RigidBodyCollection

RigidBodyCollection represents a system of bodies that interact within a single physics model.

Overview

RigidBodyCollection
Hierarchy
Fields
Example
Browser Compatibility
External Links

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

Hierarchy

+ X3DNode

+ X3DChildNode

+ RigidBodyCollection

Fields

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 not supported

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] not supported

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,∞) not supported

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 not supported

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,∞) not supported

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] bodies [ ] [RigidBody]

Input/Output field bodies.

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

Input/Output field joints.

Example

Downlod ZIP file

XML Encoding

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<RigidBody

position='4.06615 0.249451 3.17507'

orientation='-0.664646909811349 0.664704726197542 -0.341192192537982 2.48376474593532'

linearVelocity='-2.94889e-06 2.03773e-06 0.000281055'

angularVelocity='-1.51562e-06 2.97105e-07 1.26987e-05'>

</RigidBody>

<RigidBody

position='1.35369 0.250364 -2.01102'

orientation='0.701146070532566 0.701125936105834 0.129678870663111 2.88392109214109'

linearVelocity='-4.03918e-06 9.16421e-07 0.000156874'

angularVelocity='1.62828e-06 -2.90331e-09 1.61563e-05'>

</RigidBody>

<RigidBody

position='5.93349 -1.20917 0.569844'

orientation='-0.960176544109273 -0.277150728898986 0.0353338026984561 1.89101861855055'

linearVelocity='1.18742 -5.36657 0.521327'

angularVelocity='-1.10735 -2.1805 -1.77328'>

</RigidBody>

<RigidBody

position='7.09588 -14.1092 8.6562'

orientation='-0.522522209504102 0.473359936548752 0.709155068405714 1.09840590636465'

linearVelocity='1.52584 -17.8162 2.1189'

angularVelocity='-0.236468 -2.52991 -3.83253'>

</RigidBody>

<BallJoint

anchorPoint='2 5 0'>

</BallJoint>

</RigidBodyCollection>

</field>

</field>

</field>

</field>

</field>

<![CDATA[ecmascript:

function initialize ()

{

set_resetTime (0, 0);

}

function set_resetTime (value, time)

{

var scene = Browser .currentScene;

group .children .length = 0;

collection .bodies .length = 3;

hammer .position = new SFVec3f (4.5, 5, 0);

hammer .orientation = new SFRotation (0, 0, 1, 0);

hammer .linearVelocity = new SFVec3f (0, 0, 0);

hammer .angularVelocity = new SFVec3f (0, 0, 0);

for (var y = 0; y < 4; ++ y)

{

var py = y + 0.5;

for (var x = 0; x < 3; ++ x)

{

var

collidableShape = scene .createNode ("CollidableShape"),

rigidBody = scene .createNode ("RigidBody");

rigidBody .position = new SFVec3f (2, py, x * 2 - 2 - (y % 2 ? -1 : 0));

collidableShape .shape = x % 2 ? (y % 2 ? shape1 : shape2) : (y % 2 ? shape2 : shape1);

rigidBody .geometry .push (collidableShape);

collection .bodies .push (rigidBody);

group .children .push (collidableShape);

}

function eventsProcessed ()

{

}

]]>

</Script>

<TimeSensor DEF='_21'

cycleInterval='8'

loop='true'/>

<DirectionalLight DEF='_22'

ambientIntensity='0.58548'

direction='-0.59228 -0.772373 0.229444'

shadowIntensity='1'/>

<NavigationInfo

type='"EXAMINE"'

headlight='false'/>

</Scene>

</X3D>

Classic Encoding

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#X3D V3.3 utf8 Titania V4.2.0

PROFILE Full

META "comment" "World of Titania"

META "created" "Tue, 22 May 2018 15:11:49 GMT"

META "creator" "Holger Seelig"

META "generator" "Titania V4.2.0, http://titania.create3000.de"

META "identifier" "file:///home/holger/Projekte/Server/create3000.de/media/htdocs/components/RigidBodyPhysics/RigidBodyCollection/RigidBodyCollection.O.x3d"

META "modified" "Fri, 01 Jun 2018 04:34:58 GMT"

WorldInfo {

}

Background {

skyAngle 1.5708

skyColor [ 0.023 0.023 0.023, 0.123 0.123 0.123 ]

groundAngle 1.5708

groundColor [ 0.644 0.644 0.644, 0.123 0.123 0.123 ]

}

Viewpoint {

description "Initial View"

position 7.16374 6.05492 8.16191

orientation -0.555474612268599 0.804788712177632 0.209196280742558 0.875375826437861

centerOfRotation 1.77636e-15 0 1.77636e-15

}

DEF Collidables Group {

bboxSize 15 15 15

children [

DEF Plane CollidableShape {

rotation -0.999999999992214 -3.93424242910973e-06 3.04930869614383e-07 1.57061815621151

shape Shape {

appearance Appearance {

material Material {

diffuseColor 1 1 1

}

texture ImageTexture {

url "checkerboard.png"

