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@@ -19,127 +19,175 @@ The generic 6 degrees of freedom joint can implement a variety of joint-types by
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Properties
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----------
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/damping<class_Generic6DOFJoint_angular_limit_x/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_limit_x/enabled<class_Generic6DOFJoint_angular_limit_x/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/erp<class_Generic6DOFJoint_angular_limit_x/erp>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/force_limit<class_Generic6DOFJoint_angular_limit_x/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/lower_angle<class_Generic6DOFJoint_angular_limit_x/lower_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/restitution<class_Generic6DOFJoint_angular_limit_x/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/softness<class_Generic6DOFJoint_angular_limit_x/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_x/upper_angle<class_Generic6DOFJoint_angular_limit_x/upper_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/damping<class_Generic6DOFJoint_angular_limit_y/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_limit_y/enabled<class_Generic6DOFJoint_angular_limit_y/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/erp<class_Generic6DOFJoint_angular_limit_y/erp>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/force_limit<class_Generic6DOFJoint_angular_limit_y/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/lower_angle<class_Generic6DOFJoint_angular_limit_y/lower_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/restitution<class_Generic6DOFJoint_angular_limit_y/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/softness<class_Generic6DOFJoint_angular_limit_y/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_y/upper_angle<class_Generic6DOFJoint_angular_limit_y/upper_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/damping<class_Generic6DOFJoint_angular_limit_z/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_limit_z/enabled<class_Generic6DOFJoint_angular_limit_z/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/erp<class_Generic6DOFJoint_angular_limit_z/erp>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/force_limit<class_Generic6DOFJoint_angular_limit_z/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/lower_angle<class_Generic6DOFJoint_angular_limit_z/lower_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/restitution<class_Generic6DOFJoint_angular_limit_z/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/softness<class_Generic6DOFJoint_angular_limit_z/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_limit_z/upper_angle<class_Generic6DOFJoint_angular_limit_z/upper_angle>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_motor_x/enabled<class_Generic6DOFJoint_angular_motor_x/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_x/force_limit<class_Generic6DOFJoint_angular_motor_x/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_x/target_velocity<class_Generic6DOFJoint_angular_motor_x/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_motor_y/enabled<class_Generic6DOFJoint_angular_motor_y/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_y/force_limit<class_Generic6DOFJoint_angular_motor_y/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_y/target_velocity<class_Generic6DOFJoint_angular_motor_y/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`angular_motor_z/enabled<class_Generic6DOFJoint_angular_motor_z/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_z/force_limit<class_Generic6DOFJoint_angular_motor_z/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`angular_motor_z/target_velocity<class_Generic6DOFJoint_angular_motor_z/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_x/damping<class_Generic6DOFJoint_linear_limit_x/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_limit_x/enabled<class_Generic6DOFJoint_linear_limit_x/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_x/lower_distance<class_Generic6DOFJoint_linear_limit_x/lower_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_x/restitution<class_Generic6DOFJoint_linear_limit_x/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_x/softness<class_Generic6DOFJoint_linear_limit_x/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_x/upper_distance<class_Generic6DOFJoint_linear_limit_x/upper_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_y/damping<class_Generic6DOFJoint_linear_limit_y/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_limit_y/enabled<class_Generic6DOFJoint_linear_limit_y/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_y/lower_distance<class_Generic6DOFJoint_linear_limit_y/lower_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_y/restitution<class_Generic6DOFJoint_linear_limit_y/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_y/softness<class_Generic6DOFJoint_linear_limit_y/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_y/upper_distance<class_Generic6DOFJoint_linear_limit_y/upper_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_z/damping<class_Generic6DOFJoint_linear_limit_z/damping>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_limit_z/enabled<class_Generic6DOFJoint_linear_limit_z/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_z/lower_distance<class_Generic6DOFJoint_linear_limit_z/lower_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_z/restitution<class_Generic6DOFJoint_linear_limit_z/restitution>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_z/softness<class_Generic6DOFJoint_linear_limit_z/softness>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_limit_z/upper_distance<class_Generic6DOFJoint_linear_limit_z/upper_distance