Generic6DofJoint3D — C# API

A physics joint that allows for complex movement and rotation between two 3D physics bodies.

class Generic6DofJoint3DReckfellSharpInherits Joint3D

A physics joint that allows for complex movement and rotation between two 3D physics bodies.

The Generic6DofJoint3D (6 Degrees Of Freedom) joint allows for implementing custom types of joints by locking the rotation and translation of certain axes. The first 3 DOF represent the linear motion of the physics bodies and the last 3 DOF represent the angular motion of the physics bodies. Each axis can be either locked, or limited.

Declarations checked against C# SDK 1.0.0. Expand a name to see declarations and documentation.

Constructors1

Generic6DofJoint3DConstructor

# Generic6DofJoint3D

C#
public Generic6DofJoint3D();

Methods16

ClearAngularTargetRotationvoid

# ClearAngularTargetRotation

C#
public void ClearAngularTargetRotation();

Clears the quaternion angular target. After clearing, the joint is driven by Generic6DofJoint3D.Param.AngularSpringEquilibriumPoint on each axis as configured.

GetAngularTargetRotationQuaternion

# GetAngularTargetRotation

C#
public Quaternion GetAngularTargetRotation();

Returns the joint's current angular target as a body-space quaternion. If no explicit target was set via Generic6DofJoint3D.SetAngularTargetRotation, the value is derived from Generic6DofJoint3D.Param.AngularSpringEquilibriumPoint on backends that support it; other backends return the identity quaternion.

Returns Quaternion

GetFlagXbool

# GetFlagX

C#
public bool GetFlagX(Generic6DofJoint3D.Flag flag);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—

Returns bool

GetFlagYbool

# GetFlagY

C#
public bool GetFlagY(Generic6DofJoint3D.Flag flag);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—

Returns bool

GetFlagZbool

# GetFlagZ

C#
public bool GetFlagZ(Generic6DofJoint3D.Flag flag);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—

Returns bool

GetParamXfloat

# GetParamX

C#
public float GetParamX(Generic6DofJoint3D.Param param);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—

Returns float

GetParamYfloat

# GetParamY

C#
public float GetParamY(Generic6DofJoint3D.Param param);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—

Returns float

GetParamZfloat

# GetParamZ

C#
public float GetParamZ(Generic6DofJoint3D.Param param);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—

Returns float

HasTargetRotationbool

# HasTargetRotation

C#
public bool HasTargetRotation();

Returns true if a quaternion angular target was explicitly set via Generic6DofJoint3D.SetAngularTargetRotation and has not been cleared. Returns false when the joint is driven by Generic6DofJoint3D.Param.AngularSpringEquilibriumPoint only.

Returns bool

SetAngularTargetRotationvoid

# SetAngularTargetRotation

C#
public void SetAngularTargetRotation(Quaternion targetRotation);

Sets the target angular orientation as a body-space quaternion describing the desired orientation of body B relative to body A. Replaces any previously set target and supersedes Generic6DofJoint3D.Param.AngularSpringEquilibriumPoint until Generic6DofJoint3D.ClearAngularTargetRotation is called. Note: Only for Jolt backend. Other 3D physics backends may ignore this value.

Parameters
Name	Type	Default
`targetRotation`	`Quaternion`	—

SetFlagXvoid

# SetFlagX

C#
public void SetFlagX(Generic6DofJoint3D.Flag flag, bool value);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—
`value`	`bool`	—

SetFlagYvoid

# SetFlagY

C#
public void SetFlagY(Generic6DofJoint3D.Flag flag, bool value);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—
`value`	`bool`	—

SetFlagZvoid

# SetFlagZ

C#
public void SetFlagZ(Generic6DofJoint3D.Flag flag, bool value);

Parameters
Name	Type	Default
`flag`	`Generic6DofJoint3D.Flag`	—
`value`	`bool`	—

SetParamXvoid

# SetParamX

C#
public void SetParamX(Generic6DofJoint3D.Param param, float value);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—
`value`	`float`	—

