Generic6DOFJoint3D

Inherits: Joint3D < Node3D < 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

float

angular_limit_x/damping

1.0

bool

angular_limit_x/enabled

true

float

angular_limit_x/erp

0.5

float

angular_limit_x/force_limit

0.0

float

angular_limit_x/lower_angle

0.0

float

angular_limit_x/restitution

0.0

float

angular_limit_x/softness

0.5

float

angular_limit_x/upper_angle

0.0

float

angular_limit_y/damping

1.0

bool

angular_limit_y/enabled

true

float

angular_limit_y/erp

0.5

float

angular_limit_y/force_limit

0.0

float

angular_limit_y/lower_angle

0.0

float

angular_limit_y/restitution

0.0

float

angular_limit_y/softness

0.5

float

angular_limit_y/upper_angle

0.0

float

angular_limit_z/damping

1.0

bool

angular_limit_z/enabled

true

float

angular_limit_z/erp

0.5

float

angular_limit_z/force_limit

0.0

float

angular_limit_z/lower_angle

0.0

float

angular_limit_z/restitution

0.0

float

angular_limit_z/softness

0.5

float

angular_limit_z/upper_angle

0.0

bool

angular_motor_x/enabled

false

float

angular_motor_x/force_limit

300.0

float

angular_motor_x/target_velocity

0.0

bool

angular_motor_y/enabled

false

float

angular_motor_y/force_limit

300.0

float

angular_motor_y/target_velocity

0.0

bool

angular_motor_z/enabled

false

float

angular_motor_z/force_limit

300.0

float

angular_motor_z/target_velocity

0.0

float

angular_spring_x/damping

0.0

bool

angular_spring_x/enabled

false

float

angular_spring_x/equilibrium_point

0.0

float

angular_spring_x/stiffness

0.0

float

angular_spring_y/damping

0.0

bool

angular_spring_y/enabled

false

float

angular_spring_y/equilibrium_point

0.0

float

angular_spring_y/stiffness

0.0

float

angular_spring_z/damping

0.0

bool

angular_spring_z/enabled

false

float

angular_spring_z/equilibrium_point

0.0

float

angular_spring_z/stiffness

0.0

float

linear_limit_x/damping

1.0

bool

linear_limit_x/enabled

true

float

linear_limit_x/lower_distance

0.0

float

linear_limit_x/restitution

0.5

float

linear_limit_x/softness

0.7

float

linear_limit_x/upper_distance

0.0

float

linear_limit_y/damping

1.0

bool

linear_limit_y/enabled

true

float

linear_limit_y/lower_distance

0.0

float

linear_limit_y/restitution

0.5

float

linear_limit_y/softness

0.7

float

linear_limit_y/upper_distance

0.0

float

linear_limit_z/damping

1.0

bool

linear_limit_z/enabled

true

float

linear_limit_z/lower_distance

0.0

float

linear_limit_z/restitution

0.5

float

linear_limit_z/softness

0.7

float

linear_limit_z/upper_distance

0.0

bool

linear_motor_x/enabled

false

float

linear_motor_x/force_limit

0.0

float

linear_motor_x/target_velocity

0.0

bool

linear_motor_y/enabled

false

float

linear_motor_y/force_limit

0.0

float

linear_motor_y/target_velocity

0.0

bool

linear_motor_z/enabled

false

float

linear_motor_z/force_limit

0.0

float

linear_motor_z/target_velocity

0.0

float

linear_spring_x/damping

0.01

bool

linear_spring_x/enabled

false

float

linear_spring_x/equilibrium_point

0.0

float

linear_spring_x/stiffness

0.01

float

linear_spring_y/damping

0.01

bool

linear_spring_y/enabled

false

float

linear_spring_y/equilibrium_point

0.0

float

linear_spring_y/stiffness

0.01

float

linear_spring_z/damping

0.01

bool

linear_spring_z/enabled

false

float

linear_spring_z/equilibrium_point

0.0

float

linear_spring_z/stiffness

0.01

Methods

bool

get_flag_x ( Flag flag ) const

bool

get_flag_y ( Flag flag ) const

bool

get_flag_z ( Flag flag ) const

float

get_param_x ( Param param ) const

float

get_param_y ( Param param ) const

float

get_param_z ( Param param ) const

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_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_LINEAR_SPRING_STIFFNESS = 7