>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_motor_x/enabled<class_Generic6DOFJoint_linear_motor_x/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_x/force_limit<class_Generic6DOFJoint_linear_motor_x/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_x/target_velocity<class_Generic6DOFJoint_linear_motor_x/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_motor_y/enabled<class_Generic6DOFJoint_linear_motor_y/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_y/force_limit<class_Generic6DOFJoint_linear_motor_y/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_y/target_velocity<class_Generic6DOFJoint_linear_motor_y/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`bool<class_bool>` | :ref:`linear_motor_z/enabled<class_Generic6DOFJoint_linear_motor_z/enabled>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_z/force_limit<class_Generic6DOFJoint_linear_motor_z/force_limit>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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-| :ref:`float<class_float>` | :ref:`linear_motor_z/target_velocity<class_Generic6DOFJoint_linear_motor_z/target_velocity>` |
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-+---------------------------+------------------------------------------------------------------------------------------------+
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/damping<class_Generic6DOFJoint_angular_limit_x/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_limit_x/enabled<class_Generic6DOFJoint_angular_limit_x/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/erp<class_Generic6DOFJoint_angular_limit_x/erp>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/force_limit<class_Generic6DOFJoint_angular_limit_x/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/lower_angle<class_Generic6DOFJoint_angular_limit_x/lower_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/restitution<class_Generic6DOFJoint_angular_limit_x/restitution>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/softness<class_Generic6DOFJoint_angular_limit_x/softness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_x/upper_angle<class_Generic6DOFJoint_angular_limit_x/upper_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/damping<class_Generic6DOFJoint_angular_limit_y/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_limit_y/enabled<class_Generic6DOFJoint_angular_limit_y/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/erp<class_Generic6DOFJoint_angular_limit_y/erp>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/force_limit<class_Generic6DOFJoint_angular_limit_y/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/lower_angle<class_Generic6DOFJoint_angular_limit_y/lower_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/restitution<class_Generic6DOFJoint_angular_limit_y/restitution>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/softness<class_Generic6DOFJoint_angular_limit_y/softness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_y/upper_angle<class_Generic6DOFJoint_angular_limit_y/upper_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/damping<class_Generic6DOFJoint_angular_limit_z/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_limit_z/enabled<class_Generic6DOFJoint_angular_limit_z/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/erp<class_Generic6DOFJoint_angular_limit_z/erp>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/force_limit<class_Generic6DOFJoint_angular_limit_z/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/lower_angle<class_Generic6DOFJoint_angular_limit_z/lower_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/restitution<class_Generic6DOFJoint_angular_limit_z/restitution>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/softness<class_Generic6DOFJoint_angular_limit_z/softness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_limit_z/upper_angle<class_Generic6DOFJoint_angular_limit_z/upper_angle>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_motor_x/enabled<class_Generic6DOFJoint_angular_motor_x/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_x/force_limit<class_Generic6DOFJoint_angular_motor_x/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_x/target_velocity<class_Generic6DOFJoint_angular_motor_x/target_velocity>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_motor_y/enabled<class_Generic6DOFJoint_angular_motor_y/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_y/force_limit<class_Generic6DOFJoint_angular_motor_y/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_y/target_velocity<class_Generic6DOFJoint_angular_motor_y/target_velocity>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_motor_z/enabled<class_Generic6DOFJoint_angular_motor_z/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_z/force_limit<class_Generic6DOFJoint_angular_motor_z/force_limit>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_motor_z/target_velocity<class_Generic6DOFJoint_angular_motor_z/target_velocity>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_x/damping<class_Generic6DOFJoint_angular_spring_x/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_spring_x/enabled<class_Generic6DOFJoint_angular_spring_x/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_x/equilibrium_point<class_Generic6DOFJoint_angular_spring_x/equilibrium_point>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_x/stiffness<class_Generic6DOFJoint_angular_spring_x/stiffness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_y/damping<class_Generic6DOFJoint_angular_spring_y/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_spring_y/enabled<class_Generic6DOFJoint_angular_spring_y/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_y/equilibrium_point<class_Generic6DOFJoint_angular_spring_y/equilibrium_point>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