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<?xml version="1.0" encoding="UTF-8" ?>
<class name="Generic6DOFJoint" inherits="Joint" category="Core" version="3.1">
<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 limited.
</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 limited.
</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 limited.
</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="angular_spring_x/damping" type="float" setter="set_param_x" getter="get_param_x">
</member>
<member name="angular_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
</member>
<member name="angular_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x">
</member>
<member name="angular_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x">
</member>
<member name="angular_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="angular_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y">
</member>
<member name="angular_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="angular_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="angular_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z">
</member>
<member name="angular_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z">
</member>
<member name="angular_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z">
</member>
<member name="angular_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z">
</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 limited.
</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 limited.
</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 limited.
</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>
<member name="linear_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
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">
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">
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">
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">
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">
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">
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">
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">
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">
</member>
<member name="linear_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
</member>
<member name="linear_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x">
</member>
<member name="linear_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x">
</member>
<member name="linear_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="linear_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y">
</member>
<member name="linear_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="linear_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y">
</member>
<member name="linear_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z">
</member>
<member name="linear_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z">
</member>
<member name="linear_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z">
</member>
<member name="linear_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z">
</member>
<member name="precision" type="int" setter="set_precision" getter="get_precision">
</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">
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_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 [code]set[/code] there is a rotational motor across these axes.
</constant>
<constant name="FLAG_ENABLE_LINEAR_MOTOR" value="5" enum="Flag">
</constant>
<constant name="FLAG_MAX" value="6" enum="Flag">
End flag of FLAG_* constants, used internally.
</constant>
</constants>
</class>
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