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 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 - 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 around 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 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 - 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 around 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 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 - 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 around 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.
Enums¶
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_MOTOR = 2 — If
set
there is a rotational motor across these axes. - FLAG_MAX = 3 — End flag of FLAG_* constants, used internally.
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_ANGULAR_LOWER_LIMIT = 5 — The minimum rotation in negative direction to break loose and rotate around the axes.
- PARAM_ANGULAR_UPPER_LIMIT = 6 — The minimum rotation in positive direction to break loose and rotate around 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 around 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.
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.