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<?xml version="1.0" encoding="UTF-8" ?>
<class name="Generic6DOFJoint" inherits="Joint" version="4.0">
<brief_description>
The generic 6-degrees-of-freedom joint can implement a variety of joint types by locking certain axes' rotation or translation.
</brief_description>
<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.
</description>
<tutorials>
</tutorials>
<methods>
<method name="get_flag_x" qualifiers="const">
<return type="bool">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<description>
</description>
</method>
<method name="get_flag_y" qualifiers="const">
<return type="bool">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<description>
</description>
</method>
<method name="get_flag_z" qualifiers="const">
<return type="bool">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<description>
</description>
</method>
<method name="get_param_x" qualifiers="const">
<return type="float">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<description>
</description>
</method>
<method name="get_param_y" qualifiers="const">
<return type="float">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<description>
</description>
</method>
<method name="get_param_z" qualifiers="const">
<return type="float">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<description>
</description>
</method>
<method name="set_flag_x">
<return type="void">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<argument index="1" name="value" type="bool">
</argument>
<description>
</description>
</method>
<method name="set_flag_y">
<return type="void">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<argument index="1" name="value" type="bool">
</argument>
<description>
</description>
</method>
<method name="set_flag_z">
<return type="void">
</return>
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag">
</argument>
<argument index="1" name="value" type="bool">
</argument>
<description>
</description>
</method>
<method name="set_param_x">
<return type="void">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<argument index="1" name="value" type="float">
</argument>
<description>
</description>
</method>
<method name="set_param_y">
<return type="void">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<argument index="1" name="value" type="float">
</argument>
<description>
</description>
</method>
<method name="set_param_z">
<return type="void">
</return>
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param">
</argument>
<argument index="1" name="value" type="float">
</argument>
<description>
</description>
</method>
</methods>
<members>
<member name="angular_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="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.
</member>
<member name="angular_limit_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="true">
If [code]true[/code], rotation across the X axis is limited.
</member>
<member name="angular_limit_x/erp" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
When rotating across the X axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The maximum amount of force that can occur, when rotating around the X axis.
</member>
<member name="angular_limit_x/lower_angle" type="float" setter="_set_angular_lo_limit_x" getter="_get_angular_lo_limit_x" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the X axis.
</member>
<member name="angular_limit_x/restitution" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The amount of rotational restitution across the X axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_x/softness" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
The speed of all rotations across the X axis.
</member>
<member name="angular_limit_x/upper_angle" type="float" setter="_set_angular_hi_limit_x" getter="_get_angular_hi_limit_x" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the X axis.
</member>
<member name="angular_limit_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="1.0">
The amount of rotational damping across the Y axis. The lower, the more dampening occurs.
</member>
<member name="angular_limit_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="true">
If [code]true[/code], rotation across the Y axis is limited.
</member>
<member name="angular_limit_y/erp" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
When rotating across the Y axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The maximum amount of force that can occur, when rotating around the Y axis.
</member>
<member name="angular_limit_y/lower_angle" type="float" setter="_set_angular_lo_limit_y" getter="_get_angular_lo_limit_y" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the Y axis.
</member>
<member name="angular_limit_y/restitution" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The amount of rotational restitution across the Y axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_y/softness" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
The speed of all rotations across the Y axis.
</member>
<member name="angular_limit_y/upper_angle" type="float" setter="_set_angular_hi_limit_y" getter="_get_angular_hi_limit_y" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the Y axis.
</member>
<member name="angular_limit_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="1.0">
The amount of rotational damping across the Z axis. The lower, the more dampening occurs.
</member>
<member name="angular_limit_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="true">
If [code]true[/code], rotation across the Z axis is limited.
</member>
<member name="angular_limit_z/erp" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
When rotating across the Z axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The maximum amount of force that can occur, when rotating around the Z axis.
</member>
<member name="angular_limit_z/lower_angle" type="float" setter="_set_angular_lo_limit_z" getter="_get_angular_lo_limit_z" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the Z axis.
</member>
<member name="angular_limit_z/restitution" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The amount of rotational restitution across the Z axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_z/softness" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
The speed of all rotations across the Z axis.
</member>
<member name="angular_limit_z/upper_angle" type="float" setter="_set_angular_hi_limit_z" getter="_get_angular_hi_limit_z" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the Z axis.
</member>
<member name="angular_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
If [code]true[/code], a rotating motor at the X axis is enabled.
</member>
<member name="angular_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="300.0">
Maximum acceleration for the motor at the X axis.
</member>
<member name="angular_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
Target speed for the motor at the X axis.
</member>
<member name="angular_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
If [code]true[/code], a rotating motor at the Y axis is enabled.
</member>
<member name="angular_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="300.0">
Maximum acceleration for the motor at the Y axis.
</member>
<member name="angular_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
Target speed for the motor at the Y axis.
</member>
<member name="angular_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
If [code]true[/code], a rotating motor at the Z axis is enabled.
</member>
<member name="angular_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="300.0">
Maximum acceleration for the motor at the Z axis.
</member>
<member name="angular_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
Target speed for the motor at the Z axis.
</member>
<member name="angular_spring_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
</member>
<member name="angular_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
</member>
<member name="angular_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="angular_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
</member>
<member name="angular_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="angular_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="linear_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="1.0">
The amount of damping that happens at the X motion.
</member>
<member name="linear_limit_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="true">
If [code]true[/code], the linear motion across the X axis is limited.
</member>
<member name="linear_limit_x/lower_distance" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The minimum difference between the pivot points' X axis.
</member>
<member name="linear_limit_x/restitution" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
The amount of restitution on the X axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_x/softness" type="float" setter="set_param_x" getter="get_param_x" default="0.7">
A factor applied to the movement across the X axis. The lower, the slower the movement.
