Generic6DOFJoint¶

继承¶

Joint

简要描述¶

通用的6自由度关节可以通过锁定某些轴的旋转或平移来实现多种关节类型。

描述¶

前3个自由度轴是线性轴，代表实体的平移，后3个自由度轴代表角运动。每个轴可以被锁定，也可以被限制。

成员¶

类型	属性名	默认值
float	angular_limit_x/damping	1.0
bool	angular_limit_x/enabled	true
float	angular_limit_x/erp	0.5
float	angular_limit_x/force_limit	0.0
float	angular_limit_x/lower_angle	0.0
float	angular_limit_x/restitution	0.0
float	angular_limit_x/softness	0.5
float	angular_limit_x/upper_angle	0.0
float	angular_limit_y/damping	1.0
bool	angular_limit_y/enabled	true
float	angular_limit_y/erp	0.5
float	angular_limit_y/force_limit	0.0
float	angular_limit_y/lower_angle	0.0
float	angular_limit_y/restitution	0.0
float	angular_limit_y/softness	0.5
float	angular_limit_y/upper_angle	0.0
float	angular_limit_z/damping	1.0
bool	angular_limit_z/enabled	true
float	angular_limit_z/erp	0.5
float	angular_limit_z/force_limit	0.0
float	angular_limit_z/lower_angle	0.0
float	angular_limit_z/restitution	0.0
float	angular_limit_z/softness	0.5
float	angular_limit_z/upper_angle	0.0
bool	angular_motor_x/enabled	false
float	angular_motor_x/force_limit	300.0
float	angular_motor_x/target_velocity	0.0
bool	angular_motor_y/enabled	false
float	angular_motor_y/force_limit	300.0
float	angular_motor_y/target_velocity	0.0
bool	angular_motor_z/enabled	false
float	angular_motor_z/force_limit	300.0
float	angular_motor_z/target_velocity	0.0
float	angular_spring_x/damping	0.0
bool	angular_spring_x/enabled	false
float	angular_spring_x/equilibrium_point	0.0
float	angular_spring_x/stiffness	0.0
float	angular_spring_y/damping	0.0
bool	angular_spring_y/enabled	false
float	angular_spring_y/equilibrium_point	0.0
float	angular_spring_y/stiffness	0.0
float	angular_spring_z/damping	0.0
bool	angular_spring_z/enabled	false
float	angular_spring_z/equilibrium_point	0.0
float	angular_spring_z/stiffness	0.0
float	linear_limit_x/damping	1.0
bool	linear_limit_x/enabled	true
float	linear_limit_x/lower_distance	0.0
float	linear_limit_x/restitution	0.5
float	linear_limit_x/softness	0.7
float	linear_limit_x/upper_distance	0.0
float	linear_limit_y/damping	1.0
bool	linear_limit_y/enabled	true
float	linear_limit_y/lower_distance	0.0
float	linear_limit_y/restitution	0.5
float	linear_limit_y/softness	0.7
float	linear_limit_y/upper_distance	0.0
float	linear_limit_z/damping	1.0
bool	linear_limit_z/enabled	true
float	linear_limit_z/lower_distance	0.0
float	linear_limit_z/restitution	0.5
float	linear_limit_z/softness	0.7
float	linear_limit_z/upper_distance	0.0
bool	linear_motor_x/enabled	false
float	linear_motor_x/force_limit	0.0
float	linear_motor_x/target_velocity	0.0
bool	linear_motor_y/enabled	false
float	linear_motor_y/force_limit	0.0
float	linear_motor_y/target_velocity	0.0
bool	linear_motor_z/enabled	false
float	linear_motor_z/force_limit	0.0
float	linear_motor_z/target_velocity	0.0
float	linear_spring_x/damping	0.01
bool	linear_spring_x/enabled	false
float	linear_spring_x/equilibrium_point	0.0
float	linear_spring_x/stiffness	0.01
float	linear_spring_y/damping	0.01
bool	linear_spring_y/enabled	false
float	linear_spring_y/equilibrium_point	0.0
float	linear_spring_y/stiffness	0.01
float	linear_spring_z/damping	0.01
bool	linear_spring_z/enabled	false
float	linear_spring_z/equilibrium_point	0.0
float	linear_spring_z/stiffness	0.01
int	precision	1