_y/stiffness<class_Generic6DOFJoint_angular_spring_y/stiffness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_z/damping<class_Generic6DOFJoint_angular_spring_z/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`angular_spring_z/enabled<class_Generic6DOFJoint_angular_spring_z/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_z/equilibrium_point<class_Generic6DOFJoint_angular_spring_z/equilibrium_point>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`angular_spring_z/stiffness<class_Generic6DOFJoint_angular_spring_z/stiffness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_x/damping<class_Generic6DOFJoint_linear_limit_x/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`linear_limit_x/enabled<class_Generic6DOFJoint_linear_limit_x/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_x/lower_distance<class_Generic6DOFJoint_linear_limit_x/lower_distance>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_x/restitution<class_Generic6DOFJoint_linear_limit_x/restitution>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_x/softness<class_Generic6DOFJoint_linear_limit_x/softness>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_x/upper_distance<class_Generic6DOFJoint_linear_limit_x/upper_distance>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_y/damping<class_Generic6DOFJoint_linear_limit_y/damping>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`bool<class_bool>` | :ref:`linear_limit_y/enabled<class_Generic6DOFJoint_linear_limit_y/enabled>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_y/lower_distance<class_Generic6DOFJoint_linear_limit_y/lower_distance>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_y/restitution<class_Generic6DOFJoint_linear_limit_y/restitution>` |
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++---------------------------+------------------------------------------------------------------------------------------------------+
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+| :ref:`float<class_float>` | :ref:`linear_limit_y/softness<class_Generic6DOFJoint_linear_limit_y/softness>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_y/upper_distance<class_Generic6DOFJoint_linear_limit_y/upper_distance>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_z/damping<class_Generic6DOFJoint_linear_limit_z/damping>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_limit_z/enabled<class_Generic6DOFJoint_linear_limit_z/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_z/lower_distance<class_Generic6DOFJoint_linear_limit_z/lower_distance>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_z/restitution<class_Generic6DOFJoint_linear_limit_z/restitution>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_z/softness<class_Generic6DOFJoint_linear_limit_z/softness>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_limit_z/upper_distance<class_Generic6DOFJoint_linear_limit_z/upper_distance>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_motor_x/enabled<class_Generic6DOFJoint_linear_motor_x/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_x/force_limit<class_Generic6DOFJoint_linear_motor_x/force_limit>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_x/target_velocity<class_Generic6DOFJoint_linear_motor_x/target_velocity>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_motor_y/enabled<class_Generic6DOFJoint_linear_motor_y/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_y/force_limit<class_Generic6DOFJoint_linear_motor_y/force_limit>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_y/target_velocity<class_Generic6DOFJoint_linear_motor_y/target_velocity>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_motor_z/enabled<class_Generic6DOFJoint_linear_motor_z/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_z/force_limit<class_Generic6DOFJoint_linear_motor_z/force_limit>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_motor_z/target_velocity<class_Generic6DOFJoint_linear_motor_z/target_velocity>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_x/damping<class_Generic6DOFJoint_linear_spring_x/damping>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_spring_x/enabled<class_Generic6DOFJoint_linear_spring_x/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_x/equilibrium_point<class_Generic6DOFJoint_linear_spring_x/equilibrium_point>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_x/stiffness<class_Generic6DOFJoint_linear_spring_x/stiffness>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_y/damping<class_Generic6DOFJoint_linear_spring_y/damping>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_spring_y/enabled<class_Generic6DOFJoint_linear_spring_y/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_y/equilibrium_point<class_Generic6DOFJoint_linear_spring_y/equilibrium_point>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_y/stiffness<class_Generic6DOFJoint_linear_spring_y/stiffness>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_z/damping<class_Generic6DOFJoint_linear_spring_z/damping>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`bool<class_bool>` | :ref:`linear_spring_z/enabled<class_Generic6DOFJoint_linear_spring_z/enabled>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_z/equilibrium_point<class_Generic6DOFJoint_linear_spring_z/equilibrium_point>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
+| :ref:`float<class_float>` | :ref:`linear_spring_z/stiffness<class_Generic6DOFJoint_linear_spring_z/stiffness>` |
|
|
|
++---------------------------+------------------------------------------------------------------------------------------------------+
|
|
|
|
|
|
Enumerations
|
|
|
------------
|
|
@@ -152,11 +200,15 @@ enum **Flag**:
|
|
|
|
|
|
- **FLAG_ENABLE_ANGULAR_LIMIT** = **1** --- If ``set`` there is rotational motion possible.
