asgardius/virtualx-engine
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions
virtualx-engine/doc/classes/Generic6DOFJoint.xml
Hugo Locurcio b087538119
Add an XML schema for documentation 
This makes it easier to spot syntax errors when editing the
class reference. The schema is referenced locally so validation
can still work offline.

Each class XML's schema conformance is also checked on GitHub Actions.
2022-03-16 23:01:02 +01:00

406 lines
22 KiB
XML
Raw Blame History

<?xml version="1.0" encoding="UTF-8" ?>
<class name="Generic6DOFJoint" inherits="Joint" version="3.5" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../class.xsd">
<brief_description>
The generic 6-degrees-of-freedom joint can implement a variety of joint types by locking certain axes' rotation or translation.
</brief_description>
<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.
</description>
<tutorials>
</tutorials>
<methods>
<method name="get_flag_x" qualifiers="const">
<return type="bool" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<description>
</description>
</method>
<method name="get_flag_y" qualifiers="const">
<return type="bool" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<description>
</description>
</method>
<method name="get_flag_z" qualifiers="const">
<return type="bool" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<description>
</description>
</method>
<method name="get_param_x" qualifiers="const">
<return type="float" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<description>
</description>
</method>
<method name="get_param_y" qualifiers="const">
<return type="float" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<description>
</description>
</method>
<method name="get_param_z" qualifiers="const">
<return type="float" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<description>
</description>
</method>
<method name="set_flag_x">
<return type="void" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<argument index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_flag_y">
<return type="void" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<argument index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_flag_z">
<return type="void" />
<argument index="0" name="flag" type="int" enum="Generic6DOFJoint.Flag" />
<argument index="1" name="value" type="bool" />
<description>
</description>
</method>
<method name="set_param_x">
<return type="void" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<argument index="1" name="value" type="float" />
<description>
</description>
</method>
<method name="set_param_y">
<return type="void" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<argument index="1" name="value" type="float" />
<description>
</description>
</method>
<method name="set_param_z">
<return type="void" />
<argument index="0" name="param" type="int" enum="Generic6DOFJoint.Param" />
<argument index="1" name="value" type="float" />
<description>
</description>
</method>
</methods>
<members>
<member name="angular_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="1.0">
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.
</member>
<member name="angular_limit_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="true">
If [code]true[/code], rotation across the X axis is limited.
</member>
<member name="angular_limit_x/erp" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
When rotating across the X axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The maximum amount of force that can occur, when rotating around the X axis.
</member>
<member name="angular_limit_x/lower_angle" type="float" setter="_set_angular_lo_limit_x" getter="_get_angular_lo_limit_x" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the X axis.
</member>
<member name="angular_limit_x/restitution" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The amount of rotational restitution across the X axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_x/softness" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
The speed of all rotations across the X axis.
</member>
<member name="angular_limit_x/upper_angle" type="float" setter="_set_angular_hi_limit_x" getter="_get_angular_hi_limit_x" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the X axis.
</member>
<member name="angular_limit_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="1.0">
The amount of rotational damping across the Y axis. The lower, the more dampening occurs.
</member>
<member name="angular_limit_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="true">
If [code]true[/code], rotation across the Y axis is limited.
</member>
<member name="angular_limit_y/erp" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
When rotating across the Y axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The maximum amount of force that can occur, when rotating around the Y axis.
</member>
<member name="angular_limit_y/lower_angle" type="float" setter="_set_angular_lo_limit_y" getter="_get_angular_lo_limit_y" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the Y axis.
</member>
<member name="angular_limit_y/restitution" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The amount of rotational restitution across the Y axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_y/softness" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
The speed of all rotations across the Y axis.
</member>
<member name="angular_limit_y/upper_angle" type="float" setter="_set_angular_hi_limit_y" getter="_get_angular_hi_limit_y" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the Y axis.
</member>
<member name="angular_limit_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="1.0">
The amount of rotational damping across the Z axis. The lower, the more dampening occurs.
</member>
<member name="angular_limit_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="true">
If [code]true[/code], rotation across the Z axis is limited.
</member>
<member name="angular_limit_z/erp" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
When rotating across the Z axis, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
</member>
<member name="angular_limit_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The maximum amount of force that can occur, when rotating around the Z axis.
</member>
<member name="angular_limit_z/lower_angle" type="float" setter="_set_angular_lo_limit_z" getter="_get_angular_lo_limit_z" default="0.0">
The minimum rotation in negative direction to break loose and rotate around the Z axis.