}

geometry Rectangle2D {

size 10 10

}

DEF Hammer_1 CollidableOffset {

translation 2.71544 2.6081 -0.130308

rotation 0.789026525807091 -0.596659093956498 0.146407196448133 3.61230838152294

collidable CollidableShape {

translation 6 0 0

shape Shape {

appearance Appearance {

material Material {

diffuseColor 0.690196 0.556863 0.176471

}

geometry IndexedFaceSet {

creaseAngle 1

texCoordIndex [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, -1, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, -1, 40, 41, 42, 43, -1, 43, 42, 44, 45, -1, 45, 44, 46, 47, -1, 47, 46, 48, 49, -1, 49, 48, 50, 51, -1, 51, 50, 52, 53, -1, 53, 52, 54, 55, -1, 55, 54, 56, 57, -1, 57, 56, 58, 59, -1, 59, 58, 60, 61, -1, 61, 60, 62, 63, -1, 63, 62, 64, 65, -1, 65, 64, 66, 67, -1, 67, 66, 68, 69, -1, 69, 68, 70, 71, -1, 71, 70, 72, 73, -1, 73, 72, 74, 75, -1, 75, 74, 76, 77, -1, 77, 76, 78, 79, -1, 79, 78, 80, 81, -1, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, -1, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, -1, 122, 123, 124, 125, -1, 125, 124, 126, 127, -1, 127, 126, 128, 129, -1, 129, 128, 130, 131, -1, 131, 130, 132, 133, -1, 133, 132, 134, 135, -1, 135, 134, 136, 137, -1, 137, 136, 138, 139, -1, 139, 138, 140, 141, -1, 141, 140, 142, 143, -1, 143, 142, 144, 145, -1, 145, 144, 146, 147, -1, 147, 146, 148, 149, -1, 149, 148, 150, 151, -1, 151, 150, 152, 153, -1, 153, 152, 154, 155, -1, 155, 154, 156, 157, -1, 157, 156, 158, 159, -1, 159, 158, 160, 161, -1, 161, 160, 162, 163, -1 ]

coordIndex [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, -1, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, -1, 0, 39, 38, 1, -1, 1, 38, 37, 2, -1, 2, 37, 36, 3, -1, 3, 36, 35, 4, -1, 4, 35, 34, 5, -1, 5, 34, 33, 6, -1, 6, 33, 32, 7, -1, 7, 32, 31, 8, -1, 8, 31, 30, 9, -1, 9, 30, 29, 10, -1, 10, 29, 28, 11, -1, 11, 28, 27, 12, -1, 12, 27, 26, 13, -1, 13, 26, 25, 14, -1, 14, 25, 24, 15, -1, 15, 24, 23, 16, -1, 16, 23, 22, 17, -1, 17, 22, 21, 18, -1, 18, 21, 20, 19, -1, 19, 20, 39, 0, -1, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, -1, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, -1, 40, 79, 78, 41, -1, 41, 78, 77, 42, -1, 42, 77, 76, 43, -1, 43, 76, 75, 44, -1, 44, 75, 74, 45, -1, 45, 74, 73, 46, -1, 46, 73, 72, 47, -1, 47, 72, 71, 48, -1, 48, 71, 70, 49, -1, 49, 70, 69, 50, -1, 50, 69, 68, 51, -1, 51, 68, 67, 52, -1, 52, 67, 66, 53, -1, 53, 66, 65, 54, -1, 54, 65, 64, 55, -1, 55, 64, 63, 56, -1, 56, 63, 62, 57, -1, 57, 62, 61, 58, -1, 58, 61, 60, 59, -1, 59, 60, 79, 40, -1 ]

texCoord TextureCoordinate {

point [ 0.5 1, 0.345491 0.975528, 0.206107 0.904508, 0.0954915 0.793893, 0.0244717 0.654508, 0 0.5, 0.0244717 0.345491, 0.0954915 0.206107, 0.206107 0.0954915, 0.345491 0.0244717, 0.5 -0, 0.654508 0.0244717, 0.793893 0.0954915, 0.904508 0.206107, 0.975528 0.345491, 1 0.5, 0.975528 0.654508, 0.904508 0.793893, 0.793893 0.904508, 0.654508 0.975528, 0.654508 0.0244717, 0.793893 0.0954915, 0.904508 0.206107, 0.975528 0.345491, 1 0.5, 0.975528 0.654508, 0.904508 0.793893, 0.793893 0.904508, 0.654508 0.975528, 0.5 1, 0.345491 0.975528, 0.206107 0.904508, 0.0954915 0.793893, 0.0244717 0.654508, 0 0.5, 0.0244717 0.345491, 0.0954915 0.206107, 0.206107 0.0954915, 0.345491 0.0244717, 0.5 0, 0 1, 0 0, 0.05 0, 0.05 1, 0.1 0, 0.1 1, 0.15 0, 0.15 1, 0.2 0, 0.2 1, 0.25 0, 0.25 1, 0.3 0, 0.3 1, 0.35 0, 0.35 1, 0.4 0, 0.4 1, 0.45 0, 0.45 1, 0.5 0, 0.5 1, 0.55 0, 0.55 1, 0.6 0, 0.6 1, 0.65 0, 0.65 1, 0.7 0, 0.7 1, 0.75 0, 0.75 1, 0.8 0, 0.8 1, 0.85 0, 0.85 1, 0.9 0, 0.9 1, 0.95 0, 0.95 1, 1 0, 1 1, 0.5 1, 0.345491 0.975528, 0.206107 0.904508, 0.0954915 0.793893, 0.0244717 0.654508, 0 0.5, 0.0244717 0.345491, 0.0954915 0.206107, 0.206107 0.0954915, 0.345491 0.0244717, 0.5 -0, 0.654508 0.0244717, 0.793893 0.0954915, 0.904508 0.206107, 0.975528 0.345491, 1 0.5, 0.975528 0.654508, 0.904508 0.793893, 0.793893 0.904508, 0.654508 0.975528, 0.654508 0.0244717, 0.793893 0.0954915, 0.904508 0.206107, 0.975528 0.345491, 1 0.5, 0.975528 0.654508, 0.904508 0.793893, 0.793893 0.904508, 0.654508 0.975528, 0.5 1, 0.345491 0.975528, 0.206107 0.904508, 0.0954915 0.793893, 0.0244717 0.654508, 0 0.5, 0.0244717 0.345491, 0.0954915 0.206107, 0.206107 0.0954915, 0.345491 0.0244717, 0.5 0, 0 1, 0 0, 0.05 0, 0.05 1, 0.1 0, 0.1 1, 0.15 0, 0.15 1, 0.2 0, 0.2 1, 0.25 0, 0.25 1, 0.3 0, 0.3 1, 0.35 0, 0.35 1, 0.4 0, 0.4 1, 0.45 0, 0.45 1, 0.5 0, 0.5 1, 0.55 0, 0.55 1, 0.6 0, 0.6 1, 0.65 0, 0.65 1, 0.7 0, 0.7 1, 0.75 0, 0.75 1, 0.8 0, 0.8 1, 0.85 0, 0.85 1, 0.9 0, 0.9 1, 0.95 0, 0.95 1, 1 0, 1 1 ]

