godot-docs/classes/class_generic6dofjoint.rst

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.. _class_Generic6DOFJoint:

Generic6DOFJoint
================

**Inherits:** :ref:`Joint<class_joint>` **<** :ref:`Spatial<class_spatial>` **<** :ref:`Node<class_node>` **<** :ref:`Object<class_object>`

**Category:** Core

Brief Description
-----------------

The generic 6 degrees of freedom joint can implement a variety of joint-types by locking certain axes' rotation or translation.

Member Functions
----------------

+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`    | :ref:`get_flag_x<class_Generic6DOFJoint_get_flag_x>`  **(** :ref:`int<class_int>` flag  **)** const                               |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`    | :ref:`get_flag_y<class_Generic6DOFJoint_get_flag_y>`  **(** :ref:`int<class_int>` flag  **)** const                               |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`bool<class_bool>`    | :ref:`get_flag_z<class_Generic6DOFJoint_get_flag_z>`  **(** :ref:`int<class_int>` flag  **)** const                               |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`  | :ref:`get_param_x<class_Generic6DOFJoint_get_param_x>`  **(** :ref:`int<class_int>` param  **)** const                            |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`  | :ref:`get_param_y<class_Generic6DOFJoint_get_param_y>`  **(** :ref:`int<class_int>` param  **)** const                            |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| :ref:`float<class_float>`  | :ref:`get_param_z<class_Generic6DOFJoint_get_param_z>`  **(** :ref:`int<class_int>` param  **)** const                            |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_flag_x<class_Generic6DOFJoint_set_flag_x>`  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**      |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_flag_y<class_Generic6DOFJoint_set_flag_y>`  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**      |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_flag_z<class_Generic6DOFJoint_set_flag_z>`  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**      |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_param_x<class_Generic6DOFJoint_set_param_x>`  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)** |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_param_y<class_Generic6DOFJoint_set_param_y>`  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)** |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+
| void                       | :ref:`set_param_z<class_Generic6DOFJoint_set_param_z>`  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)** |
+----------------------------+-----------------------------------------------------------------------------------------------------------------------------------+

