocity the linear motor will try to reach.
- PARAM_LINEAR_MOTOR_FORCE_LIMIT = 6 — The maximum force the linear motor will apply while trying to reach the velocity target.
- PARAM_ANGULAR_LOWER_LIMIT = 10 — The minimum rotation in negative direction to break loose and rotate around the axes.
- PARAM_ANGULAR_UPPER_LIMIT = 11 — The minimum rotation in positive direction to break loose and rotate around the axes.
- PARAM_ANGULAR_LIMIT_SOFTNESS = 12 — The speed of all rotations across the axes.
- PARAM_ANGULAR_DAMPING = 13 — The amount of rotational damping across the axes. The lower, the more dampening occurs.
- PARAM_ANGULAR_RESTITUTION = 14 — The amount of rotational restitution across the axes. The lower, the more restitution occurs.
- PARAM_ANGULAR_FORCE_LIMIT = 15 — The maximum amount of force that can occur, when rotating around the axes.
- 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_ANGULAR_MOTOR_TARGET_VELOCITY = 17 — Target speed for the motor at the axes.
- PARAM_ANGULAR_MOTOR_FORCE_LIMIT = 18 — Maximum acceleration for the motor at the axes.
- PARAM_MAX = 22 — Represents the size of the Param enum.
enum Flag:
- FLAG_ENABLE_LINEAR_LIMIT = 0 — If
set there is linear motion possible within the given limits. - FLAG_ENABLE_ANGULAR_LIMIT = 1 — If
set there is rotational motion possible. - FLAG_ENABLE_LINEAR_SPRING = 3
- FLAG_ENABLE_ANGULAR_SPRING = 2
- FLAG_ENABLE_MOTOR = 4 — If
set there is a rotational motor across these axes. - FLAG_ENABLE_LINEAR_MOTOR = 5
- FLAG_MAX = 6 — Represents the size of the Flag enum.
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.
Property Descriptions
- float angular_limit_x/damping
| Setter | set_param_x(value) |
| Getter | get_param_x() |
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
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
If true, rotation across the x-axis is limited.
- float angular_limit_x/erp
| Setter | set_param_x(value) |
| Getter | get_param_x() |
When rotating across x-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- float angular_limit_x/force_limit
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The maximum amount of force that can occur, when rotating around x-axis.
- float angular_limit_x/lower_angle
The minimum rotation in negative direction to break loose and rotate around the x-axis.
- float angular_limit_x/restitution
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The amount of rotational restitution across the x-axis. The lower, the more restitution occurs.
- float angular_limit_x/softness
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The speed of all rotations across the x-axis.
- float angular_limit_x/upper_angle
The minimum rotation in positive direction to break loose and rotate around the x-axis.
- float angular_limit_y/damping
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The amount of rotational damping across the y-axis. The lower, the more dampening occurs.
- bool angular_limit_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
If true, rotation across the y-axis is limited.
- float angular_limit_y/erp
| Setter | set_param_y(value) |
| Getter | get_param_y() |
When rotating across y-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- float angular_limit_y/force_limit
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The maximum amount of force that can occur, when rotating around y-axis.
- float angular_limit_y/lower_angle
The minimum rotation in negative direction to break loose and rotate around the y-axis.
- float angular_limit_y/restitution
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The amount of rotational restitution across the y-axis. The lower, the more restitution occurs.
- float angular_limit_y/softness
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The speed of all rotations across the y-axis.
- float angular_limit_y/upper_angle
The minimum rotation in positive direction to break loose and rotate around the y-axis.
- float angular_limit_z/damping
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The amount of rotational damping across the z-axis. The lower, the more dampening occurs.
- bool angular_limit_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
If true, rotation across the z-axis is limited.
- float angular_limit_z/erp
| Setter | set_param_z(value) |
| Getter | get_param_z() |
When rotating across z-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- float angular_limit_z/force_limit
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The maximum amount of force that can occur, when rotating around z-axis.
- float angular_limit_z/lower_angle
The minimum rotation in negative direction to break loose and rotate around the z-axis.
- float angular_limit_z/restitution
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The amount of rotational restitution across the z-axis. The lower, the more restitution occurs.
- float angular_limit_z/softness
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The speed of all rotations across the z-axis.
- float angular_limit_z/upper_angle
The minimum rotation in positive direction to break loose and rotate around the z-axis.
- bool angular_motor_x/enabled
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
If true, a rotating motor at the x-axis is enabled.
- float angular_motor_x/force_limit
| Setter | set_param_x(value) |
| Getter | get_param_x() |
Maximum acceleration for the motor at the x-axis.
- float angular_motor_x/target_velocity
| Setter | set_param_x(value) |
| Getter | get_param_x() |
Target speed for the motor at the x-axis.
- bool angular_motor_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
If true, a rotating motor at the y-axis is enabled.
- float angular_motor_y/force_limit
| Setter | set_param_y(value) |
| Getter | get_param_y() |
Maximum acceleration for the motor at the y-axis.