}

coord Coordinate {

point [ -8.5 1.27228e-06 -0.248131, -8.5 -0.0766733 -0.235988, -8.5 -0.145843 -0.200744, -8.5 -0.200736 -0.145852, -8.5 -0.235979 -0.0766827, -8.5 -0.248124 -8.24034e-06, -8.5 -0.23598 0.0766663, -8.5 -0.200737 0.145836, -8.5 -0.145844 0.200729, -8.5 -0.076675 0.235972, -8.5 -5.56997e-07 0.248117, -8.5 0.076674 0.235973, -8.5 0.145843 0.20073, -8.5 0.200736 0.145837, -8.5 0.23598 0.0766681, -8.5 0.248124 -6.4075e-06, -8.5 0.235981 -0.076681, -8.5 0.200737 -0.14585, -8.5 0.145845 -0.200743, -8.5 0.0766758 -0.235987, -4.5 0.076675 -0.235972, -4.5 0.145844 -0.200729, -4.5 0.200737 -0.145836, -4.5 0.23598 -0.0766663, -4.5 0.248124 8.28505e-06, -4.5 0.235979 0.0766828, -4.5 0.200736 0.145852, -4.5 0.145843 0.200744, -4.5 0.0766733 0.235988, -4.5 -1.27228e-06 0.248131, -4.5 -0.0766758 0.235987, -4.5 -0.145845 0.200743, -4.5 -0.200737 0.14585, -4.5 -0.235981 0.076681, -4.5 -0.248124 6.4522e-06, -4.5 -0.23598 -0.076668, -4.5 -0.200736 -0.145837, -4.5 -0.145843 -0.20073, -4.5 -0.076674 -0.235973, -4.5 5.56997e-07 -0.248117, -4.5 1 -1, -4.80902 1 -0.951056, -5.08778 1 -0.809017, -5.30902 1 -0.587785, -5.45106 1 -0.309017, -5.5 1 2.98023e-08, -5.45106 1 0.309017, -5.30902 1 0.587785, -5.08778 1 0.809017, -4.80902 1 0.951057, -4.5 1 1, -4.19098 1 0.951057, -3.91221 1 0.809017, -3.69098 1 0.587785, -3.54894 1 0.309017, -3.5 1 2.98023e-08, -3.54894 1 -0.309017, -3.69098 1 -0.587785, -3.91221 1 -0.809017, -4.19098 1 -0.951056, -4.19098 -1 -0.951056, -3.91221 -1 -0.809017, -3.69098 -1 -0.587785, -3.54894 -1 -0.309017, -3.5 -1 2.98023e-08, -3.54894 -1 0.309017, -3.69098 -1 0.587785, -3.91221 -1 0.809017, -4.19098 -1 0.951057, -4.5 -1 1, -4.80902 -1 0.951057, -5.08778 -1 0.809017, -5.30902 -1 0.587785, -5.45106 -1 0.309017, -5.5 -1 2.98023e-08, -5.45106 -1 -0.309017, -5.30902 -1 -0.587785, -5.08778 -1 -0.809017, -4.80902 -1 -0.951056, -4.5 -1 -1 ]

}

DEF Wall Group {

children [

DEF _2 CollidableShape {

translation 2.45317 0.500411 -2.25049

rotation 0.00317930001463397 -0.999994945927978 1.30352189023477e-05 0.0559776876997131

shape DEF _3 Shape {

appearance Appearance {

material Material {

ambientIntensity 1

diffuseColor 0.411765 0.164706 0.160784

}

geometry DEF _4 Box {

size 0.5 1 2

}

DEF _5 CollidableShape {

translation -14.4127 -31.5082 0.18055

rotation 0.752862885172207 0.0589881734534236 -0.655528696185612 2.62905953636053

shape DEF _6 Shape {

appearance Appearance {

material Material {

ambientIntensity 1

diffuseColor 0.478431 0.290196 0.133333

}

geometry USE _4

}

DEF _7 CollidableShape {

translation 1.90768 0.499485 2.93697

rotation 0.000349160706163379 0.999999934521202 9.51020124044541e-05 0.496217020838085