Member Variables
----------------

- :ref:`float<class_float>` **angular_limit_x/damping** - 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.
- :ref:`bool<class_bool>` **angular_limit_x/enabled** - If ``true`` rotation across the x-axis is enabled.
- :ref:`float<class_float>` **angular_limit_x/erp** - When rotating across x-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- :ref:`float<class_float>` **angular_limit_x/force_limit** - The maximum amount of force that can occur, when rotating arround x-axis.
- :ref:`float<class_float>` **angular_limit_x/lower_angle** - The minimum rotation in negative direction to break loose and rotate arround the x-axis.
- :ref:`float<class_float>` **angular_limit_x/restitution** - The amount of rotational restitution across the x-axis. The lower, the more restitution occurs.
- :ref:`float<class_float>` **angular_limit_x/softness** - The speed of all rotations across the x-axis.
- :ref:`float<class_float>` **angular_limit_x/upper_angle** - The minimum rotation in positive direction to break loose and rotate arround the x-axis.
- :ref:`float<class_float>` **angular_limit_y/damping** - The amount of rotational damping across the y-axis. The lower, the more dampening occurs.
- :ref:`bool<class_bool>` **angular_limit_y/enabled** - If ``true`` rotation across the y-axis is enabled.
- :ref:`float<class_float>` **angular_limit_y/erp** - When rotating across y-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- :ref:`float<class_float>` **angular_limit_y/force_limit** - The maximum amount of force that can occur, when rotating arround y-axis.
- :ref:`float<class_float>` **angular_limit_y/lower_angle** - The minimum rotation in negative direction to break loose and rotate arround the y-axis.
- :ref:`float<class_float>` **angular_limit_y/restitution** - The amount of rotational restitution across the y-axis. The lower, the more restitution occurs.
- :ref:`float<class_float>` **angular_limit_y/softness** - The speed of all rotations across the y-axis.
- :ref:`float<class_float>` **angular_limit_y/upper_angle** - The minimum rotation in positive direction to break loose and rotate arround the y-axis.
- :ref:`float<class_float>` **angular_limit_z/damping** - The amount of rotational damping across the z-axis. The lower, the more dampening occurs.
- :ref:`bool<class_bool>` **angular_limit_z/enabled** - If ``true`` rotation across the z-axis is enabled.
- :ref:`float<class_float>` **angular_limit_z/erp** - When rotating across z-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
- :ref:`float<class_float>` **angular_limit_z/force_limit** - The maximum amount of force that can occur, when rotating arround z-axis.
- :ref:`float<class_float>` **angular_limit_z/lower_angle** - The minimum rotation in negative direction to break loose and rotate arround the z-axis.
- :ref:`float<class_float>` **angular_limit_z/restitution** - The amount of rotational restitution across the z-axis. The lower, the more restitution occurs.
- :ref:`float<class_float>` **angular_limit_z/softness** - The speed of all rotations across the z-axis.
- :ref:`float<class_float>` **angular_limit_z/upper_angle** - The minimum rotation in positive direction to break loose and rotate arround the z-axis.
- :ref:`bool<class_bool>` **angular_motor_x/enabled** - If ``true`` a rotating motor at the x-axis is enabled.
- :ref:`float<class_float>` **angular_motor_x/force_limit** - Maximum acceleration for the motor at the x-axis.
- :ref:`float<class_float>` **angular_motor_x/target_velocity** - Target speed for the motor at the x-axis.
- :ref:`bool<class_bool>` **angular_motor_y/enabled** - If ``true`` a rotating motor at the y-axis is enabled.
- :ref:`float<class_float>` **angular_motor_y/force_limit** - Maximum acceleration for the motor at the y-axis.
- :ref:`float<class_float>` **angular_motor_y/target_velocity** - Target speed for the motor at the y-axis.
- :ref:`bool<class_bool>` **angular_motor_z/enabled** - If ``true`` a rotating motor at the z-axis is enabled.
- :ref:`float<class_float>` **angular_motor_z/force_limit** - Maximum acceleration for the motor at the z-axis.
- :ref:`float<class_float>` **angular_motor_z/target_velocity** - Target speed for the motor at the z-axis.
- :ref:`float<class_float>` **linear_limit_x/damping** - The amount of damping that happens at the x-motion.
- :ref:`bool<class_bool>` **linear_limit_x/enabled** - If ``true`` the linear motion across the x-axis is enabled.
- :ref:`float<class_float>` **linear_limit_x/lower_distance** - The minimum difference between the pivot points' x-axis.
- :ref:`float<class_float>` **linear_limit_x/restitution** - The amount of restitution on the x-axis movement The lower, the more momentum gets lost.
- :ref:`float<class_float>` **linear_limit_x/softness** - A factor applied to the movement across the x-axis The lower, the slower the movement.
- :ref:`float<class_float>` **linear_limit_x/upper_distance** - The maximum difference between the pivot points' x-axis.
- :ref:`float<class_float>` **linear_limit_y/damping** - The amount of damping that happens at the y-motion.
- :ref:`bool<class_bool>` **linear_limit_y/enabled** - If ``true`` the linear motion across the y-axis is enabled.
- :ref:`float<class_float>` **linear_limit_y/lower_distance** - The minimum difference between the pivot points' y-axis.
- :ref:`float<class_float>` **linear_limit_y/restitution** - The amount of restitution on the y-axis movement The lower, the more momentum gets lost.
- :ref:`float<class_float>` **linear_limit_y/softness** - A factor applied to the movement across the y-axis The lower, the slower the movement.
- :ref:`float<class_float>` **linear_limit_y/upper_distance** - The maximum difference between the pivot points' y-axis.
- :ref:`float<class_float>` **linear_limit_z/damping** - The amount of damping that happens at the z-motion.
- :ref:`bool<class_bool>` **linear_limit_z/enabled** - If ``true`` the linear motion across the z-axis is enabled.
- :ref:`float<class_float>` **linear_limit_z/lower_distance** - The minimum difference between the pivot points' z-axis.
- :ref:`float<class_float>` **linear_limit_z/restitution** - The amount of restitution on the z-axis movement The lower, the more momentum gets lost.
- :ref:`float<class_float>` **linear_limit_z/softness** - A factor applied to the movement across the z-axis The lower, the slower the movement.
- :ref:`float<class_float>` **linear_limit_z/upper_distance** - The maximum difference between the pivot points' z-axis.

