SFNode [in, out] metadata NULL [X3DMetadataObject]

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.

MFNode [in] set_contacts

Set_contacts input field for Contact nodes provides per-frame information about contacts between bodies.

SFVec3f [in, out] gravity 0 -9.8 0

Gravity indicates direction and strength of local gravity vector for this collection of bodies (units m/sec^2).

SFBool [in, out] preferAccuracy FALSE

PreferAccuracy provides hint for performance preference: higher accuracy or faster computational speed.

SFFloat [in, out] errorCorrection 0.8 [0,1]

ErrorCorrection describes how quickly intersection errors due to floating-point inaccuracies are resolved (0=no correction, 1=all corrected in single step).

SFInt32 [in, out] iterations 10 [0,∞)

Iterations controls number of iterations performed over collectioned joints and bodies during each evaluation.

SFFloat [in, out] constantForceMix 0.0001 [0,∞)

ConstantForceMix modifies damping calculations by violating normal constraints while applying small, constant forces in those calculations.

Hints

This allows joints and bodies to be a fraction springy, and helps to eliminate numerical instability. Spring-driven or spongy connections can be emulated by combined use of errorCorrection and constantForceMix.

SFFloat [in, out] maxCorrectionSpeed -1 [0,∞) or -1

Or -1, maxCorrectionSpeed .

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

ContactSurfaceThickness defines how far bodies may interpenetrate after a collision, allowing simulation of softer bodies that deform somewhat during collision.

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'

SFNode [ ] collider NULL [CollisionCollection]

Field collider.

MFNode [in, out] joints [ ] [X3DRigidJointNode]

Input/Output field joints.

MFNode [in, out] bodies [ ] [RigidBody]

Input/Output field bodies.