Generic6DOFJoint

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

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

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 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.

• 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 limited.

• angular_limit_x/erp

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

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

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

• angular_limit_x/softness

The speed of all rotations across the X axis.

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.

• angular_limit_y/enabled

If true, rotation across the Y axis is limited.

• float angular_limit_y/erp

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

• angular_limit_y/force_limit

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

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.

• 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

• angular_limit_z/enabled

If true, rotation across the Z axis is limited.

• float angular_limit_z/erp

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

• angular_limit_z/force_limit

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

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.

• 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.

• 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.

• 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.

• angular_motor_y/target_velocity

Target speed for the motor at the Y axis.

• bool angular_motor_z/enabled

If , 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

Target speed for the motor at the Z axis.

• angular_spring_x/damping

• bool angular_spring_x/enabled

• angular_spring_x/equilibrium_point

• float angular_spring_x/stiffness

• angular_spring_y/damping

• bool angular_spring_y/enabled

• angular_spring_y/equilibrium_point

• float angular_spring_y/stiffness

• angular_spring_z/damping

• bool angular_spring_z/enabled

• angular_spring_z/equilibrium_point

• float angular_spring_z/stiffness

• 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 limited.

• 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.

• 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 amount of damping that happens at the Y motion.

• linear_limit_y/enabled

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

• float linear_limit_y/lower_distance

The minimum difference between the pivot points’ Y axis.

• 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.

• 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.

• linear_limit_z/enabled

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

• float linear_limit_z/lower_distance

The minimum difference between the pivot points’ Z axis.

• 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.

• linear_limit_z/upper_distance

The maximum difference between the pivot points’ Z axis.

• bool linear_motor_x/enabled

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

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

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

• linear_motor_y/enabled

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

The maximum force the linear motor can apply on the Y axis while trying to reach the target velocity.

• linear_motor_y/target_velocity

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

• bool linear_motor_z/enabled

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

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

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

• linear_spring_x/damping

• bool linear_spring_x/enabled

• linear_spring_x/equilibrium_point

• float linear_spring_x/stiffness

• linear_spring_y/damping

• bool linear_spring_y/enabled

• linear_spring_y/equilibrium_point

• float linear_spring_y/stiffness

• linear_spring_z/damping

• bool linear_spring_z/enabled

• linear_spring_z/equilibrium_point

• float linear_spring_z/stiffness

Method Descriptions

• get_flag_x ( Flag flag ) const

• get_flag_y ( Flag flag ) const

• get_flag_z ( Flag flag ) const

• get_param_x ( Param param ) const

• get_param_y ( Param param ) const

• get_param_z ( Param param ) const

• void set_flag_x ( flag, bool value )

• void set_flag_y ( flag, bool value )

• void set_flag_z ( flag, bool value )

• void set_param_x ( param, float value )

• void set_param_y ( param, float value )