Merge pull request #23668 from sdfgeoff/fix_angular_constraints

Exposing more of bullets 6DOF spring constraints

5 files changed, 155 insertions, 1 deletions

diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index a36f1123bc..a94b88d566 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/modules/bullet/generic_6dof_joint_bullet.cpp
@@ -135,6 +135,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
 			sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
 			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis] = p_value;
+			break;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
 			limits_lower[1][p_axis] = p_value;
 			set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
@@ -143,6 +152,9 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 			limits_upper[1][p_axis] = p_value;
 			set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT]); // Reload bullet parameter
 			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_RESTITUTION:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_bounce = p_value;
+			break;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_ERP:
 			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_stopERP = p_value;
 			break;
@@ -152,6 +164,15 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
 			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce = p_value;
 			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint = p_value;
+			break;
 		default:
 			ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
 			WARN_DEPRECATED
@@ -170,6 +191,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
 			return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
 		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
 			return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_springDamping.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_springStiffness.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_equilibriumPoint.m_floats[p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
 			return limits_lower[1][p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -182,6 +209,12 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
 			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_targetVelocity;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT:
 			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_maxMotorForce;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springStiffness;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_springDamping;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT:
+			return sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_equilibriumPoint;
 		default:
 			ERR_EXPLAIN("This parameter " + itos(p_param) + " is deprecated");
 			WARN_DEPRECATED;
@@ -215,6 +248,12 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
 		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
 			sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
 			break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_enableSpring[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING:
+			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableSpring = p_value;
+			break;
 		default:
 			ERR_EXPLAIN("This flag " + itos(p_flag) + " is deprecated");
 			WARN_DEPRECATED
@@ -224,6 +263,5 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
 
 bool Generic6DOFJointBullet::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJointAxisFlag p_flag) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, false);
-
 	return flags[p_axis][p_flag];
 }
diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp
index a30fc0ac3e..1adf1c5d79 100644
--- a/scene/3d/physics_joint.cpp
+++ b/scene/3d/physics_joint.cpp
@@ -716,6 +716,11 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/damping"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
+
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x");
@@ -727,6 +732,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/stiffness"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/damping"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_x/equilibrium_point"), "set_param_x", "get_param_x", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/upper_distance"), "set_param_y", "get_param_y", PARAM_LINEAR_UPPER_LIMIT);
@@ -737,6 +746,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/damping"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y");
@@ -748,6 +761,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/stiffness"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/damping"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_y/equilibrium_point"), "set_param_y", "get_param_y", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/upper_distance"), "set_param_z", "get_param_z", PARAM_LINEAR_UPPER_LIMIT);
@@ -758,6 +775,11 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/damping"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z");
@@ -769,6 +791,10 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_MOTOR);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_TARGET_VELOCITY);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_ANGULAR_MOTOR_FORCE_LIMIT);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_spring_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_SPRING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/stiffness"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_STIFFNESS);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/damping"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "angular_spring_z/equilibrium_point"), "set_param_z", "get_param_z", PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT);
 
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_UPPER_LIMIT);
@@ -790,6 +816,8 @@ void Generic6DOFJoint::_bind_methods() {
 
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_SPRING);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_SPRING);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_MAX);
@@ -923,6 +951,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_x(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_x(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_x(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -932,9 +963,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_ANGULAR_ERP, 0.5);
 	set_param_x(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_x(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_x(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_x(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_x(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_x(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_x(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_x(FLAG_ENABLE_MOTOR, false);
 	set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false);
 
@@ -945,6 +981,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_y(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_y(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_y(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_y(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -954,9 +993,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_y(PARAM_ANGULAR_ERP, 0.5);
 	set_param_y(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_y(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_y(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_y(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_y(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_y(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_y(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_y(FLAG_ENABLE_MOTOR, false);
 	set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false);
 
@@ -967,6 +1011,9 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_z(PARAM_LINEAR_DAMPING, 1.0);
 	set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
+	set_param_z(PARAM_LINEAR_SPRING_STIFFNESS, 0.01);
+	set_param_z(PARAM_LINEAR_SPRING_DAMPING, 0.01);
+	set_param_z(PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT, 0.0);
 	set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -976,9 +1023,14 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_z(PARAM_ANGULAR_ERP, 0.5);
 	set_param_z(PARAM_ANGULAR_MOTOR_TARGET_VELOCITY, 0);
 	set_param_z(PARAM_ANGULAR_MOTOR_FORCE_LIMIT, 300);
+	set_param_z(PARAM_ANGULAR_SPRING_STIFFNESS, 0);
+	set_param_z(PARAM_ANGULAR_SPRING_DAMPING, 0);
+	set_param_z(PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT, 0);
 
