Merge pull request #17559 from simedis/joint_motors

Implemented interface for bullet linear motors

doc/classes/Generic6DOFJoint.xml

@@ -167,6 +167,33 @@
 		<member name="linear_limit_z/upper_distance" type="float" setter="set_param_z" getter="get_param_z">
 			The maximum difference between the pivot points' z-axis.
 		</member>
+		<member name="linear_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x">
+			If [code]true[/code] then there is a linear motor on the x-axis. It will attempt to reach the target velocity while staying within the force limits.
+		</member>
+		<member name="linear_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x">
+			The maximum force the linear motor can apply on the x-axis while trying to reach the target velocity.
+		</member>
+		<member name="linear_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x">
+			The speed that the linear motor will attempt to reach on the x-axis.
+		</member>
+		<member name="linear_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y">
+			If [code]true[/code] then there is a linear motor on the y-axis. It will attempt to reach the target velocity while staying within the force limits.
+		</member>
+		<member name="linear_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y">
+			The maximum force the linear motor can apply on the y-axis while trying to reach the target velocity.
+		</member>
+		<member name="linear_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y">
+			The speed that the linear motor will attempt to reach on the y-axis.
+		</member>
+		<member name="linear_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z">
+			If [code]true[/code] then there is a linear motor on the z-axis. It will attempt to reach the target velocity while staying within the force limits.
+		</member>
+		<member name="linear_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z">
+			The maximum force the linear motor can apply on the z-axis while trying to reach the target velocity.
+		</member>
+		<member name="linear_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z">
+			The speed that the linear motor will attempt to reach on the z-axis.
+		</member>
 	</members>
 	<constants>
 		<constant name="PARAM_LINEAR_LOWER_LIMIT" value="0" enum="Param">
@@ -184,34 +211,40 @@
 		<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_ANGULAR_LOWER_LIMIT" value="5" enum="Param">
+		<constant name="PARAM_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="Param">
+			The velocity the linear motor will try to reach.
+		</constant>
+		<constant name="PARAM_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="Param">
+			The maximum force the linear motor will apply while trying to reach the velocity target.
+		</constant>
+		<constant name="PARAM_ANGULAR_LOWER_LIMIT" value="7" enum="Param">
 			The minimum rotation in negative direction to break loose and rotate around the axes.
 		</constant>
-		<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="6" enum="Param">
+		<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="8" enum="Param">
 			The minimum rotation in positive direction to break loose and rotate around the axes.
 		</constant>
-		<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="7" enum="Param">
+		<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="9" enum="Param">
 			The speed of all rotations across the axes.
 		</constant>
-		<constant name="PARAM_ANGULAR_DAMPING" value="8" enum="Param">
+		<constant name="PARAM_ANGULAR_DAMPING" value="10" enum="Param">
 			The amount of rotational damping across the axes. The lower, the more dampening occurs.
 		</constant>
-		<constant name="PARAM_ANGULAR_RESTITUTION" value="9" enum="Param">
+		<constant name="PARAM_ANGULAR_RESTITUTION" value="11" enum="Param">
 			The amount of rotational restitution across the axes. The lower, the more restitution occurs.
 		</constant>
-		<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="10" enum="Param">
+		<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="12" enum="Param">
 			The maximum amount of force that can occur, when rotating around the axes.
 		</constant>
-		<constant name="PARAM_ANGULAR_ERP" value="11" enum="Param">
+		<constant name="PARAM_ANGULAR_ERP" value="13" 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="12" enum="Param">
+		<constant name="PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value="14" enum="Param">
 			Target speed for the motor at the axes.
 		</constant>
-		<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="13" enum="Param">
+		<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="15" enum="Param">
 			Maximum acceleration for the motor at the axes.
 		</constant>
-		<constant name="PARAM_MAX" value="14" enum="Param">
+		<constant name="PARAM_MAX" value="16" enum="Param">
 			End flag of PARAM_* constants, used internally.
 		</constant>
 		<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
@@ -223,7 +256,9 @@
 		<constant name="FLAG_ENABLE_MOTOR" value="2" enum="Flag">
 			If [code]set[/code] there is a rotational motor across these axes.
 		</constant>
-		<constant name="FLAG_MAX" value="3" enum="Flag">
+		<constant name="FLAG_ENABLE_LINEAR_MOTOR" value="3" enum="Flag">
+		</constant>
+		<constant name="FLAG_MAX" value="4" enum="Flag">
 			End flag of FLAG_* constants, used internally.
 		</constant>
 	</constants>

