Titania X3D Editor

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Titania v4.0.1

Bring Colours to Your Life.

X3D Reference

RigidBody

RigidBody

RigidBody describes a collection of shapes with a mass distribution that is affected by the physics model. Contains a Sphere, Box, or Cone (containerField='massDensityModel') and multiple CollidableOffset or CollidableShape nodes (containerField='geometry') for animating collidable geometry.

The RigidBody node belongs to the RigidBodyPhysics component and its container field is bodies. It is available since X3D version 3.2 or later.

Hierarchy

Fields

SFNode [in, out] metadata NULL

Metadata are not part of the X3D world and not interpreted by the X3D browser, but they can be accessed via the ECMAScript interface.

SFBool [in, out] enabled TRUE

Enables/disables node operation.

SFBool [in, out] fixed FALSE

Fixed indicates whether body is able to move.

Hint

Fixed is useful for indicating objects that do not move: walls, ground, etc.

SFVec3f [in, out] position 0 0 0

Position sets body location in world space, then reports physics updates.

SFRotation [in, out] orientation 0 0 1 0

Orientation sets body direction in world space, then reports physics updates.

SFVec3f [in, out] linearVelocity 0 0 0

LinearVelocity sets constant velocity value to object every frame, and reports updates by physics model.

Hint

Initial value only applied during first frame if forces applied.

Warning

Instantaneous velocity changes may lead to numerical instability.

SFVec3f [in, out] angularVelocity 0 0 0 (-∞,∞)

AngularVelocity sets constant velocity value to object every frame, and reports updates by physics model.

Hint

Initial value only applied during first frame if forces applied.

Warning

Instantaneous velocity changes may lead to numerical instability.

SFBool [in, out] useFiniteRotation FALSE

UseFiniteRotation enables/disables higher-resolution, higher-cost computational method for calculating rotations.

SFVec3f [in, out] finiteRotationAxis 0 0 0 [-1,1]

FiniteRotationAxis specifies vector around which the object rotates.

SFBool [in, out] autoDamp FALSE

AutoDamp enables/disables angularDampingFactor and linearDampingFactor.

SFFloat [in, out] linearDampingFactor 0.001

LinearDampingFactor automatically damps a portion of body motion over time.

SFFloat [in, out] angularDampingFactor 0.001 [0,1]

AngularDampingFactor automatically damps a portion of body motion over time.

SFFloat [in, out] mass 1

Mass of the body in kilograms.

Warning

Mass must be greater than 0.

SFMatrix3f [in, out] inertia 1 0 0 0 1 0 0 0 1 1 0 0

Inertia matrix defines a 3x2 inertia tensor matrix.

Warning

Only the first 6 values are used.

SFVec3f [in, out] centerOfMass 0 0 0 (-∞,∞)

CenterOfMass defines local center of mass for physics calculations.

SFNode [in, out] massDensityModel NULL

Input/Output field massDensityModel.

SFBool [in, out] useGlobalGravity TRUE

UseGlobalGravity indicates whether this particular body is influenced by parent RigidBodyCollection's gravity setting.

Hint

Contained sub-bodies are not affected by this setting.

MFVec3f [in, out] forces [ ]

Forces defines linear force values applied to the object every frame.

MFVec3f [in, out] torques [ ]

Torques defines rotational force values applied to the object every frame.

SFBool [in, out] autoDisable FALSE

AutoDisable toggles operation of disableAngularSpeed, disableLinearSpeed, disableTime.

SFFloat [in, out] disableTime [0,∞)

DisableTime defines interval when body becomes at rest and not part of rigid body calculations, reducing numeric instabilities.

Hint

Only activated if autoDisable='true'

SFFloat [in, out] disableLinearSpeed [0,∞)

DisableLinearSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculation, reducing numeric instabilitiess.

Hint

Only activated if autoDisable='true'

SFFloat [in, out] disableAngularSpeed [0,∞)

DisableAngularSpeed defines lower-limit tolerance value when body is considered at rest and not part of rigid body calculations, reducing numeric instabilities.

Hint

Only activated if autoDisable='true'

MFNode [in, out] geometry [ ] [X3DNBodyCollidableNode]

Input/Output field geometry.

Browser Compatibility

Titania X_ITE
no no

External Links