shape USE _3

}

DEF _8 CollidableShape {

translation -3.18465 0.250603 -3.45766

rotation -0.679112829696526 0.67915966873816 -0.278474251773929 2.59817927817209

shape USE _6

}

DEF _9 CollidableShape {

translation -4.53555 0.499485 2.78047

rotation 4.18029853612449e-05 0.999999995013304 9.0696762323763e-05 2.22939471833735

shape USE _3

}

DEF _10 CollidableShape {

translation 4.33135 0.249227 4.44118

rotation 0.504865477818481 -0.504738071030507 -0.700250190260252 1.91992239084105

shape USE _6

}

DEF _11 CollidableShape {

translation 0.660942 0.250633 -3.5381

rotation -0.695731739474503 0.695760802718564 -0.178533616129292 2.78800646824603

shape USE _3

}

DEF _12 CollidableShape {

translation 6.52044 -0.0753582 2.22731

rotation 0.807590056502958 -0.428975475695905 -0.404695369245834 2.45822124013029

shape USE _6

}

DEF _13 CollidableShape {

translation 4.06615 0.249451 3.17507

rotation -0.664646909811349 0.664704726197542 -0.341192192537982 2.48376474593532

shape USE _3

}

DEF _14 CollidableShape {

translation 1.35369 0.250364 -2.01102

rotation 0.701146070532566 0.701125936105834 0.129678870663111 2.88392109214109

shape USE _6

}

DEF _15 CollidableShape {

translation 5.93349 -1.20917 0.569844

rotation -0.960176544109273 -0.277150728898986 0.0353338026984561 1.89101861855055

shape USE _3

}

DEF _16 CollidableShape {

translation 7.09588 -14.1092 8.6562

rotation -0.522522209504102 0.473359936548752 0.709155068405714 1.09840590636465

shape USE _6

}

]

}

DEF Hammer_17 CollidableOffset {

translation 0 5 0

collidable CollidableShape {

translation 4 0 0

rotation 6.51596110397031e-09 -3.6796984659055e-06 0.99999999999323 1.57079614798775

}

]

}

DEF _18 RigidBodyCollection {

bodies [

DEF Plane_19 RigidBody {

fixed TRUE

orientation -0.999999999992214 -3.93424242910973e-06 3.04930869614383e-07 1.57061815621151

geometry USE Plane

}

DEF Hammer RigidBody {

position 2.71544 2.6081 -0.130308

orientation 0.789026525807091 -0.596659093956498 0.146407196448133 3.61230838152294

linearVelocity 0.0276416 0.0124997 -0.077386

angularVelocity -0.266798 0.999919 0.0661262

mass 10

geometry USE Hammer_1

}

DEF Nail RigidBody {

fixed TRUE

position 2 5 0

geometry DEF _20 CollidableShape {

translation 2 5 0

shape Shape {

appearance Appearance {

material Material { }

}

geometry Sphere {

radius 0.307389

}

RigidBody {

position 2.45317 0.500411 -2.25049

orientation 0.00317930001463397 -0.999994945927978 1.30352189023477e-05 0.0559776876997131

linearVelocity -0.374078 7.58469e-06 -0.0471341

angularVelocity 2.18438e-06 -0.440043 -6.19495e-05

geometry USE _2

}

RigidBody {

position -14.4127 -31.5082 0.18055

orientation 0.752862885172207 0.0589881734534236 -0.655528696185612 2.62905953636053

linearVelocity -3.72841 -26.3643 0.0634278

angularVelocity 0.0810449 1.21805 1.13169

geometry USE _5

}

RigidBody {

position 1.90768 0.499485 2.93697

orientation 0.000349160706163379 0.999999934521202 9.51020124044541e-05 0.496217020838085

linearVelocity -2.26205e-05 -4.45545e-06 0.000320048

angularVelocity 9.69173e-06 -1.91623e-05 2.52629e-05

geometry USE _7

}

RigidBody {

position -3.18465 0.250603 -3.45766

orientation -0.679112829696526 0.67915966873816 -0.278474251773929 2.59817927817209

linearVelocity -4.03975e-06 -1.23307e-06 0.000118953

angularVelocity -2.55268e-06 -2.30012e-07 1.59172e-05

geometry USE _8

}

RigidBody {

position -4.53555 0.499485 2.78047

orientation 4.18029853612449e-05 0.999999995013304 9.0696762323763e-05 2.22939471833735

linearVelocity -1.52957e-06 2.97278e-06 0.000282539

angularVelocity 1.12293e-05 -4.22741e-05 -3.11253e-06

geometry USE _9

}

RigidBody {

position 4.33135 0.249227 4.44118

orientation 0.504865477818481 -0.504738071030507 -0.700250190260252 1.91992239084105

linearVelocity -1.94387e-06 5.96046e-08 0.000267767

angularVelocity -6.7195e-06 -2.72082e-09 7.77206e-06

geometry USE _10

}

RigidBody {

position 0.660942 0.250633 -3.5381

orientation -0.695731739474503 0.695760802718564 -0.178533616129292 2.78800646824603

linearVelocity -3.58553e-06 1.49012e-06 0.000201592

angularVelocity -2.31145e-06 -6.3785e-09 1.43445e-05

geometry USE _11

}

RigidBody {

position 6.52044 -0.0753582 2.22731

orientation 0.807590056502958 -0.428975475695905 -0.404695369245834 2.45822124013029