方法¶

返回值类型	方法名称
bool	get_flag_x(flag: int) const
bool	get_flag_y(flag: int) const
bool	get_flag_z(flag: int) const
float	get_param_x(param: int) const
float	get_param_y(param: int) const
float	get_param_z(param: int) const
void	set_flag_x(flag: int, value: bool)
void	set_flag_y(flag: int, value: bool)
void	set_flag_z(flag: int, value: bool)
void	set_param_x(param: int, value: float)
void	set_param_y(param: int, value: float)
void	set_param_z(param: int, value: float)
##枚举
enum Param:
- PARAM_LINEAR_LOWER_LIMIT = 0

枢轴点轴线之间的最小差。

PARAM_LINEAR_UPPER_LIMIT = 1

枢轴点轴之间的最大差。

PARAM_LINEAR_LIMIT_SOFTNESS = 2

应用于跨轴运动的因素。

PARAM_LINEAR_RESTITUTION = 3

恢复轴运动量。

PARAM_LINEAR_DAMPING = 4

跨轴直线运动时发生的阻尼量。

PARAM_LINEAR_MOTOR_TARGET_VELOCITY = 5

线性电动机将尝试达到的速度。

PARAM_LINEAR_MOTOR_FORCE_LIMIT = 6

线性马达在尝试达到速度目标时将施加的最大力。

PARAM_ANGULAR_LOWER_LIMIT = 10

沿负方向的最小旋转会松动并绕轴旋转。

PARAM_ANGULAR_UPPER_LIMIT = 11

朝正方向的最小旋转会松动并绕轴旋转。

PARAM_ANGULAR_LIMIT_SOFTNESS = 12

轴上所有旋转的速度。

PARAM_ANGULAR_DAMPING = 13

轴上的旋转阻尼量。越低，阻尼就越大。

PARAM_ANGULAR_RESTITUTION = 14

轴上的旋转恢复量。越低，越容易恢复。

PARAM_ANGULAR_FORCE_LIMIT = 15

绕轴旋转时可能出现的最大力。

PARAM_ANGULAR_ERP = 16

跨轴旋转时，此容错系数定义了校正速度变慢的程度。越低越慢。

PARAM_ANGULAR_MOTOR_TARGET_VELOCITY = 17

轴上电机的目标速度。

PARAM_ANGULAR_MOTOR_FORCE_LIMIT = 18

电机在轴上的最大加速度。

PARAM_MAX = 22

表示Param枚举的大小。

enum Flag: - FLAG_ENABLE_LINEAR_LIMIT = 0

如果启用，则可以在给定的范围内进行线性运动。

FLAG_ENABLE_ANGULAR_LIMIT = 1

如果启用，则旋转运动可能在给定的范围内。

FLAG_ENABLE_LINEAR_SPRING = 3
FLAG_ENABLE_ANGULAR_SPRING = 2
FLAG_ENABLE_MOTOR = 4

如果启用，则在这些轴上都有旋转电机。

FLAG_ENABLE_LINEAR_MOTOR = 5

如果启用，则在这些轴上有一个线性电动机。

FLAG_MAX = 6

表示Flag枚举的大小。

常量¶

成员说明¶

float angular_limit_x/damping

Default	1.0
setter	set_param_x(value)
getter	get_param_x

bool angular_limit_x/enabled

Default	true
setter	set_flag_x(value)
getter	get_flag_x

float angular_limit_x/erp

Default	0.5
setter	set_param_x(value)
getter	get_param_x

float angular_limit_x/force_limit

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float angular_limit_x/lower_angle

