diff --git a/doc/classes/Generic6DOFJoint.xml b/doc/classes/Generic6DOFJoint.xml
index f49f4231ef36..f538d78750c1 100644
--- a/doc/classes/Generic6DOFJoint.xml
+++ b/doc/classes/Generic6DOFJoint.xml
@@ -167,6 +167,33 @@
The maximum difference between the pivot points' z-axis.
+
+ 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.
+
+
+ The maximum force the linear motor can apply on the x-axis while trying to reach the target velocity.
+
+
+ The speed that the linear motor will attempt to reach on the x-axis.
+
+
+ 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.
+
+
+ The maximum force the linear motor can apply on the y-axis while trying to reach the target velocity.
+
+
+ The speed that the linear motor will attempt to reach on the y-axis.
+
+
+ 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.
+
+
+ The maximum force the linear motor can apply on the z-axis while trying to reach the target velocity.
+
+
+ The speed that the linear motor will attempt to reach on the z-axis.
+
@@ -184,34 +211,40 @@
The amount of damping that happens at the linear motion across the axes.
-
+
+ The velocity the linear motor will try to reach.
+
+
+ The maximum force the linear motor will apply while trying to reach the velocity target.
+
+
The minimum rotation in negative direction to break loose and rotate around the axes.
-
+
The minimum rotation in positive direction to break loose and rotate around the axes.
-
+
The speed of all rotations across the axes.
-
+
The amount of rotational damping across the axes. The lower, the more dampening occurs.
-
+
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
-
+
The maximum amount of force that can occur, when rotating around the axes.
-
+
When rotating across the axes, this error tolerance factor defines how much the correction gets slowed down. The lower, the slower.
-
+
Target speed for the motor at the axes.
-
+
Maximum acceleration for the motor at the axes.
-
+
End flag of PARAM_* constants, used internally.
@@ -223,7 +256,9 @@
If [code]set[/code] there is a rotational motor across these axes.
-
+
+
+
End flag of FLAG_* constants, used internally.
diff --git a/doc/classes/PhysicsServer.xml b/doc/classes/PhysicsServer.xml
index 6c3a4353600f..dd2c322ee3cc 100644
--- a/doc/classes/PhysicsServer.xml
+++ b/doc/classes/PhysicsServer.xml
@@ -1331,31 +1331,37 @@
The amount of damping that happens at the linear motion across the axes.
-
+
+ The velocity that the joint's linear motor will attempt to reach.
+
+
+ The maximum force that the linear motor can apply while trying to reach the target velocity.
+
+
The minimum rotation in negative direction to break loose and rotate around the axes.
-
+
The minimum rotation in positive direction to break loose and rotate around the axes.
-
+
A factor that gets multiplied onto all rotations across the axes.
-
+
The amount of rotational damping across the axes. The lower, the more dampening occurs.
-
+
The amount of rotational restitution across the axes. The lower, the more restitution occurs.
-
+
The maximum amount of force that can occur, when rotating around the axes.
-
+
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.
-
+
Target speed for the motor at the axes.
-
+
Maximum acceleration for the motor at the axes.
@@ -1367,6 +1373,9 @@
If [code]set[/code] there is a rotational motor across these axes.
+
+ If [code]set[/code] there is a linear motor on this axis that targets a specific velocity.
+
The [Shape] is a [PlaneShape].
diff --git a/modules/bullet/generic_6dof_joint_bullet.cpp b/modules/bullet/generic_6dof_joint_bullet.cpp
index 151a79a69ffb..adfad7803f05 100644
--- a/modules/bullet/generic_6dof_joint_bullet.cpp
+++ b/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;
diff --git a/scene/3d/physics_joint.cpp b/scene/3d/physics_joint.cpp
index 2e9f1a241a67..b2d10006f73c 100644
--- a/scene/3d/physics_joint.cpp
+++ b/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);
}
diff --git a/scene/3d/physics_joint.h b/scene/3d/physics_joint.h
index 000109ac55b9..37870d6f302e 100644
--- a/scene/3d/physics_joint.h
+++ b/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
};
diff --git a/servers/physics_server.cpp b/servers/physics_server.cpp
index f01a4c2f64be..08af26c24bc8 100644
--- a/servers/physics_server.cpp
+++ b/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);
diff --git a/servers/physics_server.h b/servers/physics_server.h
index 6a342b36d4ab..6712bee8dc9e 100644
--- a/servers/physics_server.h
+++ b/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
};