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<?xml version="1.0" encoding="UTF-8" ?>
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<class name= "Generic6DOFJoint" inherits= "Joint" category= "Core" version= "3.1.2" >
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<brief_description >
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The generic 6 degrees of freedom joint can implement a variety of joint-types by locking certain axes' rotation or translation.
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</brief_description>
<description >
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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.
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</description>
<tutorials >
</tutorials>
<methods >
</methods>
<members >
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<member name= "angular_limit_x/damping" type= "float" setter= "set_param_x" getter= "get_param_x" >
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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.
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</member>
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<member name= "angular_limit_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
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If [code]true[/code], rotation across the x-axis is limited.
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</member>
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<member name= "angular_limit_x/erp" type= "float" setter= "set_param_x" getter= "get_param_x" >
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When rotating across x-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
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</member>
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<member name= "angular_limit_x/force_limit" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The maximum amount of force that can occur, when rotating around x-axis.
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</member>
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<member name= "angular_limit_x/lower_angle" type= "float" setter= "_set_angular_lo_limit_x" getter= "_get_angular_lo_limit_x" >
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The minimum rotation in negative direction to break loose and rotate around the x-axis.
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</member>
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<member name= "angular_limit_x/restitution" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The amount of rotational restitution across the x-axis. The lower, the more restitution occurs.
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</member>
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<member name= "angular_limit_x/softness" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The speed of all rotations across the x-axis.
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</member>
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<member name= "angular_limit_x/upper_angle" type= "float" setter= "_set_angular_hi_limit_x" getter= "_get_angular_hi_limit_x" >
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The minimum rotation in positive direction to break loose and rotate around the x-axis.
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</member>
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<member name= "angular_limit_y/damping" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The amount of rotational damping across the y-axis. The lower, the more dampening occurs.
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</member>
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<member name= "angular_limit_y/enabled" type= "bool" setter= "set_flag_y" getter= "get_flag_y" >
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If [code]true[/code], rotation across the y-axis is limited.
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</member>
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<member name= "angular_limit_y/erp" type= "float" setter= "set_param_y" getter= "get_param_y" >
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When rotating across y-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
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</member>
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<member name= "angular_limit_y/force_limit" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The maximum amount of force that can occur, when rotating around y-axis.
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</member>
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<member name= "angular_limit_y/lower_angle" type= "float" setter= "_set_angular_lo_limit_y" getter= "_get_angular_lo_limit_y" >
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The minimum rotation in negative direction to break loose and rotate around the y-axis.
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</member>
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<member name= "angular_limit_y/restitution" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The amount of rotational restitution across the y-axis. The lower, the more restitution occurs.
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</member>
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<member name= "angular_limit_y/softness" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The speed of all rotations across the y-axis.
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</member>
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<member name= "angular_limit_y/upper_angle" type= "float" setter= "_set_angular_hi_limit_y" getter= "_get_angular_hi_limit_y" >
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The minimum rotation in positive direction to break loose and rotate around the y-axis.
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</member>
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<member name= "angular_limit_z/damping" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The amount of rotational damping across the z-axis. The lower, the more dampening occurs.
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</member>
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<member name= "angular_limit_z/enabled" type= "bool" setter= "set_flag_z" getter= "get_flag_z" >
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If [code]true[/code], rotation across the z-axis is limited.
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</member>
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<member name= "angular_limit_z/erp" type= "float" setter= "set_param_z" getter= "get_param_z" >
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When rotating across z-axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
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</member>
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<member name= "angular_limit_z/force_limit" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The maximum amount of force that can occur, when rotating around z-axis.
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</member>
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<member name= "angular_limit_z/lower_angle" type= "float" setter= "_set_angular_lo_limit_z" getter= "_get_angular_lo_limit_z" >
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The minimum rotation in negative direction to break loose and rotate around the z-axis.
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</member>
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<member name= "angular_limit_z/restitution" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The amount of rotational restitution across the z-axis. The lower, the more restitution occurs.
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</member>
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<member name= "angular_limit_z/softness" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The speed of all rotations across the z-axis.
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</member>
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<member name= "angular_limit_z/upper_angle" type= "float" setter= "_set_angular_hi_limit_z" getter= "_get_angular_hi_limit_z" >
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The minimum rotation in positive direction to break loose and rotate around the z-axis.
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</member>
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<member name= "angular_motor_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
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If [code]true[/code], a rotating motor at the x-axis is enabled.
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</member>
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<member name= "angular_motor_x/force_limit" type= "float" setter= "set_param_x" getter= "get_param_x" >
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Maximum acceleration for the motor at the x-axis.
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</member>
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<member name= "angular_motor_x/target_velocity" type= "float" setter= "set_param_x" getter= "get_param_x" >
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Target speed for the motor at the x-axis.