  • PARAM_LINEAR_SPRING_DAMPING = 8

  • PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = 9

  • 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_ANGULAR_SPRING_STIFFNESS = 19

  • PARAM_ANGULAR_SPRING_DAMPING = 20

  • PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = 21

  • PARAM_MAX = 22 --- Represents the size of the Param enum.


enum Flag:

  • FLAG_ENABLE_LINEAR_LIMIT = 0 --- If enabled, linear motion is possible within the given limits.

  • FLAG_ENABLE_ANGULAR_LIMIT = 1 --- If enabled, rotational motion is possible within the given limits.

  • FLAG_ENABLE_LINEAR_SPRING = 3

  • FLAG_ENABLE_ANGULAR_SPRING = 2

  • FLAG_ENABLE_MOTOR = 4 --- If enabled, there is a rotational motor across these axes.

  • FLAG_ENABLE_LINEAR_MOTOR = 5 --- If enabled, there is a linear motor across these axes.

  • FLAG_MAX = 6 --- Represents the size of the Flag enum.

Property Descriptions

  • float angular_limit_x/damping

Default

1.0

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

Default

true

Setter

set_flag_x(value)

Getter

get_flag_x()

If true, rotation across the X axis is limited.


  • float angular_limit_x/erp

Default

0.5

Setter

set_param_x(value)

Getter

get_param_x()

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

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()

The maximum amount of force that can occur, when rotating around the X axis.


  • float angular_limit_x/lower_angle

Default

0.0

The minimum rotation in negative direction to break loose and rotate around the X axis.


  • float angular_limit_x/restitution

Default

0.0

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

Default

0.5

Setter

set_param_x(value)

Getter

get_param_x()

The speed of all rotations across the X axis.


  • float angular_limit_x/upper_angle

Default

0.0

The minimum rotation in positive direction to break loose and rotate around the X axis.


  • float angular_limit_y/damping

Default

1.0

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

Default

true

Setter

set_flag_y(value)

Getter

get_flag_y()

If true, rotation across the Y axis is limited.


  • float angular_limit_y/erp

Default

0.5

Setter

set_param_y(value)

Getter

get_param_y()

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

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()

The maximum amount of force that can occur, when rotating around the Y axis.


  • float angular_limit_y/lower_angle

Default

0.0

The minimum rotation in negative direction to break loose and rotate around the Y axis.


  • float angular_limit_y/restitution

Default

0.0

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

Default

0.5

Setter

set_param_y(value)

Getter

get_param_y()

The speed of all rotations across the Y axis.


  • float angular_limit_y/upper_angle

Default

0.0

The minimum rotation in positive direction to break loose and rotate around the Y axis.


  • float angular_limit_z/damping

Default

1.0

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

Default

true

Setter

set_flag_z(value)

Getter

get_flag_z()

If true, rotation across the Z axis is limited.


  • float angular_limit_z/erp

Default

0.5

Setter

set_param_z(value)

Getter

get_param_z()

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

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()

The maximum amount of force that can occur, when rotating around the Z axis.


  • float angular_limit_z/lower_angle

Default

0.0

The minimum rotation in negative direction to break loose and rotate around the Z axis.


  • float angular_limit_z/restitution

Default

0.0

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

Default

0.5

Setter

set_param_z(value)

Getter

get_param_z()

The speed of all rotations across the Z axis.


  • float angular_limit_z/upper_angle

Default

0.0

The minimum rotation in positive direction to break loose and rotate around the Z axis.


  • bool angular_motor_x/enabled

Default

false

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

Default

300.0

Setter

set_param_x(value)

Getter

get_param_x()

Maximum acceleration for the motor at the X axis.


  • float angular_motor_x/target_velocity

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()

Target speed for the motor at the X axis.


  • bool angular_motor_y/enabled

Default

false

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

Default

300.0

Setter

set_param_y(value)

Getter

get_param_y()

Maximum acceleration for the motor at the Y axis.


