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.

Member Variables

  • float angular_limit_x/damping - 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 - If true rotation across the x-axis is enabled.
  • float angular_limit_x/erp - 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 - The maximum amount of force that can occur, when rotating arround x-axis.
  • float angular_limit_x/lower_angle - The minimum rotation in negative direction to break loose and rotate arround the x-axis.
  • float angular_limit_x/restitution - The amount of rotational restitution across the x-axis. The lower, the more restitution occurs.
  • float angular_limit_x/softness - 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 arround the x-axis.
  • float angular_limit_y/damping - The amount of rotational damping across the y-axis. The lower, the more dampening occurs.
  • bool angular_limit_y/enabled - If true rotation across the y-axis is enabled.
  • float angular_limit_y/erp - 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 - The maximum amount of force that can occur, when rotating arround y-axis.
  • float angular_limit_y/lower_angle - The minimum rotation in negative direction to break loose and rotate arround the y-axis.
  • float angular_limit_y/restitution - The amount of rotational restitution across the y-axis. The lower, the more restitution occurs.
  • float angular_limit_y/softness - 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 arround the y-axis.
  • float angular_limit_z/damping - The amount of rotational damping across the z-axis. The lower, the more dampening occurs.
  • bool angular_limit_z/enabled - If true rotation across the z-axis is enabled.
  • float angular_limit_z/erp - 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 - The maximum amount of force that can occur, when rotating arround z-axis.
  • float angular_limit_z/lower_angle - The minimum rotation in negative direction to break loose and rotate arround the z-axis.
  • float angular_limit_z/restitution - The amount of rotational restitution across the z-axis. The lower, the more restitution occurs.
  • float angular_limit_z/softness - 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 arround the z-axis.
  • bool angular_motor_x/enabled - If true a rotating motor at the x-axis is enabled.
  • float angular_motor_x/force_limit - Maximum acceleration for the motor at the x-axis.
  • float angular_motor_x/target_velocity - Target speed for the motor at the x-axis.
  • bool angular_motor_y/enabled - If true a rotating motor at the y-axis is enabled.
  • float angular_motor_y/force_limit - Maximum acceleration for the motor at the y-axis.
  • float angular_motor_y/target_velocity - Target speed for the motor at the y-axis.
  • bool angular_motor_z/enabled - If true a rotating motor at the z-axis is enabled.
  • float angular_motor_z/force_limit - Maximum acceleration for the motor at the z-axis.
  • float angular_motor_z/target_velocity - Target speed for the motor at the z-axis.
  • float linear_limit_x/damping - The amount of damping that happens at the x-motion.
  • bool linear_limit_x/enabled - If true the linear motion across the x-axis is enabled.
  • float linear_limit_x/lower_distance - The minimum difference between the pivot points’ x-axis.
  • float linear_limit_x/restitution - The amount of restitution on the x-axis movement The lower, the more momentum gets lost.
  • float linear_limit_x/softness - A factor applied to the movement across the x-axis The lower, the slower the movement.
  • float linear_limit_x/upper_distance - The maximum difference between the pivot points’ x-axis.
  • float linear_limit_y/damping - The amount of damping that happens at the y-motion.
  • bool linear_limit_y/enabled - If true the linear motion across the y-axis is enabled.
  • float linear_limit_y/lower_distance - The minimum difference between the pivot points’ y-axis.
  • float linear_limit_y/restitution - The amount of restitution on the y-axis movement The lower, the more momentum gets lost.
  • float linear_limit_y/softness - A factor applied to the movement across the y-axis The lower, the slower the movement.
  • float linear_limit_y/upper_distance - The maximum difference between the pivot points’ y-axis.
  • float linear_limit_z/damping - The amount of damping that happens at the z-motion.
  • bool linear_limit_z/enabled - If true the linear motion across the z-axis is enabled.
  • float linear_limit_z/lower_distance - The minimum difference between the pivot points’ z-axis.
  • float linear_limit_z/restitution - The amount of restitution on the z-axis movement The lower, the more momentum gets lost.
  • float linear_limit_z/softness - A factor applied to the movement across the z-axis The lower, the slower the movement.
  • float linear_limit_z/upper_distance - The maximum difference between the pivot points’ z-axis.

Numeric Constants

  • 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_ANGULAR_LOWER_LIMIT = 5 — The minimum rotation in negative direction to break loose and rotate arround the axes.
  • PARAM_ANGULAR_UPPER_LIMIT = 6 — The minimum rotation in positive direction to break loose and rotate arround the axes.
  • PARAM_ANGULAR_LIMIT_SOFTNESS = 7 — The speed of all rotations across the axes.
  • PARAM_ANGULAR_DAMPING = 8 — The amount of rotational damping across the axes. The lower, the more dampening occurs.
  • PARAM_ANGULAR_RESTITUTION = 9 — The amount of rotational restitution across the axes. The lower, the more restitution occurs.
  • PARAM_ANGULAR_FORCE_LIMIT = 10 — The maximum amount of force that can occur, when rotating arround the axes.
  • PARAM_ANGULAR_ERP = 11 — 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 = 12 — Target speed for the motor at the axes.
  • PARAM_ANGULAR_MOTOR_FORCE_LIMIT = 13 — Maximum acceleration for the motor at the axes.
  • PARAM_MAX = 14 — End flag of PARAM_* constants, used internally.
  • 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_MOTOR = 2 — If set there is a rotational motor across these axes.
  • FLAG_MAX = 3 — End flag of FLAG_* constants, used internally.

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.