|
|
|
|
|
|
-- **FLAG_ENABLE_MOTOR** = **2** --- If ``set`` there is a rotational motor across these axes.
|
|
|
+- **FLAG_ENABLE_LINEAR_SPRING** = **3**
|
|
|
|
|
|
-- **FLAG_ENABLE_LINEAR_MOTOR** = **3**
|
|
|
+- **FLAG_ENABLE_ANGULAR_SPRING** = **2**
|
|
|
|
|
|
-- **FLAG_MAX** = **4** --- End flag of FLAG\_\* constants, used internally.
|
|
|
+- **FLAG_ENABLE_MOTOR** = **4** --- If ``set`` there is a rotational motor across these axes.
|
|
|
+
|
|
|
+- **FLAG_ENABLE_LINEAR_MOTOR** = **5**
|
|
|
+
|
|
|
+- **FLAG_MAX** = **6** --- End flag of FLAG\_\* constants, used internally.
|
|
|
|
|
|
.. _enum_Generic6DOFJoint_Param:
|
|
|
|
|
@@ -176,25 +228,25 @@ enum **Param**:
|
|
|
|
|
|
- **PARAM_LINEAR_MOTOR_FORCE_LIMIT** = **6** --- The maximum force the linear motor will apply while trying to reach the velocity target.
|
|
|
|
|
|
-- **PARAM_ANGULAR_LOWER_LIMIT** = **7** --- The minimum rotation in negative direction to break loose and rotate around the axes.
|
|
|
+- **PARAM_ANGULAR_LOWER_LIMIT** = **10** --- The minimum rotation in negative direction to break loose and rotate around the axes.
|
|
|
|
|
|
-- **PARAM_ANGULAR_UPPER_LIMIT** = **8** --- The minimum rotation in positive direction to break loose and rotate around the axes.
|
|
|
+- **PARAM_ANGULAR_UPPER_LIMIT** = **11** --- The minimum rotation in positive direction to break loose and rotate around the axes.
|
|
|
|
|
|
-- **PARAM_ANGULAR_LIMIT_SOFTNESS** = **9** --- The speed of all rotations across the axes.
|
|
|
+- **PARAM_ANGULAR_LIMIT_SOFTNESS** = **12** --- The speed of all rotations across the axes.
|
|
|
|
|
|
-- **PARAM_ANGULAR_DAMPING** = **10** --- The amount of rotational damping across the axes. The lower, the more dampening occurs.
|
|
|
+- **PARAM_ANGULAR_DAMPING** = **13** --- The amount of rotational damping across the axes. The lower, the more dampening occurs.
|
|
|
|
|
|
-- **PARAM_ANGULAR_RESTITUTION** = **11** --- The amount of rotational restitution across the axes. The lower, the more restitution occurs.
|
|
|
+- **PARAM_ANGULAR_RESTITUTION** = **14** --- The amount of rotational restitution across the axes. The lower, the more restitution occurs.
|
|
|
|
|
|
-- **PARAM_ANGULAR_FORCE_LIMIT** = **12** --- The maximum amount of force that can occur, when rotating around the axes.
|
|
|
+- **PARAM_ANGULAR_FORCE_LIMIT** = **15** --- The maximum amount of force that can occur, when rotating around the axes.