 	set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
+	set_flag_z(FLAG_ENABLE_ANGULAR_SPRING, false);
+	set_flag_z(FLAG_ENABLE_LINEAR_SPRING, false);
 	set_flag_z(FLAG_ENABLE_MOTOR, false);
 	set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false);
 }
diff --git a/scene/3d/physics_joint.h b/scene/3d/physics_joint.h
index 37870d6f30..ee4ca28658 100644
--- a/scene/3d/physics_joint.h
+++ b/scene/3d/physics_joint.h
@@ -251,6 +251,9 @@ public:
 		PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
 		PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
 		PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
+		PARAM_LINEAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
+		PARAM_LINEAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING,
+		PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
 		PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
 		PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
 		PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@@ -260,12 +263,17 @@ public:
 		PARAM_ANGULAR_ERP = PhysicsServer::G6DOF_JOINT_ANGULAR_ERP,
 		PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
 		PARAM_ANGULAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
+		PARAM_ANGULAR_SPRING_STIFFNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
+		PARAM_ANGULAR_SPRING_DAMPING = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
+		PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT = PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
 		PARAM_MAX = PhysicsServer::G6DOF_JOINT_MAX,
 	};
 
 	enum Flag {
 		FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
+		FLAG_ENABLE_LINEAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
+		FLAG_ENABLE_ANGULAR_SPRING = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
 		FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
 		FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
 		FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX
diff --git a/servers/physics/joints/generic_6dof_joint_sw.cpp b/servers/physics/joints/generic_6dof_joint_sw.cpp
index 60505c08c5..3a965ff800 100644
--- a/servers/physics/joints/generic_6dof_joint_sw.cpp
+++ b/servers/physics/joints/generic_6dof_joint_sw.cpp
@@ -503,6 +503,24 @@ void Generic6DOFJointSW::set_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJoi
 		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: {
 			// Not implemented in GodotPhysics backend
 		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
+			// Not implemented in GodotPhysics backend
+		} break;
 		case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning
 	}
 }
@@ -585,6 +603,24 @@ real_t Generic6DOFJointSW::get_param(Vector3::Axis p_axis, PhysicsServer::G6DOFJ
 		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT: {
 			// Not implemented in GodotPhysics backend
 		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_STIFFNESS: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_DAMPING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_DAMPING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT: {
+			// Not implemented in GodotPhysics backend
+		} break;
 		case PhysicsServer::G6DOF_JOINT_MAX: break; // Can't happen, but silences warning
 	}
 	return 0;
@@ -610,6 +646,12 @@ void Generic6DOFJointSW::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin
 		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: {
 			// Not implemented in GodotPhysics backend
 		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: {
+			// Not implemented in GodotPhysics backend
+		} break;
 		case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
 	}
 }
@@ -632,6 +674,12 @@ bool Generic6DOFJointSW::get_flag(Vector3::Axis p_axis, PhysicsServer::G6DOFJoin
 		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR: {
 			// Not implemented in GodotPhysics backend
 		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING: {
+			// Not implemented in GodotPhysics backend
+		} break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING: {
+			// Not implemented in GodotPhysics backend
+		} break;
 		case PhysicsServer::G6DOF_JOINT_FLAG_MAX: break; // Can't happen, but silences warning
 	}
 
diff --git a/servers/physics_server.h b/servers/physics_server.h
index cbb325dea3..15b353f768 100644
--- a/servers/physics_server.h
+++ b/servers/physics_server.h
@@ -697,6 +697,9 @@ public:
 		G6DOF_JOINT_LINEAR_DAMPING,
 		G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
 		G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
+		G6DOF_JOINT_LINEAR_SPRING_STIFFNESS,
+		G6DOF_JOINT_LINEAR_SPRING_DAMPING,
+		G6DOF_JOINT_LINEAR_SPRING_EQUILIBRIUM_POINT,
 		G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
 		G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
 		G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@@ -706,6 +709,9 @@ public:
 		G6DOF_JOINT_ANGULAR_ERP,
 		G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY,
 		G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT,
+		G6DOF_JOINT_ANGULAR_SPRING_STIFFNESS,
+		G6DOF_JOINT_ANGULAR_SPRING_DAMPING,
+		G6DOF_JOINT_ANGULAR_SPRING_EQUILIBRIUM_POINT,
 		G6DOF_JOINT_MAX
 	};
 
@@ -713,6 +719,8 @@ public:
 
 		G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
+		G6DOF_JOINT_FLAG_ENABLE_ANGULAR_SPRING,
+		G6DOF_JOINT_FLAG_ENABLE_LINEAR_SPRING,
 		G6DOF_JOINT_FLAG_ENABLE_MOTOR,
 		G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
 		G6DOF_JOINT_FLAG_MAX