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
XML Encoding
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-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'> <CollidableShape USE='_14' containerField='geometry'/> </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'> <CollidableShape USE='_15' containerField='geometry'/> </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'> <CollidableShape USE='_16' containerField='geometry'/> </RigidBody> <BallJoint anchorPoint='2 5 0'> <RigidBody USE='Nail' containerField='body1'/> <RigidBody USE='Hammer' containerField='body2'/> </BallJoint> </RigidBodyCollection> <Script DEF='TowerScript'> <field accessType='inputOutput' type='SFTime' name='resetTime' value='1527827691.96797'/> <field accessType='initializeOnly' type='SFNode' name='collection'> <RigidBodyCollection USE='_18'/> </field> <field accessType='initializeOnly' type='SFNode' name='group'> <Group USE='Wall'/> </field> <field accessType='initializeOnly' type='SFNode' name='shape1'> <Shape USE='_3'/> </field> <field accessType='initializeOnly' type='SFNode' name='shape2'> <Shape USE='_6'/> </field> <field accessType='initializeOnly' type='SFNode' name='hammer'> <RigidBody USE='Hammer'/> </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> <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='set_resetTime'/> </Scene> </X3D> |
Classic Encoding
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 |
#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, 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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 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-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 |
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Titania
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