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</member>
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<member name= "angular_motor_y/enabled" type= "bool" setter= "set_flag_y" getter= "get_flag_y" >
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If [code]true[/code], a rotating motor at the y-axis is enabled.
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</member>
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<member name= "angular_motor_y/force_limit" type= "float" setter= "set_param_y" getter= "get_param_y" >
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Maximum acceleration for the motor at the y-axis.
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</member>
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<member name= "angular_motor_y/target_velocity" type= "float" setter= "set_param_y" getter= "get_param_y" >
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Target speed for the motor at the y-axis.
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</member>
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<member name= "angular_motor_z/enabled" type= "bool" setter= "set_flag_z" getter= "get_flag_z" >
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If [code]true[/code], a rotating motor at the z-axis is enabled.
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</member>
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<member name= "angular_motor_z/force_limit" type= "float" setter= "set_param_z" getter= "get_param_z" >
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Maximum acceleration for the motor at the z-axis.
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</member>
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<member name= "angular_motor_z/target_velocity" type= "float" setter= "set_param_z" getter= "get_param_z" >
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Target speed for the motor at the z-axis.
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</member>
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<member name= "angular_spring_x/damping" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "angular_spring_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
</member>
<member name= "angular_spring_x/equilibrium_point" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "angular_spring_x/stiffness" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "angular_spring_y/damping" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "angular_spring_y/enabled" type= "bool" setter= "set_flag_y" getter= "get_flag_y" >
</member>
<member name= "angular_spring_y/equilibrium_point" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "angular_spring_y/stiffness" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "angular_spring_z/damping" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
<member name= "angular_spring_z/enabled" type= "bool" setter= "set_flag_z" getter= "get_flag_z" >
</member>
<member name= "angular_spring_z/equilibrium_point" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
<member name= "angular_spring_z/stiffness" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
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<member name= "linear_limit_x/damping" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The amount of damping that happens at the x-motion.
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</member>
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<member name= "linear_limit_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
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If [code]true[/code], the linear motion across the x-axis is limited.
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</member>
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<member name= "linear_limit_x/lower_distance" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The minimum difference between the pivot points' x-axis.
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</member>
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<member name= "linear_limit_x/restitution" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The amount of restitution on the x-axis movement The lower, the more momentum gets lost.
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</member>
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<member name= "linear_limit_x/softness" type= "float" setter= "set_param_x" getter= "get_param_x" >
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A factor applied to the movement across the x-axis The lower, the slower the movement.
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</member>
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<member name= "linear_limit_x/upper_distance" type= "float" setter= "set_param_x" getter= "get_param_x" >
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The maximum difference between the pivot points' x-axis.
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</member>
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<member name= "linear_limit_y/damping" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The amount of damping that happens at the y-motion.
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</member>
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<member name= "linear_limit_y/enabled" type= "bool" setter= "set_flag_y" getter= "get_flag_y" >
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If [code]true[/code], the linear motion across the y-axis is limited.
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</member>
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<member name= "linear_limit_y/lower_distance" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The minimum difference between the pivot points' y-axis.
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</member>
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<member name= "linear_limit_y/restitution" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The amount of restitution on the y-axis movement The lower, the more momentum gets lost.
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</member>
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<member name= "linear_limit_y/softness" type= "float" setter= "set_param_y" getter= "get_param_y" >
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A factor applied to the movement across the y-axis The lower, the slower the movement.
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</member>
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<member name= "linear_limit_y/upper_distance" type= "float" setter= "set_param_y" getter= "get_param_y" >
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The maximum difference between the pivot points' y-axis.
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</member>
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<member name= "linear_limit_z/damping" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The amount of damping that happens at the z-motion.
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</member>
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<member name= "linear_limit_z/enabled" type= "bool" setter= "set_flag_z" getter= "get_flag_z" >
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If [code]true[/code], the linear motion across the z-axis is limited.
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</member>
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<member name= "linear_limit_z/lower_distance" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The minimum difference between the pivot points' z-axis.
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</member>
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<member name= "linear_limit_z/restitution" type= "float" setter= "set_param_z" getter= "get_param_z" >
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The amount of restitution on the z-axis movement The lower, the more momentum gets lost.
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</member>
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<member name= "linear_limit_z/softness" type= "float" setter= "set_param_z" getter= "get_param_z" >
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A factor applied to the movement across the z-axis The lower, the slower the movement.
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</member>
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<member name= "linear_limit_z/upper_distance" type= "float" setter= "set_param_z" getter= "get_param_z" >
2017-10-14 10:19:03 +00:00
The maximum difference between the pivot points' z-axis.
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</member>
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<member name= "linear_motor_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
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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.
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</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" >
2018-12-20 12:46:54 +00:00
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.
2018-03-16 12:07:52 +00:00
</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" >
2018-12-20 12:46:54 +00:00
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.