Default	0.0
setter	_set_angular_lo_limit_x(value)
getter	_get_angular_lo_limit_x

float angular_limit_x/restitution

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float angular_limit_x/softness

Default	0.5
setter	set_param_x(value)
getter	get_param_x

float angular_limit_x/upper_angle

Default	0.0
setter	_set_angular_hi_limit_x(value)
getter	_get_angular_hi_limit_x

float angular_limit_y/damping

Default	1.0
setter	set_param_y(value)
getter	get_param_y

bool angular_limit_y/enabled

Default	true
setter	set_flag_y(value)
getter	get_flag_y

float angular_limit_y/erp

Default	0.5
setter	set_param_y(value)
getter	get_param_y

float angular_limit_y/force_limit

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float angular_limit_y/lower_angle

Default	0.0
setter	_set_angular_lo_limit_y(value)
getter	_get_angular_lo_limit_y

float angular_limit_y/restitution

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float angular_limit_y/softness

Default	0.5
setter	set_param_y(value)
getter	get_param_y

float angular_limit_y/upper_angle

Default	0.0
setter	_set_angular_hi_limit_y(value)
getter	_get_angular_hi_limit_y

float angular_limit_z/damping

Default	1.0
setter	set_param_z(value)
getter	get_param_z

bool angular_limit_z/enabled

Default	true
setter	set_flag_z(value)
getter	get_flag_z

float angular_limit_z/erp

Default	0.5
setter	set_param_z(value)
getter	get_param_z

float angular_limit_z/force_limit

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float angular_limit_z/lower_angle

Default	0.0
setter	_set_angular_lo_limit_z(value)
getter	_get_angular_lo_limit_z

float angular_limit_z/restitution

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float angular_limit_z/softness

Default	0.5
setter	set_param_z(value)
getter	get_param_z

float angular_limit_z/upper_angle

Default	0.0
setter	_set_angular_hi_limit_z(value)
getter	_get_angular_hi_limit_z

bool angular_motor_x/enabled

Default	false
setter	set_flag_x(value)
getter	get_flag_x

float angular_motor_x/force_limit

Default	300.0
setter	set_param_x(value)
getter	get_param_x

float angular_motor_x/target_velocity

Default	0.0
setter	set_param_x(value)
getter	get_param_x

bool angular_motor_y/enabled

Default	false
setter	set_flag_y(value)
getter	get_flag_y

float angular_motor_y/force_limit

Default	300.0
setter	set_param_y(value)
getter	get_param_y

float angular_motor_y/target_velocity

Default	0.0
setter	set_param_y(value)
getter	get_param_y

bool angular_motor_z/enabled

Default	false
setter	set_flag_z(value)
getter	get_flag_z

float angular_motor_z/force_limit

Default	300.0
setter	set_param_z(value)
getter	get_param_z

float angular_motor_z/target_velocity

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float angular_spring_x/damping

Default	0.0
setter	set_param_x(value)
getter	get_param_x

bool angular_spring_x/enabled

Default	false
setter	set_flag_x(value)
getter	get_flag_x

float angular_spring_x/equilibrium_point

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float angular_spring_x/stiffness

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float angular_spring_y/damping

Default	0.0
setter	set_param_y(value)
getter	get_param_y

bool angular_spring_y/enabled

Default	false
setter	set_flag_y(value)
getter	get_flag_y

float angular_spring_y/equilibrium_point

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float angular_spring_y/stiffness

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float angular_spring_z/damping

Default	0.0
setter	set_param_z(value)
getter	get_param_z

bool angular_spring_z/enabled

Default	false
setter	set_flag_z(value)
getter	get_flag_z

float angular_spring_z/equilibrium_point

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float angular_spring_z/stiffness

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float linear_limit_x/damping

Default	1.0
setter	set_param_x(value)
getter	get_param_x

bool linear_limit_x/enabled

Default	true
setter	set_flag_x(value)
getter	get_flag_x

float linear_limit_x/lower_distance

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float linear_limit_x/restitution

