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
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
|
<?xml version="1.0" encoding="UTF-8" ?>
<class name="Generic6DOFJoint3D" inherits="Joint3D" version="4.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<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" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<description>
</description>
</method>
<method name="get_flag_y" qualifiers="const">
<return type="bool" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<description>
</description>
</method>
<method name="get_flag_z" qualifiers="const">
<return type="bool" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<description>
</description>
</method>
<method name="get_param_x" qualifiers="const">
<return type="float" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<description>
</description>
</method>
<method name="get_param_y" qualifiers="const">
<return type="float" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<description>
</description>
</method>
<method name="get_param_z" qualifiers="const">
<return type="float" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<description>
</description>
</method>
<method name="set_flag_x">
<return type="void" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<param index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_flag_y">
<return type="void" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<param index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_flag_z">
<return type="void" />
<param index="0" name="flag" type="int" enum="Generic6DOFJoint3D.Flag" />
<param index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_param_x">
<return type="void" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<param index="1" name="value" type="float" />
<description>
</description>
</method>
<method name="set_param_y">
<return type="void" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<param index="1" name="value" type="float" />
<description>
</description>
</method>
<method name="set_param_z">
<return type="void" />
<param index="0" name="param" type="int" enum="Generic6DOFJoint3D.Param" />
<param index="1" name="value" type="float" />
<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_param_x" getter="get_param_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_param_x" getter="get_param_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 damping 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_param_y" getter="get_param_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_param_y" getter="get_param_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 damping 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_param_z" getter="get_param_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_param_z" getter="get_param_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>
</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_LINEAR_SPRING_STIFFNESS" value="7" enum="Param">
</constant>
<constant name="PARAM_LINEAR_SPRING_DAMPING" value="8" enum="Param">
</constant>
<constant name="PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT" value="9" enum="Param">
</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 damping 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_ANGULAR_SPRING_STIFFNESS" value="19" enum="Param">
</constant>
<constant name="PARAM_ANGULAR_SPRING_DAMPING" value="20" enum="Param">
</constant>
<constant name="PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT" value="21" enum="Param">
</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>
|