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Generic6DOFJoint3D ​

Inherits: Joint3D < Node3D < Node < Object

A physics joint that allows for complex movement and rotation between two 3D physics bodies.

Description

The Generic6DOFJoint3D (6 Degrees Of Freedom) joint allows for implementing custom types of joints by locking the rotation and translation of certain axes.

The first 3 DOF represent the linear motion of the physics bodies and the last 3 DOF represent the angular motion of the physics bodies. 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, value: bool)

void

set_flag_y(flag: Flag, value: bool)

void

set_flag_z(flag: Flag, value: bool)

void

set_param_x(param: Param, value: float)

void

set_param_y(param: Param, value: float)

void

set_param_z(param: Param, value: float)

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

There is currently no description for this enum. Please help us by Contributing to the class reference!

Param PARAM_LINEAR_SPRING_DAMPING = 8

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Param PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = 9

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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 damping 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

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Param PARAM_ANGULAR_SPRING_DAMPING = 20

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Param PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = 21

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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

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Flag FLAG_ENABLE_ANGULAR_SPRING = 2

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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 damping 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 damping 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 🔗

Maximum acceleration for the motor at the Z axis.

float angular_motor_z/target_velocity = 0.0 🔗

Target speed for the motor at the Z axis.

float angular_spring_x/damping = 0.0 🔗

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bool angular_spring_x/enabled = false 🔗

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float angular_spring_x/equilibrium_point = 0.0 🔗

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float angular_spring_x/stiffness = 0.0 🔗

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float angular_spring_y/damping = 0.0 🔗

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bool angular_spring_y/enabled = false 🔗

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float angular_spring_y/equilibrium_point = 0.0 🔗

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float angular_spring_y/stiffness = 0.0 🔗

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float angular_spring_z/damping = 0.0 🔗

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bool angular_spring_z/enabled = false 🔗

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float angular_spring_z/equilibrium_point = 0.0 🔗

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float angular_spring_z/stiffness = 0.0 🔗

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float linear_limit_x/damping = 1.0 🔗

The amount of damping that happens at the X motion.

bool linear_limit_x/enabled = true 🔗

If true, the linear motion across the X axis is limited.

float linear_limit_x/lower_distance = 0.0 🔗

The minimum difference between the pivot points' X axis.

float linear_limit_x/restitution = 0.5 🔗

The amount of restitution on the X axis movement. The lower, the more momentum gets lost.

float linear_limit_x/softness = 0.7 🔗

A factor applied to the movement across the X axis. The lower, the slower the movement.

float linear_limit_x/upper_distance = 0.0 🔗

The maximum difference between the pivot points' X axis.

float linear_limit_y/damping = 1.0 🔗

The amount of damping that happens at the Y motion.

bool linear_limit_y/enabled = true 🔗

If true, the linear motion across the Y axis is limited.

float linear_limit_y/lower_distance = 0.0 🔗

The minimum difference between the pivot points' Y axis.

float linear_limit_y/restitution = 0.5 🔗

The amount of restitution on the Y axis movement. The lower, the more momentum gets lost.

float linear_limit_y/softness = 0.7 🔗

A factor applied to the movement across the Y axis. The lower, the slower the movement.

float linear_limit_y/upper_distance = 0.0 🔗

The maximum difference between the pivot points' Y axis.

float linear_limit_z/damping = 1.0 🔗

The amount of damping that happens at the Z motion.

bool linear_limit_z/enabled = true 🔗

If true, the linear motion across the Z axis is limited.

float linear_limit_z/lower_distance = 0.0 🔗

The minimum difference between the pivot points' Z axis.

float linear_limit_z/restitution = 0.5 🔗

The amount of restitution on the Z axis movement. The lower, the more momentum gets lost.

float linear_limit_z/softness = 0.7 🔗

A factor applied to the movement across the Z axis. The lower, the slower the movement.

float linear_limit_z/upper_distance = 0.0 🔗

The maximum difference between the pivot points' Z axis.

bool linear_motor_x/enabled = false 🔗

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 = 0.0 🔗

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 = 0.0 🔗

The speed that the linear motor will attempt to reach on the X axis.

bool linear_motor_y/enabled = false 🔗

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 = 0.0 🔗

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 = 0.0 🔗

The speed that the linear motor will attempt to reach on the Y axis.

bool linear_motor_z/enabled = false 🔗

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 = 0.0 🔗

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 = 0.0 🔗

The speed that the linear motor will attempt to reach on the Z axis.

float linear_spring_x/damping = 0.01 🔗

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bool linear_spring_x/enabled = false 🔗

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float linear_spring_x/equilibrium_point = 0.0 🔗

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float linear_spring_x/stiffness = 0.01 🔗

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float linear_spring_y/damping = 0.01 🔗

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bool linear_spring_y/enabled = false 🔗

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float linear_spring_y/equilibrium_point = 0.0 🔗

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float linear_spring_y/stiffness = 0.01 🔗

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float linear_spring_z/damping = 0.01 🔗

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bool linear_spring_z/enabled = false 🔗

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float linear_spring_z/equilibrium_point = 0.0 🔗

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float linear_spring_z/stiffness = 0.01 🔗

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Method Descriptions

bool get_flag_x(flag: Flag) const 🔗

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bool get_flag_y(flag: Flag) const 🔗

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bool get_flag_z(flag: Flag) const 🔗

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float get_param_x(param: Param) const 🔗

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float get_param_y(param: Param) const 🔗

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float get_param_z(param: Param) const 🔗

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void set_flag_x(flag: Flag, value: bool) 🔗

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void set_flag_y(flag: Flag, value: bool) 🔗

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void set_flag_z(flag: Flag, value: bool) 🔗

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void set_param_x(param: Param, value: float) 🔗

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void set_param_y(param: Param, value: float) 🔗

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void set_param_z(param: Param, value: float) 🔗

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