Default	0.5
setter	set_param_x(value)
getter	get_param_x

float linear_limit_x/softness

Default	0.7
setter	set_param_x(value)
getter	get_param_x

float linear_limit_x/upper_distance

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float linear_limit_y/damping

Default	1.0
setter	set_param_y(value)
getter	get_param_y

bool linear_limit_y/enabled

Default	true
setter	set_flag_y(value)
getter	get_flag_y

float linear_limit_y/lower_distance

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float linear_limit_y/restitution

Default	0.5
setter	set_param_y(value)
getter	get_param_y

float linear_limit_y/softness

Default	0.7
setter	set_param_y(value)
getter	get_param_y

float linear_limit_y/upper_distance

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float linear_limit_z/damping

Default	1.0
setter	set_param_z(value)
getter	get_param_z

bool linear_limit_z/enabled

Default	true
setter	set_flag_z(value)
getter	get_flag_z

float linear_limit_z/lower_distance

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float linear_limit_z/restitution

Default	0.5
setter	set_param_z(value)
getter	get_param_z

float linear_limit_z/softness

Default	0.7
setter	set_param_z(value)
getter	get_param_z

float linear_limit_z/upper_distance

Default	0.0
setter	set_param_z(value)
getter	get_param_z

bool linear_motor_x/enabled

Default	false
setter	set_flag_x(value)
getter	get_flag_x

float linear_motor_x/force_limit

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float linear_motor_x/target_velocity

Default	0.0
setter	set_param_x(value)
getter	get_param_x

bool linear_motor_y/enabled

Default	false
setter	set_flag_y(value)
getter	get_flag_y

float linear_motor_y/force_limit

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float linear_motor_y/target_velocity

Default	0.0
setter	set_param_y(value)
getter	get_param_y

bool linear_motor_z/enabled

Default	false
setter	set_flag_z(value)
getter	get_flag_z

float linear_motor_z/force_limit

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float linear_motor_z/target_velocity

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float linear_spring_x/damping

Default	0.01
setter	set_param_x(value)
getter	get_param_x

bool linear_spring_x/enabled

Default	false
setter	set_flag_x(value)
getter	get_flag_x

float linear_spring_x/equilibrium_point

Default	0.0
setter	set_param_x(value)
getter	get_param_x

float linear_spring_x/stiffness

Default	0.01
setter	set_param_x(value)
getter	get_param_x

float linear_spring_y/damping

Default	0.01
setter	set_param_y(value)
getter	get_param_y

bool linear_spring_y/enabled

Default	false
setter	set_flag_y(value)
getter	get_flag_y

float linear_spring_y/equilibrium_point

Default	0.0
setter	set_param_y(value)
getter	get_param_y

float linear_spring_y/stiffness

Default	0.01
setter	set_param_y(value)
getter	get_param_y

float linear_spring_z/damping

Default	0.01
setter	set_param_z(value)
getter	get_param_z

bool linear_spring_z/enabled

Default	false
setter	set_flag_z(value)
getter	get_flag_z

float linear_spring_z/equilibrium_point

Default	0.0
setter	set_param_z(value)
getter	get_param_z

float linear_spring_z/stiffness

Default	0.01
setter	set_param_z(value)
getter	get_param_z

int precision

Default	1
setter	set_precision(value)
getter	get_precision

方法说明¶

get_flag_x get_flag_x(flag: int) const

get_flag_y get_flag_y(flag: int) const

get_flag_z get_flag_z(flag: int) const

get_param_x get_param_x(param: int) const

get_param_y get_param_y(param: int) const

get_param_z get_param_z(param: int) const

set_flag_x set_flag_x(flag: int, value: bool)

set_flag_y set_flag_y(flag: int, value: bool)

set_flag_z set_flag_z(flag: int, value: bool)

set_param_x set_param_x(param: int, value: float)

set_param_y set_param_y(param: int, value: float)

set_param_z set_param_z(param: int, value: float)