  • float angular_motor_y/target_velocity

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()

Target speed for the motor at the Y axis.


  • bool angular_motor_z/enabled

Default

false

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

Default

300.0

Setter

set_param_z(value)

Getter

get_param_z()

Maximum acceleration for the motor at the Z axis.


  • float angular_motor_z/target_velocity

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()

Target speed for the motor at the Z axis.


  • float angular_spring_x/damping

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()


  • bool angular_spring_x/enabled

Default

false

Setter

set_flag_x(value)

Getter

get_flag_x()


  • float angular_spring_x/equilibrium_point

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()


  • float angular_spring_x/stiffness

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()


  • float angular_spring_y/damping

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()


  • bool angular_spring_y/enabled

Default

false

Setter

set_flag_y(value)

Getter

get_flag_y()


  • float angular_spring_y/equilibrium_point

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()


  • float angular_spring_y/stiffness

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()


  • float angular_spring_z/damping

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()


  • bool angular_spring_z/enabled

Default

false

Setter

set_flag_z(value)

Getter

get_flag_z()


  • float angular_spring_z/equilibrium_point

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()


  • float angular_spring_z/stiffness

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()


  • float linear_limit_x/damping

Default

1.0

Setter

set_param_x(value)

Getter

get_param_x()

The amount of damping that happens at the X motion.


  • bool linear_limit_x/enabled

Default

true

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

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()

The minimum difference between the pivot points' X axis.


  • float linear_limit_x/restitution

Default

0.5

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

Default

0.7

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

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()

The maximum difference between the pivot points' X axis.


  • float linear_limit_y/damping

Default

1.0

Setter

set_param_y(value)

Getter

get_param_y()

The amount of damping that happens at the Y motion.


  • bool linear_limit_y/enabled

Default

true

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

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()

The minimum difference between the pivot points' Y axis.


  • float linear_limit_y/restitution

Default

0.5

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

Default

0.7

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

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()

The maximum difference between the pivot points' Y axis.


  • float linear_limit_z/damping

Default

1.0

Setter

set_param_z(value)

Getter

get_param_z()

The amount of damping that happens at the Z motion.


  • bool linear_limit_z/enabled

Default

true

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

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()

The minimum difference between the pivot points' Z axis.


  • float linear_limit_z/restitution

Default

0.5

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

Default

0.7

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

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()

The maximum difference between the pivot points' Z axis.


  • bool linear_motor_x/enabled

Default

false

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

Default

0.0

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

Default

0.0

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

Default

false

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

Default

0.0

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

Default

0.0

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

Default

false

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

Default

0.0

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

Default

0.0

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

Default

0.01

Setter

set_param_x(value)

Getter

get_param_x()


  • bool linear_spring_x/enabled

Default

false

Setter

set_flag_x(value)

Getter

get_flag_x()


  • float linear_spring_x/equilibrium_point

Default

0.0

Setter

set_param_x(value)

Getter

get_param_x()


  • float linear_spring_x/stiffness

Default

0.01

Setter

set_param_x(value)

Getter

get_param_x()


  • float linear_spring_y/damping

Default

0.01

Setter

set_param_y(value)

Getter

get_param_y()


  • bool linear_spring_y/enabled

Default

false

Setter

set_flag_y(value)

Getter

get_flag_y()


  • float linear_spring_y/equilibrium_point

Default

0.0

Setter

set_param_y(value)

Getter

get_param_y()


  • float linear_spring_y/stiffness

Default

0.01

Setter

set_param_y(value)

Getter

get_param_y()


  • float linear_spring_z/damping

Default

0.01

Setter

set_param_z(value)

Getter

get_param_z()


  • bool linear_spring_z/enabled

Default

false

Setter

set_flag_z(value)

Getter

get_flag_z()


  • float linear_spring_z/equilibrium_point

Default

0.0

Setter

set_param_z(value)

Getter

get_param_z()


  • float linear_spring_z/stiffness

Default

0.01

Setter

set_param_z(value)

Getter

get_param_z()

Method Descriptions







  • void set_flag_x ( Flag flag, bool value )


  • void set_flag_y ( Flag flag, bool value )


  • void set_flag_z ( Flag flag, bool value )