- float angular_motor_y/target_velocity
| Setter | set_param_y(value) |
| Getter | get_param_y() |
Target speed for the motor at the y-axis.
- bool angular_motor_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
If true, a rotating motor at the z-axis is enabled.
- float angular_motor_z/force_limit
| Setter | set_param_z(value) |
| Getter | get_param_z() |
Maximum acceleration for the motor at the z-axis.
- float angular_motor_z/target_velocity
| Setter | set_param_z(value) |
| Getter | get_param_z() |
Target speed for the motor at the z-axis.
- float angular_spring_x/damping
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- bool angular_spring_x/enabled
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
- float angular_spring_x/equilibrium_point
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- float angular_spring_x/stiffness
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- float angular_spring_y/damping
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- bool angular_spring_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
- float angular_spring_y/equilibrium_point
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- float angular_spring_y/stiffness
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- float angular_spring_z/damping
| Setter | set_param_z(value) |
| Getter | get_param_z() |
- bool angular_spring_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
- float angular_spring_z/equilibrium_point
| Setter | set_param_z(value) |
| Getter | get_param_z() |
- float angular_spring_z/stiffness
| Setter | set_param_z(value) |
| Getter | get_param_z() |
- float linear_limit_x/damping
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The amount of damping that happens at the x-motion.
- bool linear_limit_x/enabled
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
If true, the linear motion across the x-axis is limited.
- float linear_limit_x/lower_distance
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The minimum difference between the pivot points’ x-axis.
- float linear_limit_x/restitution
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The amount of restitution on the x-axis movement The lower, the more momentum gets lost.
- float linear_limit_x/softness
| Setter | set_param_x(value) |
| Getter | get_param_x() |
A factor applied to the movement across the x-axis The lower, the slower the movement.
- float linear_limit_x/upper_distance
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The maximum difference between the pivot points’ x-axis.
- float linear_limit_y/damping
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The amount of damping that happens at the y-motion.
- bool linear_limit_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
If true, the linear motion across the y-axis is limited.
- float linear_limit_y/lower_distance
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The minimum difference between the pivot points’ y-axis.
- float linear_limit_y/restitution
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The amount of restitution on the y-axis movement The lower, the more momentum gets lost.
- float linear_limit_y/softness
| Setter | set_param_y(value) |
| Getter | get_param_y() |
A factor applied to the movement across the y-axis The lower, the slower the movement.
- float linear_limit_y/upper_distance
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The maximum difference between the pivot points’ y-axis.
- float linear_limit_z/damping
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The amount of damping that happens at the z-motion.
- bool linear_limit_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
If true, the linear motion across the z-axis is limited.
- float linear_limit_z/lower_distance
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The minimum difference between the pivot points’ z-axis.
- float linear_limit_z/restitution
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The amount of restitution on the z-axis movement The lower, the more momentum gets lost.
- float linear_limit_z/softness
| Setter | set_param_z(value) |
| Getter | get_param_z() |
A factor applied to the movement across the z-axis The lower, the slower the movement.
- float linear_limit_z/upper_distance
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The maximum difference between the pivot points’ z-axis.
- bool linear_motor_x/enabled
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
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
| Setter | set_param_x(value) |
| Getter | get_param_x() |
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
| Setter | set_param_x(value) |
| Getter | get_param_x() |
The speed that the linear motor will attempt to reach on the x-axis.
- bool linear_motor_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
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
| Setter | set_param_y(value) |
| Getter | get_param_y() |
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
| Setter | set_param_y(value) |
| Getter | get_param_y() |
The speed that the linear motor will attempt to reach on the y-axis.
- bool linear_motor_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
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
| Setter | set_param_z(value) |
| Getter | get_param_z() |
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
| Setter | set_param_z(value) |
| Getter | get_param_z() |
The speed that the linear motor will attempt to reach on the z-axis.
- float linear_spring_x/damping
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- bool linear_spring_x/enabled
| Setter | set_flag_x(value) |
| Getter | get_flag_x() |
- float linear_spring_x/equilibrium_point
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- float linear_spring_x/stiffness
| Setter | set_param_x(value) |
| Getter | get_param_x() |
- float linear_spring_y/damping
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- bool linear_spring_y/enabled
| Setter | set_flag_y(value) |
| Getter | get_flag_y() |
- float linear_spring_y/equilibrium_point
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- float linear_spring_y/stiffness
| Setter | set_param_y(value) |
| Getter | get_param_y() |
- float linear_spring_z/damping
| Setter | set_param_z(value) |
| Getter | get_param_z() |
- bool linear_spring_z/enabled
| Setter | set_flag_z(value) |
| Getter | get_flag_z() |
- float linear_spring_z/equilibrium_point
| Setter | set_param_z(value) |
| Getter | get_param_z() |
- float linear_spring_z/stiffness
| Setter | set_param_z(value) |
| Getter | get_param_z() |
| Setter | set_precision(value) |
| Getter | get_precision() |
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