</member>
<member name="linear_limit_x/upper_distance" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The maximum difference between the pivot points' X axis.
</member>
<member name="linear_limit_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="1.0">
The amount of damping that happens at the Y motion.
</member>
<member name="linear_limit_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="true">
If [code]true[/code], the linear motion across the Y axis is limited.
</member>
<member name="linear_limit_y/lower_distance" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The minimum difference between the pivot points' Y axis.
</member>
<member name="linear_limit_y/restitution" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
The amount of restitution on the Y axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_y/softness" type="float" setter="set_param_y" getter="get_param_y" default="0.7">
A factor applied to the movement across the Y axis. The lower, the slower the movement.
</member>
<member name="linear_limit_y/upper_distance" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The maximum difference between the pivot points' Y axis.
</member>
<member name="linear_limit_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="1.0">
The amount of damping that happens at the Z motion.
</member>
<member name="linear_limit_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="true">
If [code]true[/code], the linear motion across the Z axis is limited.
</member>
<member name="linear_limit_z/lower_distance" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The minimum difference between the pivot points' Z axis.
</member>
<member name="linear_limit_z/restitution" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
The amount of restitution on the Z axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_z/softness" type="float" setter="set_param_z" getter="get_param_z" default="0.7">
A factor applied to the movement across the Z axis. The lower, the slower the movement.
</member>
<member name="linear_limit_z/upper_distance" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The maximum difference between the pivot points' Z axis.
</member>
<member name="linear_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
If [code]true[/code], then there is a linear motor on the X axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The maximum force the linear motor can apply on the X axis while trying to reach the target velocity.
</member>
<member name="linear_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The speed that the linear motor will attempt to reach on the X axis.
</member>
<member name="linear_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
If [code]true[/code], then there is a linear motor on the Y axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The maximum force the linear motor can apply on the Y axis while trying to reach the target velocity.
</member>
<member name="linear_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The speed that the linear motor will attempt to reach on the Y axis.
</member>
<member name="linear_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
If [code]true[/code], then there is a linear motor on the Z axis. It will attempt to reach the target velocity while staying within the force limits.
</member>
<member name="linear_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The maximum force the linear motor can apply on the Z axis while trying to reach the target velocity.
</member>
<member name="linear_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The speed that the linear motor will attempt to reach on the Z axis.
</member>
<member name="linear_spring_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="0.01">
</member>
<member name="linear_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
</member>
<member name="linear_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="linear_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x" default="0.01">
</member>
<member name="linear_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="0.01">
</member>
<member name="linear_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
</member>
<member name="linear_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="linear_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y" default="0.01">
</member>
<member name="linear_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="0.01">
</member>
<member name="linear_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
</member>
<member name="linear_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="linear_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z" default="0.01">
</member>
<member name="precision" type="int" setter="set_precision" getter="get_precision" default="1">
</member>
</members>
<constants>
<constant name="PARAM_LINEAR_LOWER_LIMIT" value="0" enum="Param">
The minimum difference between the pivot points' axes.
</constant>
<constant name="PARAM_LINEAR_UPPER_LIMIT" value="1" enum="Param">
The maximum difference between the pivot points' axes.
</constant>
<constant name="PARAM_LINEAR_LIMIT_SOFTNESS" value="2" enum="Param">
A factor applied to the movement across the axes. The lower, the slower the movement.
</constant>
<constant name="PARAM_LINEAR_RESTITUTION" value="3" enum="Param">
The amount of restitution on the axes' movement. The lower, the more momentum gets lost.
</constant>
<constant name="PARAM_LINEAR_DAMPING" value="4" enum="Param">
The amount of damping that happens at the linear motion across the axes.
</constant>
<constant name="PARAM_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="Param">
The velocity the linear motor will try to reach.
</constant>
<constant name="PARAM_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="Param">
The maximum force the linear motor will apply while trying to reach the velocity target.
</constant>
<constant name="PARAM_ANGULAR_LOWER_LIMIT" value="10" enum="Param">
The minimum rotation in negative direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="11" enum="Param">
The minimum rotation in positive direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="12" enum="Param">
The speed of all rotations across the axes.
</constant>
<constant name="PARAM_ANGULAR_DAMPING" value="13" enum="Param">
The amount of rotational damping across the axes. The lower, the more dampening occurs.
</constant>
<constant name="PARAM_ANGULAR_RESTITUTION" value="14" enum="Param">
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
</constant>
<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="15" enum="Param">
The maximum amount of force that can occur, when rotating around the axes.
</constant>
<constant name="PARAM_ANGULAR_ERP" value="16" enum="Param">
When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</constant>
<constant name="PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value="17" enum="Param">
Target speed for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="Param">
Maximum acceleration for the motor at the axes.
</constant>
<constant name="PARAM_MAX" value="22" enum="Param">
Represents the size of the [enum Param] enum.
</constant>
<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
If enabled, linear motion is possible within the given limits.
</constant>
<constant name="FLAG_ENABLE_ANGULAR_LIMIT" value="1" enum="Flag">
If enabled, rotational motion is possible within the given limits.
</constant>
<constant name="FLAG_ENABLE_LINEAR_SPRING" value="3" enum="Flag">
</constant>
<constant name="FLAG_ENABLE_ANGULAR_SPRING" value="2" enum="Flag">
</constant>
<constant name="FLAG_ENABLE_MOTOR" value="4" enum="Flag">
If enabled, there is a rotational motor across these axes.
</constant>
<constant name="FLAG_ENABLE_LINEAR_MOTOR" value="5" enum="Flag">
If enabled, there is a linear motor across these axes.
</constant>
<constant name="FLAG_MAX" value="6" enum="Flag">
Represents the size of the [enum Flag] enum.
</constant>
</constants>
</class>
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