Generic6DOFJoint

Category: Core

The generic 6 degrees of freedom joint can implement a variety of joint-types by locking certain axes’ rotation or translation.

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_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_MAX = 22 — Represents the size of the enum.

enum Flag:

FLAG_ENABLE_LINEAR_LIMIT = 0 — If there is linear motion possible within the given limits.
FLAG_ENABLE_ANGULAR_LIMIT = 1 — If set there is rotational motion possible.
FLAG_ENABLE_LINEAR_SPRING = 3
FLAG_ENABLE_ANGULAR_SPRING = 2
FLAG_ENABLE_MOTOR = 4 — If set there is a rotational motor across these axes.
FLAG_ENABLE_LINEAR_MOTOR = 5
FLAG_MAX = 6 — Represents the size of the Flag enum.

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.

angular_limit_x/damping

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

Setter	set_flag_x(value)
Getter	get_flag_x()

If true, rotation across the x-axis is limited.

angular_limit_x/erp

Setter	set_param_x(value)
Getter	get_param_x()

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

Setter	set_param_x(value)
Getter	get_param_x()

The maximum amount of force that can occur, when rotating around x-axis.

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

Setter	set_param_x(value)
Getter	get_param_x()

The amount of rotational restitution across the x-axis. The lower, the more restitution occurs.

angular_limit_x/softness

Setter	set_param_x(value)
Getter	get_param_x()

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.

Setter	set_param_y(value)
Getter	get_param_y()

The amount of rotational damping across the y-axis. The lower, the more dampening occurs.

angular_limit_y/enabled

Setter	set_flag_y(value)
Getter	get_flag_y()

If true, rotation across the y-axis is limited.

float angular_limit_y/erp

Setter	set_param_y(value)
Getter	get_param_y()

When rotating across y-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.

angular_limit_y/force_limit

Setter	set_param_y(value)
Getter	get_param_y()

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.

angular_limit_y/restitution

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

Setter	set_param_y(value)
Getter	get_param_y()

The speed of all rotations across the y-axis.

angular_limit_y/upper_angle

float angular_limit_z/damping

Setter	set_param_z(value)
Getter	get_param_z()

The amount of rotational damping across the z-axis. The lower, the more dampening occurs.

angular_limit_z/enabled

Setter	set_flag_z(value)
Getter	get_flag_z()

If , rotation across the z-axis is limited.

float angular_limit_z/erp

Setter	set_param_z(value)
Getter	get_param_z()

When rotating across z-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.

angular_limit_z/force_limit

Setter	set_param_z(value)
Getter	get_param_z()

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.

angular_limit_z/restitution

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

Setter	set_param_z(value)
Getter	get_param_z()

The speed of all rotations across the z-axis.

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

Setter	set_flag_x(value)
Getter	get_flag_x()

If true, a rotating motor at the x-axis is enabled.

angular_motor_x/force_limit

Setter	set_param_x(value)
Getter	get_param_x()

Maximum acceleration for the motor at the x-axis.

float angular_motor_x/target_velocity

Setter	set_param_x(value)
Getter	get_param_x()

Target speed for the motor at the x-axis.

angular_motor_y/enabled

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

Setter	set_param_y(value)
Getter	get_param_y()

Maximum acceleration for the motor at the y-axis.

angular_motor_y/target_velocity

Setter	set_param_y(value)
Getter	get_param_y()

Target speed for the motor at the y-axis.

bool angular_motor_z/enabled

Setter	set_flag_z(value)
Getter	get_flag_z()

If true, a rotating motor at the z-axis is enabled.

angular_motor_z/force_limit

Maximum acceleration for the motor at the z-axis.

float angular_motor_z/target_velocity

Setter	set_param_z(value)
Getter	get_param_z()

Target speed for the motor at the z-axis.