Numeric Constants
-----------------

- **PARAM_LINEAR_LOWER_LIMIT** = **0** --- The minimum difference between the pivot points' axes.
- **PARAM_LINEAR_UPPER_LIMIT** = **1** --- The maximum difference between the pivot points' axes.
- **PARAM_LINEAR_LIMIT_SOFTNESS** = **2** --- A factor applied to the movement across the axes The lower, the slower the movement.
- **PARAM_LINEAR_RESTITUTION** = **3** --- The amount of restitution on the axes movement The lower, the more momentum gets lost.
- **PARAM_LINEAR_DAMPING** = **4** --- The amount of damping that happens at the linear motion across the axes.
- **PARAM_ANGULAR_LOWER_LIMIT** = **5** --- The minimum rotation in negative direction to break loose and rotate arround the axes.
- **PARAM_ANGULAR_UPPER_LIMIT** = **6** --- The minimum rotation in positive direction to break loose and rotate arround the axes.
- **PARAM_ANGULAR_LIMIT_SOFTNESS** = **7** --- The speed of all rotations across the axes.
- **PARAM_ANGULAR_DAMPING** = **8** --- The amount of rotational damping across the axes. The lower, the more dampening occurs.
- **PARAM_ANGULAR_RESTITUTION** = **9** --- The amount of rotational restitution across the axes. The lower, the more restitution occurs.
- **PARAM_ANGULAR_FORCE_LIMIT** = **10** --- The maximum amount of force that can occur, when rotating arround the axes.
- **PARAM_ANGULAR_ERP** = **11** --- 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** = **12** --- Target speed for the motor at the axes.
- **PARAM_ANGULAR_MOTOR_FORCE_LIMIT** = **13** --- Maximum acceleration for the motor at the axes.
- **PARAM_MAX** = **14** --- End flag of PARAM\_\* constants, used internally.
- **FLAG_ENABLE_LINEAR_LIMIT** = **0** --- If ``set`` there is linear motion possible within the given limits.
- **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_MAX** = **3** --- End flag of FLAG\_\* constants, used internally.

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.

Member Function Description
---------------------------

.. _class_Generic6DOFJoint_get_flag_x:

- :ref:`bool<class_bool>`  **get_flag_x**  **(** :ref:`int<class_int>` flag  **)** const

.. _class_Generic6DOFJoint_get_flag_y:

- :ref:`bool<class_bool>`  **get_flag_y**  **(** :ref:`int<class_int>` flag  **)** const

.. _class_Generic6DOFJoint_get_flag_z:

- :ref:`bool<class_bool>`  **get_flag_z**  **(** :ref:`int<class_int>` flag  **)** const

.. _class_Generic6DOFJoint_get_param_x:

- :ref:`float<class_float>`  **get_param_x**  **(** :ref:`int<class_int>` param  **)** const

.. _class_Generic6DOFJoint_get_param_y:

- :ref:`float<class_float>`  **get_param_y**  **(** :ref:`int<class_int>` param  **)** const

.. _class_Generic6DOFJoint_get_param_z:

- :ref:`float<class_float>`  **get_param_z**  **(** :ref:`int<class_int>` param  **)** const

.. _class_Generic6DOFJoint_set_flag_x:

- void  **set_flag_x**  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**

.. _class_Generic6DOFJoint_set_flag_y:

- void  **set_flag_y**  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**

.. _class_Generic6DOFJoint_set_flag_z:

- void  **set_flag_z**  **(** :ref:`int<class_int>` flag, :ref:`bool<class_bool>` value  **)**

.. _class_Generic6DOFJoint_set_param_x:

- void  **set_param_x**  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)**

.. _class_Generic6DOFJoint_set_param_y:

- void  **set_param_y**  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)**

.. _class_Generic6DOFJoint_set_param_z:

- void  **set_param_z**  **(** :ref:`int<class_int>` param, :ref:`float<class_float>` value  **)**