linearVelocity 3.01262 -5.01227 0.707407

angularVelocity -0.564011 -0.60171 -2.7258

geometry USE _12

}

RigidBody {

position 4.06615 0.249451 3.17507

orientation -0.664646909811349 0.664704726197542 -0.341192192537982 2.48376474593532

linearVelocity -2.94889e-06 2.03773e-06 0.000281055

angularVelocity -1.51562e-06 2.97105e-07 1.26987e-05

geometry USE _13

}

RigidBody {

position 1.35369 0.250364 -2.01102

orientation 0.701146070532566 0.701125936105834 0.129678870663111 2.88392109214109

linearVelocity -4.03918e-06 9.16421e-07 0.000156874

angularVelocity 1.62828e-06 -2.90331e-09 1.61563e-05

geometry USE _14

}

RigidBody {

position 5.93349 -1.20917 0.569844

orientation -0.960176544109273 -0.277150728898986 0.0353338026984561 1.89101861855055

linearVelocity 1.18742 -5.36657 0.521327

angularVelocity -1.10735 -2.1805 -1.77328

geometry USE _15

}

RigidBody {

position 7.09588 -14.1092 8.6562

orientation -0.522522209504102 0.473359936548752 0.709155068405714 1.09840590636465

linearVelocity 1.52584 -17.8162 2.1189

angularVelocity -0.236468 -2.52991 -3.83253

geometry USE _16

}

]

joints BallJoint {

anchorPoint 2 5 0

body1 USE Nail

body2 USE Hammer

}

DEF TowerScript Script {

inputOutput SFTime resetTime 1527827691.96797

initializeOnly SFNode collection USE _18

initializeOnly SFNode group USE Wall

initializeOnly SFNode shape1 USE _3

initializeOnly SFNode shape2 USE _6

initializeOnly SFNode hammer USE Hammer

url "ecmascript:

function initialize ()

{

set_resetTime (0, 0);

}

function set_resetTime (value, time)

{

var scene = Browser .currentScene;

group .children .length = 0;

collection .bodies .length = 3;

hammer .position = new SFVec3f (4.5, 5, 0);

hammer .orientation = new SFRotation (0, 0, 1, 0);

hammer .linearVelocity = new SFVec3f (0, 0, 0);

hammer .angularVelocity = new SFVec3f (0, 0, 0);

for (var y = 0; y < 4; ++ y)

{

var py = y + 0.5;

for (var x = 0; x < 3; ++ x)

{

var

collidableShape = scene .createNode (\"CollidableShape\"),

rigidBody = scene .createNode (\"RigidBody\");

rigidBody .position = new SFVec3f (2, py, x * 2 - 2 - (y % 2 ? -1 : 0));

collidableShape .shape = x % 2 ? (y % 2 ? shape1 : shape2) : (y % 2 ? shape2 : shape1);

rigidBody .geometry .push (collidableShape);

collection .bodies .push (rigidBody);

group .children .push (collidableShape);

}

function eventsProcessed ()

{

}

USE _20

DEF _21 TimeSensor {

cycleInterval 8

loop TRUE

}

DEF _22 DirectionalLight {

ambientIntensity 0.58548

direction -0.59228 -0.772373 0.229444

shadowIntensity 1

}

NavigationInfo {

type "EXAMINE"

headlight FALSE

}

ROUTE _21.cycleTime TO TowerScript.set_resetTime

JSON Encoding

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{ "X3D": {

"encoding": "UTF-8",

"@profile": "Full",

"@version": "3.3",

"@xsd:noNamespaceSchemaLocation": "http://www.web3d.org/specifications/x3d-3.3.xsd",

"JSON schema": "http://www.web3d.org/specifications/x3d-3.3-JSONSchema.json",

"head": {

"meta": [

{

"@name": "comment",

"@content": "World of Titania"

{

"@name": "created",

"@content": "Tue, 22 May 2018 15:11:49 GMT"

{

"@name": "creator",

"@content": "Holger Seelig"

{

"@name": "generator",

"@content": "Titania V4.2.0, http://titania.create3000.de"

{

"@name": "identifier",

"@content": "file:///home/holger/Projekte/Server/create3000.de/media/htdocs/components/RigidBodyPhysics/RigidBodyCollection/RigidBodyCollection.O.x3d"

{

"@name": "modified",

"@content": "Fri, 01 Jun 2018 04:34:58 GMT"

}

]

"Scene": {

"-children": [

{ "WorldInfo":

{

}

{ "Background":

{

"@skyAngle": [ 1.5708 ],

"@skyColor": [ 0.023, 0.023, 0.023, 0.123, 0.123, 0.123 ],

"@groundAngle": [ 1.5708 ],

"@groundColor": [ 0.644, 0.644, 0.644, 0.123, 0.123, 0.123 ]

}

{ "Viewpoint":

{

"@description": "Initial View",

"@position": [ 7.16374, 6.05492, 8.16191 ],

"@orientation": [ -0.555474612268599, 0.804788712177632, 0.209196280742558, 0.875375826437861 ],

"@centerOfRotation": [ 1.77636e-15, 0, 1.77636e-15 ]

}

{ "Group":

{

"@DEF": "Collidables",

"@bboxSize": [ 15, 15, 15 ],

"-children": [

{ "CollidableShape":

{

"@DEF": "Plane",

"@rotation": [ -0.999999999992214, -3.93424242910973e-06, 3.04930869614383e-07, 1.57061815621151 ],

"-shape": { "Shape":

{

"-appearance": { "Appearance":

{

"-material": { "Material":

{

"@diffuseColor": [ 1, 1, 1 ]