doc/classes/PhysicsServer.xml

@@ -1331,31 +1331,37 @@
 		<constant name="G6DOF_JOINT_LINEAR_DAMPING" value="4" enum="G6DOFJointAxisParam">
 			The amount of damping that happens at the linear motion across the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_LOWER_LIMIT" value="5" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY" value="5" enum="G6DOFJointAxisParam">
+			The velocity that the joint's linear motor will attempt to reach.
+		</constant>
+		<constant name="G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT" value="6" enum="G6DOFJointAxisParam">
+			The maximum force that the linear motor can apply while trying to reach the target velocity.
+		</constant>
+		<constant name="G6DOF_JOINT_ANGULAR_LOWER_LIMIT" value="7" enum="G6DOFJointAxisParam">
 			The minimum rotation in negative direction to break loose and rotate around the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_UPPER_LIMIT" value="6" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_UPPER_LIMIT" value="8" enum="G6DOFJointAxisParam">
 			The minimum rotation in positive direction to break loose and rotate around the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS" value="7" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS" value="9" enum="G6DOFJointAxisParam">
 			A factor that gets multiplied onto all rotations across the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_DAMPING" value="8" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_DAMPING" value="10" enum="G6DOFJointAxisParam">
 			The amount of rotational damping across the axes. The lower, the more dampening occurs.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_RESTITUTION" value="9" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_RESTITUTION" value="11" enum="G6DOFJointAxisParam">
 			The amount of rotational restitution across the axes. The lower, the more restitution occurs.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_FORCE_LIMIT" value="10" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_FORCE_LIMIT" value="12" enum="G6DOFJointAxisParam">
 			The maximum amount of force that can occur, when rotating around the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_ERP" value="11" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_ERP" value="13" enum="G6DOFJointAxisParam">
 			When correcting the crossing of limits in rotation across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY" value="12" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_MOTOR_TARGET_VELOCITY" value="14" enum="G6DOFJointAxisParam">
 			Target speed for the motor at the axes.
 		</constant>
-		<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="13" enum="G6DOFJointAxisParam">
+		<constant name="G6DOF_JOINT_ANGULAR_MOTOR_FORCE_LIMIT" value="15" enum="G6DOFJointAxisParam">
 			Maximum acceleration for the motor at the axes.
 		</constant>
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="G6DOFJointAxisFlag">
@@ -1367,6 +1373,9 @@
 		<constant name="G6DOF_JOINT_FLAG_ENABLE_MOTOR" value="2" enum="G6DOFJointAxisFlag">
 			If [code]set[/code] there is a rotational motor across these axes.
 		</constant>
+		<constant name="G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR" value="3" enum="G6DOFJointAxisFlag">
+			If [code]set[/code] there is a linear motor on this axis that targets a specific velocity.
+		</constant>
 		<constant name="SHAPE_PLANE" value="0" enum="ShapeType">
 			The [Shape] is a [PlaneShape].
 		</constant>

modules/bullet/generic_6dof_joint_bullet.cpp

@@ -138,6 +138,12 @@ void Generic6DOFJointBullet::set_param(Vector3::Axis p_axis, PhysicsServer::G6DO
 		case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
 			sixDOFConstraint->getTranslationalLimitMotor()->m_damping = p_value;
 			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis] = p_value;
+			break;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis] = p_value;
+			break;
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
 			limits_lower[1][p_axis] = p_value;
 			set_flag(p_axis, PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT, flags[p_axis][p_param]); // Reload bullet parameter
@@ -185,6 +191,10 @@ real_t Generic6DOFJointBullet::get_param(Vector3::Axis p_axis, PhysicsServer::G6
 			return sixDOFConstraint->getTranslationalLimitMotor()->m_restitution;
 		case PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING:
 			return sixDOFConstraint->getTranslationalLimitMotor()->m_damping;
+		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_targetVelocity.m_floats[p_axis];
+		case PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT:
+			return sixDOFConstraint->getTranslationalLimitMotor()->m_maxMotorForce.m_floats[p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT:
 			return limits_lower[1][p_axis];
 		case PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT:
@@ -232,6 +242,9 @@ void Generic6DOFJointBullet::set_flag(Vector3::Axis p_axis, PhysicsServer::G6DOF
 		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR:
 			sixDOFConstraint->getRotationalLimitMotor(p_axis)->m_enableMotor = flags[p_axis][p_flag];
 			break;
+		case PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR:
+			sixDOFConstraint->getTranslationalLimitMotor()->m_enableMotor[p_axis] = flags[p_axis][p_flag];
+			break;
 		default:
 			WARN_PRINT("This flag is not supported by Bullet engine");
 			return;