</member>
<member name="angular_limit_z/restitution" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The amount of rotational restitution across the Z axis. The lower, the more restitution occurs.
</member>
<member name="angular_limit_z/softness" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
The speed of all rotations across the Z axis.
</member>
<member name="angular_limit_z/upper_angle" type="float" setter="_set_angular_hi_limit_z" getter="_get_angular_hi_limit_z" default="0.0">
The minimum rotation in positive direction to break loose and rotate around the Z axis.
</member>
<member name="angular_motor_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
If [code]true[/code], a rotating motor at the X axis is enabled.
</member>
<member name="angular_motor_x/force_limit" type="float" setter="set_param_x" getter="get_param_x" default="300.0">
Maximum acceleration for the motor at the X axis.
</member>
<member name="angular_motor_x/target_velocity" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
Target speed for the motor at the X axis.
</member>
<member name="angular_motor_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
If [code]true[/code], a rotating motor at the Y axis is enabled.
</member>
<member name="angular_motor_y/force_limit" type="float" setter="set_param_y" getter="get_param_y" default="300.0">
Maximum acceleration for the motor at the Y axis.
</member>
<member name="angular_motor_y/target_velocity" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
Target speed for the motor at the Y axis.
</member>
<member name="angular_motor_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
If [code]true[/code], a rotating motor at the Z axis is enabled.
</member>
<member name="angular_motor_z/force_limit" type="float" setter="set_param_z" getter="get_param_z" default="300.0">
Maximum acceleration for the motor at the Z axis.
</member>
<member name="angular_motor_z/target_velocity" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
Target speed for the motor at the Z axis.
</member>
<member name="angular_spring_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
</member>
<member name="angular_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="angular_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
</member>
<member name="angular_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="angular_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="angular_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
</member>
<member name="angular_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="angular_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="linear_limit_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="1.0">
The amount of damping that happens at the X motion.
</member>
<member name="linear_limit_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="true">
If [code]true[/code], the linear motion across the X axis is limited.
</member>
<member name="linear_limit_x/lower_distance" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The minimum difference between the pivot points' X axis.
</member>
<member name="linear_limit_x/restitution" type="float" setter="set_param_x" getter="get_param_x" default="0.5">
The amount of restitution on the X axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_x/softness" type="float" setter="set_param_x" getter="get_param_x" default="0.7">
A factor applied to the movement across the X axis. The lower, the slower the movement.
</member>
<member name="linear_limit_x/upper_distance" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
The maximum difference between the pivot points' X axis.
</member>
<member name="linear_limit_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="1.0">
The amount of damping that happens at the Y motion.
</member>
<member name="linear_limit_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="true">
If [code]true[/code], the linear motion across the Y axis is limited.
</member>
<member name="linear_limit_y/lower_distance" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The minimum difference between the pivot points' Y axis.
</member>
<member name="linear_limit_y/restitution" type="float" setter="set_param_y" getter="get_param_y" default="0.5">
The amount of restitution on the Y axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_y/softness" type="float" setter="set_param_y" getter="get_param_y" default="0.7">
A factor applied to the movement across the Y axis. The lower, the slower the movement.
</member>
<member name="linear_limit_y/upper_distance" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
The maximum difference between the pivot points' Y axis.
</member>
<member name="linear_limit_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="1.0">
The amount of damping that happens at the Z motion.
</member>
<member name="linear_limit_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="true">
If [code]true[/code], the linear motion across the Z axis is limited.
</member>
<member name="linear_limit_z/lower_distance" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
The minimum difference between the pivot points' Z axis.
</member>
<member name="linear_limit_z/restitution" type="float" setter="set_param_z" getter="get_param_z" default="0.5">
The amount of restitution on the Z axis movement. The lower, the more momentum gets lost.
</member>
<member name="linear_limit_z/softness" type="float" setter="set_param_z" getter="get_param_z" default="0.7">
A factor applied to the movement across the Z axis. The lower, the slower the movement.
</member>
<member name="linear_limit_z/upper_distance" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
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" default="false">
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" default="0.0">
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" default="0.0">
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" default="false">
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" default="0.0">
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" default="0.0">
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" default="false">
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" default="0.0">
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" default="0.0">
The speed that the linear motor will attempt to reach on the Z axis.