|
|
|
|
|
|
-- **PARAM_ANGULAR_ERP** = **13** --- When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
|
|
|
+- **PARAM_ANGULAR_ERP** = **16** --- When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
|
|
|
|
|
|
-- **PARAM_ANGULAR_MOTOR_TARGET_VELOCITY** = **14** --- Target speed for the motor at the axes.
|
|
|
+- **PARAM_ANGULAR_MOTOR_TARGET_VELOCITY** = **17** --- Target speed for the motor at the axes.
|
|
|
|
|
|
-- **PARAM_ANGULAR_MOTOR_FORCE_LIMIT** = **15** --- Maximum acceleration for the motor at the axes.
|
|
|
+- **PARAM_ANGULAR_MOTOR_FORCE_LIMIT** = **18** --- Maximum acceleration for the motor at the axes.
|
|
|
|
|
|
-- **PARAM_MAX** = **16** --- End flag of PARAM\_\* constants, used internally.
|
|
|
+- **PARAM_MAX** = **22** --- End flag of PARAM\_\* constants, used internally.
|
|
|
|
|
|
Description
|
|
|
-----------
|
|
@@ -566,6 +618,126 @@ Maximum acceleration for the motor at the z-axis.
|
|
|
|
|
|
Target speed for the motor at the z-axis.
|
|
|
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_x/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_x/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_x/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **angular_spring_x/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_x(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_x() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_x/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_x/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_x/stiffness:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_x/stiffness**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_y/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_y/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_y/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **angular_spring_y/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_y(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_y() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_y/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_y/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_y/stiffness:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_y/stiffness**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_z/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_z/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_z(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_z() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_z/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **angular_spring_z/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_z(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_z() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_z/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_z/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_z(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_z() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_angular_spring_z/stiffness:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **angular_spring_z/stiffness**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_z(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_z() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
.. _class_Generic6DOFJoint_linear_limit_x/damping:
|
|
|
|
|
|
- :ref:`float<class_float>` **linear_limit_x/damping**
|
|
@@ -890,3 +1062,123 @@ The maximum force the linear motor can apply on the z-axis while trying to reach
|
|
|
|
|
|
The speed that the linear motor will attempt to reach on the z-axis.
|
|
|
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_x/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_x/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_x/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **linear_spring_x/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_x(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_x() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_x/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_x/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_x/stiffness:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_x/stiffness**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_x(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_x() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_y/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_y/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_y/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **linear_spring_y/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_y(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_y() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_y/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_y/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_y/stiffness:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_y/stiffness**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_y(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_y() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_z/damping:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_z/damping**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_z(value) |
|
|
|
++----------+--------------------+
|
|
|
+| *Getter* | get_param_z() |
|
|
|
++----------+--------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_z/enabled:
|
|
|
+
|
|
|
+- :ref:`bool<class_bool>` **linear_spring_z/enabled**
|
|
|
+
|
|
|
++----------+-------------------+
|
|
|
+| *Setter* | set_flag_z(value) |
|
|
|
++----------+-------------------+
|
|
|
+| *Getter* | get_flag_z() |
|
|
|
++----------+-------------------+
|
|
|
+
|
|
|
+.. _class_Generic6DOFJoint_linear_spring_z/equilibrium_point:
|
|
|
+
|
|
|
+- :ref:`float<class_float>` **linear_spring_z/equilibrium_point**
|
|
|
+
|
|
|
++----------+--------------------+
|
|
|
+| *Setter* | set_param_z(value) |
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++----------+--------------------+
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+| *Getter* | get_param_z() |
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++----------+--------------------+
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+
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+.. _class_Generic6DOFJoint_linear_spring_z/stiffness:
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+
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+- :ref:`float<class_float>` **linear_spring_z/stiffness**
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+
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++----------+--------------------+
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+| *Setter* | set_param_z(value) |
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++----------+--------------------+
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+| *Getter* | get_param_z() |
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++----------+--------------------+
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+
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