2022-03-15 13:29:32 +01:00
<?xml version="1.0" encoding="UTF-8" ?>
2024-09-20 10:03:06 +02:00
<class name= "Generic6DOFJoint" inherits= "Joint" >
2022-03-15 13:29:32 +01:00
<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" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<description >
</description>
</method>
<method name= "get_flag_y" qualifiers= "const" >
<return type= "bool" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<description >
</description>
</method>
<method name= "get_flag_z" qualifiers= "const" >
<return type= "bool" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<description >
</description>
</method>
<method name= "get_param_x" qualifiers= "const" >
<return type= "float" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<description >
</description>
</method>
<method name= "get_param_y" qualifiers= "const" >
<return type= "float" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<description >
</description>
</method>
<method name= "get_param_z" qualifiers= "const" >
<return type= "float" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<description >
</description>
</method>
<method name= "set_flag_x" >
<return type= "void" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<argument index= "1" name= "value" type= "bool" />
<description >
</description>
</method>
<method name= "set_flag_y" >
<return type= "void" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<argument index= "1" name= "value" type= "bool" />
<description >
</description>
</method>
<method name= "set_flag_z" >
<return type= "void" />
<argument index= "0" name= "flag" type= "int" enum= "Generic6DOFJoint.Flag" />
<argument index= "1" name= "value" type= "bool" />
<description >
</description>
</method>
<method name= "set_param_x" >
<return type= "void" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<argument index= "1" name= "value" type= "float" />
<description >
</description>
</method>
<method name= "set_param_y" >
<return type= "void" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<argument index= "1" name= "value" type= "float" />
<description >
</description>
</method>
<method name= "set_param_z" >
<return type= "void" />
<argument index= "0" name= "param" type= "int" enum= "Generic6DOFJoint.Param" />
<argument 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_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>
</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 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_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>