angular_spring_x/damping

Setter	set_param_x(value)
Getter	get_param_x()

bool angular_spring_x/enabled

Setter	set_flag_x(value)
Getter	get_flag_x()

angular_spring_x/equilibrium_point

Setter	set_param_x(value)
Getter	get_param_x()

float angular_spring_x/stiffness

Setter	set_param_x(value)
Getter	get_param_x()

angular_spring_y/damping

Setter	set_param_y(value)
Getter	get_param_y()

bool angular_spring_y/enabled

Setter	set_flag_y(value)
Getter	get_flag_y()

angular_spring_y/equilibrium_point

Setter	set_param_y(value)
Getter	get_param_y()

float angular_spring_y/stiffness

Setter	set_param_y(value)
Getter	get_param_y()

angular_spring_z/damping

Setter	set_param_z(value)
Getter	get_param_z()

bool angular_spring_z/enabled

Setter	set_flag_z(value)
Getter	get_flag_z()

angular_spring_z/equilibrium_point

Setter	set_param_z(value)
Getter	get_param_z()

float angular_spring_z/stiffness

Setter	set_param_z(value)
Getter	get_param_z()

linear_limit_x/damping

Setter	set_param_x(value)
Getter	get_param_x()

The amount of damping that happens at the x-motion.

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

Setter	set_param_x(value)
Getter	get_param_x()

The minimum difference between the pivot points’ x-axis.

linear_limit_x/restitution

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

Setter	set_param_x(value)
Getter	get_param_x()

linear_limit_x/upper_distance

Setter	set_param_x(value)
Getter	get_param_x()

The maximum difference between the pivot points’ x-axis.

float linear_limit_y/damping

Setter	set_param_y(value)
Getter	get_param_y()

The amount of damping that happens at the y-motion.

linear_limit_y/enabled

Setter	set_flag_y(value)
Getter	get_flag_y()

If , the linear motion across the y-axis is limited.

float linear_limit_y/lower_distance

Setter	set_param_y(value)
Getter	get_param_y()

The minimum difference between the pivot points’ y-axis.

linear_limit_y/restitution

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

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.

linear_limit_y/upper_distance

Setter	set_param_y(value)
Getter	get_param_y()

The maximum difference between the pivot points’ y-axis.

float linear_limit_z/damping

The amount of damping that happens at the z-motion.

linear_limit_z/enabled

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

Setter	set_param_z(value)
Getter	get_param_z()

The minimum difference between the pivot points’ z-axis.

linear_limit_z/restitution

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

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.

linear_limit_z/upper_distance

Setter	set_param_z(value)
Getter	get_param_z()

The maximum difference between the pivot points’ z-axis.

bool linear_motor_x/enabled

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.

linear_motor_x/force_limit

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

Setter	set_param_x(value)
Getter	get_param_x()

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

linear_motor_y/enabled

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

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.

linear_motor_y/target_velocity

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

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.

linear_motor_z/force_limit

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

Setter	set_param_z(value)
Getter	get_param_z()

linear_spring_x/damping

Setter	set_param_x(value)
Getter	get_param_x()

bool linear_spring_x/enabled

Setter	set_flag_x(value)
Getter	get_flag_x()

linear_spring_x/equilibrium_point

Setter	set_param_x(value)
Getter	get_param_x()

float linear_spring_x/stiffness

Setter	set_param_x(value)
Getter	get_param_x()

linear_spring_y/damping

Setter	set_param_y(value)
Getter	get_param_y()

bool linear_spring_y/enabled

Setter	set_flag_y(value)
Getter	get_flag_y()

linear_spring_y/equilibrium_point

Setter	set_param_y(value)
Getter	get_param_y()

float linear_spring_y/stiffness

Setter	set_param_y(value)
Getter	get_param_y()

linear_spring_z/damping

Setter	set_param_z(value)
Getter	get_param_z()

bool linear_spring_z/enabled

Setter	set_flag_z(value)
Getter	get_flag_z()

linear_spring_z/equilibrium_point

Setter	set_param_z(value)
Getter	get_param_z()

float linear_spring_z/stiffness

Setter	set_precision(value)
Getter	get_precision()