2018-03-16 12:07:52 +00:00
</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>
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<member name= "linear_spring_x/damping" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "linear_spring_x/enabled" type= "bool" setter= "set_flag_x" getter= "get_flag_x" >
</member>
<member name= "linear_spring_x/equilibrium_point" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "linear_spring_x/stiffness" type= "float" setter= "set_param_x" getter= "get_param_x" >
</member>
<member name= "linear_spring_y/damping" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "linear_spring_y/enabled" type= "bool" setter= "set_flag_y" getter= "get_flag_y" >
</member>
<member name= "linear_spring_y/equilibrium_point" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "linear_spring_y/stiffness" type= "float" setter= "set_param_y" getter= "get_param_y" >
</member>
<member name= "linear_spring_z/damping" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
<member name= "linear_spring_z/enabled" type= "bool" setter= "set_flag_z" getter= "get_flag_z" >
</member>
<member name= "linear_spring_z/equilibrium_point" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
<member name= "linear_spring_z/stiffness" type= "float" setter= "set_param_z" getter= "get_param_z" >
</member>
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<member name= "precision" type= "int" setter= "set_precision" getter= "get_precision" >
</member>
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</members>
<constants >
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<constant name= "PARAM_LINEAR_LOWER_LIMIT" value= "0" enum= "Param" >
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The minimum difference between the pivot points' axes.
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</constant>
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<constant name= "PARAM_LINEAR_UPPER_LIMIT" value= "1" enum= "Param" >
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The maximum difference between the pivot points' axes.
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</constant>
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<constant name= "PARAM_LINEAR_LIMIT_SOFTNESS" value= "2" enum= "Param" >
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A factor applied to the movement across the axes The lower, the slower the movement.
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</constant>
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<constant name= "PARAM_LINEAR_RESTITUTION" value= "3" enum= "Param" >
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The amount of restitution on the axes movement The lower, the more momentum gets lost.
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</constant>
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<constant name= "PARAM_LINEAR_DAMPING" value= "4" enum= "Param" >
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The amount of damping that happens at the linear motion across the axes.
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</constant>
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<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>
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<constant name= "PARAM_ANGULAR_LOWER_LIMIT" value= "10" enum= "Param" >
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The minimum rotation in negative direction to break loose and rotate around the axes.
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</constant>
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<constant name= "PARAM_ANGULAR_UPPER_LIMIT" value= "11" enum= "Param" >
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The minimum rotation in positive direction to break loose and rotate around the axes.
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</constant>
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<constant name= "PARAM_ANGULAR_LIMIT_SOFTNESS" value= "12" enum= "Param" >
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The speed of all rotations across the axes.
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</constant>
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<constant name= "PARAM_ANGULAR_DAMPING" value= "13" enum= "Param" >
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The amount of rotational damping across the axes. The lower, the more dampening occurs.
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</constant>
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<constant name= "PARAM_ANGULAR_RESTITUTION" value= "14" enum= "Param" >
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The amount of rotational restitution across the axes. The lower, the more restitution occurs.
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</constant>
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<constant name= "PARAM_ANGULAR_FORCE_LIMIT" value= "15" enum= "Param" >
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The maximum amount of force that can occur, when rotating around the axes.
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</constant>
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<constant name= "PARAM_ANGULAR_ERP" value= "16" enum= "Param" >
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When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
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</constant>
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<constant name= "PARAM_ANGULAR_MOTOR_TARGET_VELOCITY" value= "17" enum= "Param" >
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Target speed for the motor at the axes.
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</constant>
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<constant name= "PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value= "18" enum= "Param" >
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Maximum acceleration for the motor at the axes.
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</constant>
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<constant name= "PARAM_MAX" value= "22" enum= "Param" >
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End flag of PARAM_* constants, used internally.
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</constant>
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<constant name= "FLAG_ENABLE_LINEAR_LIMIT" value= "0" enum= "Flag" >
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If [code]set[/code] there is linear motion possible within the given limits.
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</constant>
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<constant name= "FLAG_ENABLE_ANGULAR_LIMIT" value= "1" enum= "Flag" >
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If [code]set[/code] there is rotational motion possible.
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</constant>
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<constant name= "FLAG_ENABLE_LINEAR_SPRING" value= "3" enum= "Flag" >
</constant>
<constant name= "FLAG_ENABLE_ANGULAR_SPRING" value= "2" enum= "Flag" >
</constant>
<constant name= "FLAG_ENABLE_MOTOR" value= "4" enum= "Flag" >
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If [code]set[/code] there is a rotational motor across these axes.
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</constant>
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<constant name= "FLAG_ENABLE_LINEAR_MOTOR" value= "5" enum= "Flag" >
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</constant>
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<constant name= "FLAG_MAX" value= "6" enum= "Flag" >
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End flag of FLAG_* constants, used internally.
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</constant>
</constants>
</class>