}

"-texture": { "ImageTexture":

{

"@url": [ "checkerboard.png" ]

}

"-geometry": { "Rectangle2D":

{

"@size": [ 10, 10 ]

}

{ "CollidableOffset":

{

"@DEF": "Hammer_1",

"@translation": [ 2.71544, 2.6081, -0.130308 ],

"@rotation": [ 0.789026525807091, -0.596659093956498, 0.146407196448133, 3.61230838152294 ],

"-collidable": { "CollidableShape":

{

"@translation": [ 6, 0, 0 ],

"-shape": { "Shape":

{

"-appearance": { "Appearance":

{

"-material": { "Material":

{

"@diffuseColor": [ 0.690196, 0.556863, 0.176471 ]

}

"-geometry": { "IndexedFaceSet":

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}

{ "Group":

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{

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"-shape": { "Shape":

{

"@DEF": "_3",

"-appearance": { "Appearance":

{

"-material": { "Material":

{

"@ambientIntensity": 1,

"@diffuseColor": [ 0.411765, 0.164706, 0.160784 ]

}

"-geometry": { "Box":

{

"@DEF": "_4",

"@size": [ 0.5, 1, 2 ]

}

{ "CollidableShape":

{

"@DEF": "_5",

"@translation": [ -14.4127, -31.5082, 0.18055 ],

"@rotation": [ 0.752862885172207, 0.0589881734534236, -0.655528696185612, 2.62905953636053 ],

"-shape": { "Shape":

{

"@DEF": "_6",

"-appearance": { "Appearance":

{

"-material": { "Material":

{

"@ambientIntensity": 1,

"@diffuseColor": [ 0.478431, 0.290196, 0.133333 ]

}

"-geometry": { "Box":

{

"@USE": "_4"

}

{ "CollidableShape":

{

"@DEF": "_7",

"@translation": [ 1.90768, 0.499485, 2.93697 ],

"@rotation": [ 0.000349160706163379, 0.999999934521202, 9.51020124044541e-05, 0.496217020838085 ],

"-shape": { "Shape":

{

"@USE": "_3"

}

{ "CollidableShape":

{

"@DEF": "_8",

"@translation": [ -3.18465, 0.250603, -3.45766 ],

"@rotation": [ -0.679112829696526, 0.67915966873816, -0.278474251773929, 2.59817927817209 ],

"-shape": { "Shape":

{

"@USE": "_6"

}

{ "CollidableShape":

{

"@DEF": "_9",

"@translation": [ -4.53555, 0.499485, 2.78047 ],

"@rotation": [ 4.18029853612449e-05, 0.999999995013304, 9.0696762323763e-05, 2.22939471833735 ],

"-shape": { "Shape":

{

"@USE": "_3"

}

{ "CollidableShape":

{

"@DEF": "_10",

"@translation": [ 4.33135, 0.249227, 4.44118 ],

"@rotation": [ 0.504865477818481, -0.504738071030507, -0.700250190260252, 1.91992239084105 ],

"-shape": { "Shape":

{

"@USE": "_6"

}

{ "CollidableShape":

{

"@DEF": "_11",

"@translation": [ 0.660942, 0.250633, -3.5381 ],

"@rotation": [ -0.695731739474503, 0.695760802718564, -0.178533616129292, 2.78800646824603 ],

"-shape": { "Shape":

{

"@USE": "_3"

}

{ "CollidableShape":

{

"@DEF": "_12",

"@translation": [ 6.52044, -0.0753582, 2.22731 ],

"@rotation": [ 0.807590056502958, -0.428975475695905, -0.404695369245834, 2.45822124013029 ],

"-shape": { "Shape":

{

"@USE": "_6"

}

{ "CollidableShape":

{

"@DEF": "_13",

"@translation": [ 4.06615, 0.249451, 3.17507 ],

"@rotation": [ -0.664646909811349, 0.664704726197542, -0.341192192537982, 2.48376474593532 ],

"-shape": { "Shape":

{

"@USE": "_3"

}

{ "CollidableShape":

{

"@DEF": "_14",

"@translation": [ 1.35369, 0.250364, -2.01102 ],

"@rotation": [ 0.701146070532566, 0.701125936105834, 0.129678870663111, 2.88392109214109 ],

"-shape": { "Shape":

{

"@USE": "_6"

}

{ "CollidableShape":

{

"@DEF": "_15",

"@translation": [ 5.93349, -1.20917, 0.569844 ],

"@rotation": [ -0.960176544109273, -0.277150728898986, 0.0353338026984561, 1.89101861855055 ],

"-shape": { "Shape":

{

"@USE": "_3"

}

{ "CollidableShape":

{

"@DEF": "_16",

"@translation": [ 7.09588, -14.1092, 8.6562 ],

"@rotation": [ -0.522522209504102, 0.473359936548752, 0.709155068405714, 1.09840590636465 ],

"-shape": { "Shape":

{

"@USE": "_6"

}

]

}

{ "CollidableOffset":

{

"@DEF": "Hammer_17",

"@translation": [ 0, 5, 0 ],

"-collidable": { "CollidableShape":

{

"@translation": [ 4, 0, 0 ],

"@rotation": [ 6.51596110397031e-09, -3.6796984659055e-06, 0.99999999999323, 1.57079614798775 ]

}

]

}

{ "RigidBodyCollection":

{

"@DEF": "_18",

"-bodies": [

{ "RigidBody":