scene/3d/physics_joint.cpp

@@ -716,6 +716,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_x/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_x", "get_param_x", PARAM_LINEAR_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_LINEAR_MOTOR);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/target_velocity"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_x/force_limit"), "set_param_x", "get_param_x", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_x/enabled"), "set_flag_x", "get_flag_x", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_x", "_get_angular_hi_limit_x");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_x/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_x", "_get_angular_lo_limit_x");
@@ -734,6 +737,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_y/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_y", "get_param_y", PARAM_LINEAR_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_LINEAR_MOTOR);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/target_velocity"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_y/force_limit"), "set_param_y", "get_param_y", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_y/enabled"), "set_flag_y", "get_flag_y", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_y", "_get_angular_hi_limit_y");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_y/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_y", "_get_angular_lo_limit_y");
@@ -752,6 +758,9 @@ void Generic6DOFJoint::_bind_methods() {
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/softness", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_LIMIT_SOFTNESS);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/restitution", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_RESTITUTION);
 	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_limit_z/damping", PROPERTY_HINT_RANGE, "0.01,16,0.01"), "set_param_z", "get_param_z", PARAM_LINEAR_DAMPING);
+	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "linear_motor_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_LINEAR_MOTOR);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/target_velocity"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
+	ADD_PROPERTYI(PropertyInfo(Variant::REAL, "linear_motor_z/force_limit"), "set_param_z", "get_param_z", PARAM_LINEAR_MOTOR_FORCE_LIMIT);
 	ADD_PROPERTYI(PropertyInfo(Variant::BOOL, "angular_limit_z/enabled"), "set_flag_z", "get_flag_z", FLAG_ENABLE_ANGULAR_LIMIT);
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/upper_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_hi_limit_z", "_get_angular_hi_limit_z");
 	ADD_PROPERTY(PropertyInfo(Variant::REAL, "angular_limit_z/lower_angle", PROPERTY_HINT_RANGE, "-180,180,0.01"), "_set_angular_lo_limit_z", "_get_angular_lo_limit_z");
@@ -769,6 +778,8 @@ void Generic6DOFJoint::_bind_methods() {
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_LIMIT_SOFTNESS);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_RESTITUTION);
 	BIND_ENUM_CONSTANT(PARAM_LINEAR_DAMPING);
+	BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_TARGET_VELOCITY);
+	BIND_ENUM_CONSTANT(PARAM_LINEAR_MOTOR_FORCE_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_UPPER_LIMIT);
 	BIND_ENUM_CONSTANT(PARAM_ANGULAR_LIMIT_SOFTNESS);
@@ -783,6 +794,7 @@ void Generic6DOFJoint::_bind_methods() {
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_ANGULAR_LIMIT);
 	BIND_ENUM_CONSTANT(FLAG_ENABLE_MOTOR);
+	BIND_ENUM_CONSTANT(FLAG_ENABLE_LINEAR_MOTOR);
 	BIND_ENUM_CONSTANT(FLAG_MAX);
 }
 
@@ -912,6 +924,8 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_param_x(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_x(PARAM_LINEAR_RESTITUTION, 0.5);
 	set_param_x(PARAM_LINEAR_DAMPING, 1.0);
+	set_param_x(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
+	set_param_x(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_x(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -925,12 +939,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_x(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_LINEAR_LIMIT, true);
 	set_flag_x(FLAG_ENABLE_MOTOR, false);
+	set_flag_x(FLAG_ENABLE_LINEAR_MOTOR, false);
 