</member>
<member name="linear_spring_x/damping" type="float" setter="set_param_x" getter="get_param_x" default="0.01">
</member>
<member name="linear_spring_x/enabled" type="bool" setter="set_flag_x" getter="get_flag_x" default="false">
</member>
<member name="linear_spring_x/equilibrium_point" type="float" setter="set_param_x" getter="get_param_x" default="0.0">
</member>
<member name="linear_spring_x/stiffness" type="float" setter="set_param_x" getter="get_param_x" default="0.01">
</member>
<member name="linear_spring_y/damping" type="float" setter="set_param_y" getter="get_param_y" default="0.01">
</member>
<member name="linear_spring_y/enabled" type="bool" setter="set_flag_y" getter="get_flag_y" default="false">
</member>
<member name="linear_spring_y/equilibrium_point" type="float" setter="set_param_y" getter="get_param_y" default="0.0">
</member>
<member name="linear_spring_y/stiffness" type="float" setter="set_param_y" getter="get_param_y" default="0.01">
</member>
<member name="linear_spring_z/damping" type="float" setter="set_param_z" getter="get_param_z" default="0.01">
</member>
<member name="linear_spring_z/enabled" type="bool" setter="set_flag_z" getter="get_flag_z" default="false">
</member>
<member name="linear_spring_z/equilibrium_point" type="float" setter="set_param_z" getter="get_param_z" default="0.0">
</member>
<member name="linear_spring_z/stiffness" type="float" setter="set_param_z" getter="get_param_z" default="0.01">
</member>
</members>
<constants>
<constant name="PARAM_LINEAR_LOWER_LIMIT" value="0" enum="Param">
The minimum difference between the pivot points' axes.
</constant>
<constant name="PARAM_LINEAR_UPPER_LIMIT" value="1" enum="Param">
The maximum difference between the pivot points' axes.
</constant>
<constant name="PARAM_LINEAR_LIMIT_SOFTNESS" value="2" enum="Param">
A factor applied to the movement across the axes. The lower, the slower the movement.
</constant>
<constant name="PARAM_LINEAR_RESTITUTION" value="3" enum="Param">
The amount of restitution on the axes' movement. The lower, the more momentum gets lost.
</constant>
<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_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_LINEAR_SPRING_STIFFNESS" value="7" enum="Param">
</constant>
<constant name="PARAM_LINEAR_SPRING_DAMPING" value="8" enum="Param">
</constant>
<constant name="PARAM_LINEAR_SPRING_EQUILIBRIUM_POINT" value="9" enum="Param">
</constant>
<constant name="PARAM_ANGULAR_LOWER_LIMIT" value="10" enum="Param">
The minimum rotation in negative direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_UPPER_LIMIT" value="11" enum="Param">
The minimum rotation in positive direction to break loose and rotate around the axes.
</constant>
<constant name="PARAM_ANGULAR_LIMIT_SOFTNESS" value="12" enum="Param">
The speed of all rotations across the axes.
</constant>
<constant name="PARAM_ANGULAR_DAMPING" value="13" enum="Param">
The amount of rotational damping across the axes. The lower, the more dampening occurs.
</constant>
<constant name="PARAM_ANGULAR_RESTITUTION" value="14" enum="Param">
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
</constant>
<constant name="PARAM_ANGULAR_FORCE_LIMIT" value="15" enum="Param">
The maximum amount of force that can occur, when rotating around the axes.
</constant>
<constant name="PARAM_ANGULAR_ERP" value="16" 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="17" enum="Param">
Target speed for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_MOTOR_FORCE_LIMIT" value="18" enum="Param">
Maximum acceleration for the motor at the axes.
</constant>
<constant name="PARAM_ANGULAR_SPRING_STIFFNESS" value="19" enum="Param">
</constant>
<constant name="PARAM_ANGULAR_SPRING_DAMPING" value="20" enum="Param">
</constant>
<constant name="PARAM_ANGULAR_SPRING_EQUILIBRIUM_POINT" value="21" enum="Param">
</constant>
<constant name="PARAM_MAX" value="22" enum="Param">
Represents the size of the [enum Param] enum.
</constant>
<constant name="FLAG_ENABLE_LINEAR_LIMIT" value="0" enum="Flag">
If enabled, linear motion is possible within the given limits.
</constant>
<constant name="FLAG_ENABLE_ANGULAR_LIMIT" value="1" enum="Flag">
If enabled, rotational motion is possible within the given limits.
</constant>
<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">
If enabled, there is a rotational motor across these axes.
</constant>
<constant name="FLAG_ENABLE_LINEAR_MOTOR" value="5" enum="Flag">
If enabled, there is a linear motor across these axes.
</constant>
<constant name="FLAG_MAX" value="6" enum="Flag">
Represents the size of the [enum Flag] enum.
</constant>
</constants>
</class>
Reference in a new issue View git blame Copy permalink