SetParamYvoid

# SetParamY

C#
public void SetParamY(Generic6DofJoint3D.Param param, float value);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—
`value`	`float`	—

SetParamZvoid

# SetParamZ

C#
public void SetParamZ(Generic6DofJoint3D.Param param, float value);

Parameters
Name	Type	Default
`param`	`Generic6DofJoint3D.Param`	—
`value`	`float`	—

Generic6DofJoint3D.Flag

Value	Description
`EnableAngularLimit = 1`	If enabled, rotational motion is possible within the given limits.
`EnableAngularMotor = 4`	If enabled, there is a rotational or angular motor across these axes.
`EnableAngularSpring = 2`
`EnableLinearLimit = 0`	If enabled, linear motion is possible within the given limits.
`EnableLinearMotor = 5`	If enabled, there is a linear motor across these axes.
`EnableLinearSpring = 3`
`EnableMotor = 4`	Deprecated API Marked with Obsolete in the installed SDK. Original SDK message: Use 'Reckfell.Generic6DofJoint3D.Flag.EnableAngularMotor' instead. If enabled, there is a rotational or angular motor across these axes.
`Max = 6`	Represents the size of the `Generic6DofJoint3D.Flag` enum.

Generic6DofJoint3D.Param

Value	Description
`AngularDamping = 13`	The amount of rotational damping across the axes. The lower, the more damping occurs.
`AngularDriveTorqueLimit = 23`	The maximum torque the joint can apply around this angular axis. Used by both the spring drive and the angular motor; supersedes `Generic6DofJoint3D.Param.AngularMotorForceLimit` when set. Note: Only for Jolt backend. Other 3D physics backends may ignore this value.
`AngularErp = 16`	When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
`AngularForceLimit = 15`	The maximum amount of force that can occur, when rotating around the axes.
`AngularLimitSoftness = 12`	The speed of all rotations across the axes.
`AngularLowerLimit = 10`	The minimum rotation in negative direction to break loose and rotate around the axes.
`AngularMotorForceLimit = 18`	Deprecated API Marked with Obsolete in the installed SDK. Original SDK message: Use 'Reckfell.Generic6DofJoint3D.Param.AngularDriveTorqueLimit' instead, which applies in both spring and motor modes. Maximum acceleration for the motor at the axes.
`AngularMotorTargetVelocity = 17`	Target speed for the motor at the axes.
`AngularRestitution = 14`	The amount of rotational restitution across the axes. The lower, the more restitution occurs.
`AngularSpringDamping = 20`
`AngularSpringEquilibriumPoint = 21`
`AngularSpringStiffness = 19`
`AngularUpperLimit = 11`	The minimum rotation in positive direction to break loose and rotate around the axes.
`LinearDamping = 4`	The amount of damping that happens at the linear motion across the axes.
`LinearDriveForceLimit = 22`	The maximum force the joint can apply along this linear axis. Used by both the spring drive and the linear motor; supersedes `Generic6DofJoint3D.Param.LinearMotorForceLimit` when set. Note: Only for Jolt backend. Other 3D physics backends may ignore this value.
`LinearLimitSoftness = 2`	A factor applied to the movement across the axes. The lower, the slower the movement.
`LinearLowerLimit = 0`	The minimum difference between the pivot points' axes.
`LinearMotorForceLimit = 6`	Deprecated API Marked with Obsolete in the installed SDK. Original SDK message: Use 'Reckfell.Generic6DofJoint3D.Param.LinearDriveForceLimit' instead, which applies in both spring and motor modes. The maximum force the linear motor will apply while trying to reach the velocity target.
`LinearMotorTargetVelocity = 5`	The velocity the linear motor will try to reach.
`LinearRestitution = 3`	The amount of restitution on the axes' movement. The lower, the more momentum gets lost.
`LinearSpringDamping = 8`
`LinearSpringEquilibriumPoint = 9`
`LinearSpringStiffness = 7`
`LinearUpperLimit = 1`	The maximum difference between the pivot points' axes.
`Max = 24`	Represents the size of the `Generic6DofJoint3D.Param` enum.