1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
|
<?xml version="1.0" encoding="UTF-8" ?>
<class name="Generic6DOFJoint" inherits="Joint" category="Core" version="3.0-rc1">
<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>
<demos>
</demos>
<methods>
</methods>
<members>
<member name="angular_limit_x/damping" type="float" setter="set_param_x" 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.
</member>
<member name="angular_limit_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
If [code]true[/code] rotation across the x-axis is enabled.
</member>
<member name="angular_limit_x/erp" type="float" setter="set_param_x" 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.
</member>
<member name="angular_limit_x/force_limit" type="float" setter="set_param_x" getter="get_param_x">
The maximum amount of force that can occur, when rotating around x-axis.
</member>
<member name="angular_limit_x/lower_angle" type="float" setter="_set_angular_lo_limit_x" getter="_get_angular_lo_limit_x">
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">
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">
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">
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">
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">
If [code]true[/code] rotation across the y-axis is enabled.
</member>
<member name="angular_limit_y/erp" type="float" setter="set_param_y" 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.
</member>
<member name="angular_limit_y/force_limit" type="float" setter="set_param_y" getter="get_param_y">
The maximum amount of force that can occur, when rotating around y-axis.
</member>
<member name="angular_limit_y/lower_angle" type="float" setter="_set_angular_lo_limit_y" getter="_get_angular_lo_limit_y">
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">
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">
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">
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">
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">
If [code]true[/code] rotation across the z-axis is enabled.
</member>
<member name="angular_limit_z/erp" type="float" setter="set_param_z" 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.
</member>
<member name="angular_limit_z/force_limit" type="float" setter="set_param_z" getter="get_param_z">
The maximum amount of force that can occur, when rotating around z-axis.
</member>
<member name="angular_limit_z/lower_angle" type="float" setter="_set_angular_lo_limit_z" getter="_get_angular_lo_limit_z">
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">
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">
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">
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">
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">
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">
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">
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">
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">
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">
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">
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">
Target speed for the motor at the z-axis.
</member>
<member name="linear_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x">
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">
If [code]true[/code] the linear motion across the x-axis is enabled.
</member>
<member name="linear_limit_x/lower_distance" type="float" setter="set_param_x" getter="get_param_x">
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">
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">
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">
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">
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">
If [code]true[/code] the linear motion across the y-axis is enabled.
</member>
<member name="linear_limit_y/lower_distance" type="float" setter="set_param_y" getter="get_param_y">
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">
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">
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">
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">
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">
If [code]true[/code] the linear motion across the z-axis is enabled.
</member>
<member name="linear_limit_z/lower_distance" type="float" setter="set_param_z" getter="get_param_z">
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">
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">
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">
The maximum difference between the pivot points' z-axis.
</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_ANGULAR_LOWER_LIMIT" value="5" enum="Param">
The minimum rotation in negative direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="6" enum="Param">
The minimum rotation in positive direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="7" enum="Param">
The speed of all rotations across the axes.
</constant>
<constant name="PARAM_ANGULAR_DAMPING" value="8" enum="Param">
The amount of rotational damping across the axes. The lower, the more dampening occurs.
</constant>
<constant name="PARAM_ANGULAR_RESTITUTION" value="9" enum="Param">
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
</constant>
<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="10" enum="Param">
The maximum amount of force that can occur, when rotating around the axes.
</constant>
<constant name="PARAM_ANGULAR_ERP" value="11" 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="12" enum="Param">
Target speed for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="13" enum="Param">
Maximum acceleration for the motor at the axes.
</constant>
<constant name="PARAM_MAX" value="14" enum="Param">
End flag of PARAM_* constants, used internally.
</constant>
<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
If [code]set[/code] there is linear motion possible within the given limits.
</constant>
<constant name="FLAG_ENABLE_ANGULAR_LIMIT" value="1" enum="Flag">
If [code]set[/code] there is rotational motion possible.
</constant>
<constant name="FLAG_ENABLE_MOTOR" value="2" enum="Flag">
If [code]set[/code] there is a rotational motor across these axes.
</constant>
<constant name="FLAG_MAX" value="3" enum="Flag">
End flag of FLAG_* constants, used internally.
</constant>
</constants>
</class>
|