{

"@DEF": "Plane_19",

"@fixed": true,

"@orientation": [ -0.999999999992214, -3.93424242910973e-06, 3.04930869614383e-07, 1.57061815621151 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "Plane"

}

]

}

{ "RigidBody":

{

"@DEF": "Hammer",

"@position": [ 2.71544, 2.6081, -0.130308 ],

"@orientation": [ 0.789026525807091, -0.596659093956498, 0.146407196448133, 3.61230838152294 ],

"@linearVelocity": [ 0.0276416, 0.0124997, -0.077386 ],

"@angularVelocity": [ -0.266798, 0.999919, 0.0661262 ],

"@mass": 10,

"-geometry": [

{ "CollidableOffset":

{

"@USE": "Hammer_1"

}

]

}

{ "RigidBody":

{

"@DEF": "Nail",

"@fixed": true,

"@position": [ 2, 5, 0 ],

"-geometry": [

{ "CollidableShape":

{

"@DEF": "_20",

"@translation": [ 2, 5, 0 ],

"-shape": { "Shape":

{

"-appearance": { "Appearance":

{

"-material": { "Material":

{

}

"-geometry": { "Sphere":

{

"@radius": 0.307389

}

]

}

{ "RigidBody":

{

"@position": [ 2.45317, 0.500411, -2.25049 ],

"@orientation": [ 0.00317930001463397, -0.999994945927978, 1.30352189023477e-05, 0.0559776876997131 ],

"@linearVelocity": [ -0.374078, 7.58469e-06, -0.0471341 ],

"@angularVelocity": [ 2.18438e-06, -0.440043, -6.19495e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_2"

}

]

}

{ "RigidBody":

{

"@position": [ -14.4127, -31.5082, 0.18055 ],

"@orientation": [ 0.752862885172207, 0.0589881734534236, -0.655528696185612, 2.62905953636053 ],

"@linearVelocity": [ -3.72841, -26.3643, 0.0634278 ],

"@angularVelocity": [ 0.0810449, 1.21805, 1.13169 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_5"

}

]

}

{ "RigidBody":

{

"@position": [ 1.90768, 0.499485, 2.93697 ],

"@orientation": [ 0.000349160706163379, 0.999999934521202, 9.51020124044541e-05, 0.496217020838085 ],

"@linearVelocity": [ -2.26205e-05, -4.45545e-06, 0.000320048 ],

"@angularVelocity": [ 9.69173e-06, -1.91623e-05, 2.52629e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_7"

}

]

}

{ "RigidBody":

{

"@position": [ -3.18465, 0.250603, -3.45766 ],

"@orientation": [ -0.679112829696526, 0.67915966873816, -0.278474251773929, 2.59817927817209 ],

"@linearVelocity": [ -4.03975e-06, -1.23307e-06, 0.000118953 ],

"@angularVelocity": [ -2.55268e-06, -2.30012e-07, 1.59172e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_8"

}

]

}

{ "RigidBody":

{

"@position": [ -4.53555, 0.499485, 2.78047 ],

"@orientation": [ 4.18029853612449e-05, 0.999999995013304, 9.0696762323763e-05, 2.22939471833735 ],

"@linearVelocity": [ -1.52957e-06, 2.97278e-06, 0.000282539 ],

"@angularVelocity": [ 1.12293e-05, -4.22741e-05, -3.11253e-06 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_9"

}

]

}

{ "RigidBody":

{

"@position": [ 4.33135, 0.249227, 4.44118 ],

"@orientation": [ 0.504865477818481, -0.504738071030507, -0.700250190260252, 1.91992239084105 ],

"@linearVelocity": [ -1.94387e-06, 5.96046e-08, 0.000267767 ],

"@angularVelocity": [ -6.7195e-06, -2.72082e-09, 7.77206e-06 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_10"

}

]

}

{ "RigidBody":

{

"@position": [ 0.660942, 0.250633, -3.5381 ],

"@orientation": [ -0.695731739474503, 0.695760802718564, -0.178533616129292, 2.78800646824603 ],

"@linearVelocity": [ -3.58553e-06, 1.49012e-06, 0.000201592 ],

"@angularVelocity": [ -2.31145e-06, -6.3785e-09, 1.43445e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_11"

}

]

}

{ "RigidBody":

{

"@position": [ 6.52044, -0.0753582, 2.22731 ],

"@orientation": [ 0.807590056502958, -0.428975475695905, -0.404695369245834, 2.45822124013029 ],

"@linearVelocity": [ 3.01262, -5.01227, 0.707407 ],

"@angularVelocity": [ -0.564011, -0.60171, -2.7258 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_12"

}

]

}

{ "RigidBody":

{

"@position": [ 4.06615, 0.249451, 3.17507 ],

"@orientation": [ -0.664646909811349, 0.664704726197542, -0.341192192537982, 2.48376474593532 ],

"@linearVelocity": [ -2.94889e-06, 2.03773e-06, 0.000281055 ],

"@angularVelocity": [ -1.51562e-06, 2.97105e-07, 1.26987e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_13"

}

]

}

{ "RigidBody":

{

"@position": [ 1.35369, 0.250364, -2.01102 ],

"@orientation": [ 0.701146070532566, 0.701125936105834, 0.129678870663111, 2.88392109214109 ],

"@linearVelocity": [ -4.03918e-06, 9.16421e-07, 0.000156874 ],

"@angularVelocity": [ 1.62828e-06, -2.90331e-09, 1.61563e-05 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_14"