 	set_param_y(PARAM_LINEAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_LINEAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_y(PARAM_LINEAR_RESTITUTION, 0.5);
 	set_param_y(PARAM_LINEAR_DAMPING, 1.0);
+	set_param_y(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
+	set_param_y(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_y(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -944,12 +961,15 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_y(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_LINEAR_LIMIT, true);
 	set_flag_y(FLAG_ENABLE_MOTOR, false);
+	set_flag_y(FLAG_ENABLE_LINEAR_MOTOR, false);
 
 	set_param_z(PARAM_LINEAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_LINEAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_LINEAR_LIMIT_SOFTNESS, 0.7);
 	set_param_z(PARAM_LINEAR_RESTITUTION, 0.5);
 	set_param_z(PARAM_LINEAR_DAMPING, 1.0);
+	set_param_z(PARAM_LINEAR_MOTOR_TARGET_VELOCITY, 0);
+	set_param_z(PARAM_LINEAR_MOTOR_FORCE_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_LOWER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_UPPER_LIMIT, 0);
 	set_param_z(PARAM_ANGULAR_LIMIT_SOFTNESS, 0.5f);
@@ -963,4 +983,5 @@ Generic6DOFJoint::Generic6DOFJoint() {
 	set_flag_z(FLAG_ENABLE_ANGULAR_LIMIT, true);
 	set_flag_z(FLAG_ENABLE_LINEAR_LIMIT, true);
 	set_flag_z(FLAG_ENABLE_MOTOR, false);
+	set_flag_z(FLAG_ENABLE_LINEAR_MOTOR, false);
 }

scene/3d/physics_joint.h

@@ -249,6 +249,8 @@ public:
 		PARAM_LINEAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
 		PARAM_LINEAR_RESTITUTION = PhysicsServer::G6DOF_JOINT_LINEAR_RESTITUTION,
 		PARAM_LINEAR_DAMPING = PhysicsServer::G6DOF_JOINT_LINEAR_DAMPING,
+		PARAM_LINEAR_MOTOR_TARGET_VELOCITY = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
+		PARAM_LINEAR_MOTOR_FORCE_LIMIT = PhysicsServer::G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
 		PARAM_ANGULAR_LOWER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
 		PARAM_ANGULAR_UPPER_LIMIT = PhysicsServer::G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
 		PARAM_ANGULAR_LIMIT_SOFTNESS = PhysicsServer::G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@@ -265,6 +267,7 @@ public:
 		FLAG_ENABLE_LINEAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		FLAG_ENABLE_ANGULAR_LIMIT = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
 		FLAG_ENABLE_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_MOTOR,
+		FLAG_ENABLE_LINEAR_MOTOR = PhysicsServer::G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
 		FLAG_MAX = PhysicsServer::G6DOF_JOINT_FLAG_MAX
 	};
 

servers/physics_server.cpp

@@ -603,6 +603,8 @@ void PhysicsServer::_bind_methods() {
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_RESTITUTION);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_DAMPING);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LOWER_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_UPPER_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS);
@@ -616,6 +618,7 @@ void PhysicsServer::_bind_methods() {
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT);
 	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_MOTOR);
+	BIND_ENUM_CONSTANT(G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR);
 
 	ClassDB::bind_method(D_METHOD("joint_get_type", "joint"), &PhysicsServer::joint_get_type);
 

servers/physics_server.h

@@ -594,6 +594,8 @@ public:
 		G6DOF_JOINT_LINEAR_LIMIT_SOFTNESS,
 		G6DOF_JOINT_LINEAR_RESTITUTION,
 		G6DOF_JOINT_LINEAR_DAMPING,
+		G6DOF_JOINT_LINEAR_MOTOR_TARGET_VELOCITY,
+		G6DOF_JOINT_LINEAR_MOTOR_FORCE_LIMIT,
 		G6DOF_JOINT_ANGULAR_LOWER_LIMIT,
 		G6DOF_JOINT_ANGULAR_UPPER_LIMIT,
 		G6DOF_JOINT_ANGULAR_LIMIT_SOFTNESS,
@@ -611,6 +613,7 @@ public:
 		G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT,
 		G6DOF_JOINT_FLAG_ENABLE_ANGULAR_LIMIT,
 		G6DOF_JOINT_FLAG_ENABLE_MOTOR,
+		G6DOF_JOINT_FLAG_ENABLE_LINEAR_MOTOR,
 		G6DOF_JOINT_FLAG_MAX
 	};