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 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