}

]

}

{ "RigidBody":

{

"@position": [ 5.93349, -1.20917, 0.569844 ],

"@orientation": [ -0.960176544109273, -0.277150728898986, 0.0353338026984561, 1.89101861855055 ],

"@linearVelocity": [ 1.18742, -5.36657, 0.521327 ],

"@angularVelocity": [ -1.10735, -2.1805, -1.77328 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_15"

}

]

}

{ "RigidBody":

{

"@position": [ 7.09588, -14.1092, 8.6562 ],

"@orientation": [ -0.522522209504102, 0.473359936548752, 0.709155068405714, 1.09840590636465 ],

"@linearVelocity": [ 1.52584, -17.8162, 2.1189 ],

"@angularVelocity": [ -0.236468, -2.52991, -3.83253 ],

"-geometry": [

{ "CollidableShape":

{

"@USE": "_16"

}

]

}

"-joints": [

{ "BallJoint":

{

"@anchorPoint": [ 2, 5, 0 ],

"-body1": { "RigidBody":

{

"@USE": "Nail"

}

"-body2": { "RigidBody":

{

"@USE": "Hammer"

}

]

}

{ "Script":

{

"@DEF": "TowerScript",

"field": [

{

"@accessType": "inputOutput",

"@type": "SFTime",

"@name": "resetTime",

"@value": 1527827691.96797

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "collection",

"-children": [

{ "RigidBodyCollection":

{

"@USE": "_18"

}

]

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "group",

"-children": [

{ "Group":

{

"@USE": "Wall"

}

]

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape1",

"-children": [

{ "Shape":

{

"@USE": "_3"

}

]

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "shape2",

"-children": [

{ "Shape":

{

"@USE": "_6"

}

]

{

"@accessType": "initializeOnly",

"@type": "SFNode",

"@name": "hammer",

"-children": [

{ "RigidBody":

{

"@USE": "Hammer"

}

]

}

"#sourceText": [

"ecmascript:",

"",

"function initialize ()",

"{",

"\tset_resetTime (0, 0);",

"}",

"",

"function set_resetTime (value, time)",

"{",

"\tvar scene = Browser .currentScene;",

"",

"\tgroup .children .length = 0;",

"\tcollection .bodies .length = 3;",

"",

"\thammer .position = new SFVec3f (4.5, 5, 0);",

"\thammer .orientation = new SFRotation (0, 0, 1, 0);",

"\thammer .linearVelocity = new SFVec3f (0, 0, 0);",

"\thammer .angularVelocity = new SFVec3f (0, 0, 0);",

"",

"\tfor (var y = 0; y < 4; ++ y)",

"\t{",

"\t\tvar py = y + 0.5;",

"\t",

"\t\tfor (var x = 0; x < 3; ++ x)",

"\t\t{",

"\t\t\tvar",

"\t\t\t\tcollidableShape = scene .createNode (\"CollidableShape\"),",

"\t\t\t\trigidBody = scene .createNode (\"RigidBody\");",

"",

"\t\t\trigidBody .position = new SFVec3f (2, py, x * 2 - 2 - (y % 2 ? -1 : 0));",

"",

"\t\t\tcollidableShape .shape = x % 2 ? (y % 2 ? shape1 : shape2) : (y % 2 ? shape2 : shape1);",

"\t\t\trigidBody .geometry .push (collidableShape);",

"\t\t\tcollection .bodies .push (rigidBody);",

"\t\t\tgroup .children .push (collidableShape);",

"\t\t}",

"\t}",

"}",

"",

"function eventsProcessed ()",

"{",

"\t",

"}"

]

}

{ "CollidableShape":

{

"@USE": "_20"

}

{ "TimeSensor":

{

"@DEF": "_21",

"@cycleInterval": 8,

"@loop": true

}

{ "DirectionalLight":

{

"@DEF": "_22",

"@ambientIntensity": 0.58548,

"@direction": [ -0.59228, -0.772373, 0.229444 ],

"@shadowIntensity": 1

}

{ "NavigationInfo":

{

"@type": [ "EXAMINE" ],

"@headlight": false

}

{ "ROUTE":

{

"@fromNode": "_21",

"@fromField": "cycleTime",

"@toNode": "TowerScript",

"@toField": "resetTime"

}

]

}

Browser Compatibility

Titania	X_ITE
yes	yes

External Links

X3D Specification

Titania X3D Editor

Bring Colours to Your Life.

Titania v4.3.3

Bring Colours to Your Life.

X3D Reference

RigidBodyCollection

RigidBodyCollection

Hierarchy

Fields

SFNode [in, out] metadata NULL [X3DMetadataObject]

SFBool [in, out] enabled TRUE

MFNode [in] set_contacts not supported

SFVec3f [in, out] gravity 0 -9.8 0

SFBool [in, out] preferAccuracy FALSE

SFFloat [in, out] errorCorrection 0.8 [0,1] not supported

SFInt32 [in, out] iterations 10 [0,∞)

SFFloat [in, out] constantForceMix 0.0001 [0,∞) not supported

Hints

SFFloat [in, out] maxCorrectionSpeed -1 [0,∞) or -1 not supported

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

SFBool [in, out] autoDisable FALSE

SFFloat [in, out] disableTime[0,∞) not supported

Hint

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

Hint

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

Hint

SFNode [ ] collider NULL [CollisionCollection]

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

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

Example

XML Encoding

Classic Encoding

JSON Encoding

Browser Compatibility

External Links