element RigidBody
diagram x3d-4.0_p185.png
type extension of X3DNode
properties
content complex
children IS MetadataBoolean MetadataDouble MetadataFloat MetadataInteger MetadataSet MetadataString Sphere Box Cone CollidableOffset CollidableShape ProtoInstance
used by
element Contact
groups RigidBodyCollectionContentModel RigidJointNodeContentModel SceneGraphFragmentContentModel
attributes
Name  Type  Use  Default  Fixed  Annotation
DEF  xs:ID        
appinfo

DEF defines a unique ID name for each node, referencable by other nodes.
USE  xs:IDREF        
appinfo

USE means reuse an already DEF-ed node ID, excluding all child nodes and all other attributes (except for containerField, which can have a different value).
class  xs:NMTOKENS        
appinfo

The class attribute is a space-separated list of classes, reserved for use by XML stylesheets.
angularDampingFactor  SFFloat    0.001    
angularVelocity  SFVec3f    0 0 0    
autoDamp  SFBool    false    
autoDisable  SFBool    false    
centerOfMass  SFVec3f    0 0 0    
disableAngularSpeed  SFFloat    0    
disableLinearSpeed  SFFloat    0    
disableTime  SFTime    0    
enabled  SFBool    true    
finiteRotationAxis  SFVec3f    0 1 0    
fixed  SFBool    false    
forces  MFVec3f        
inertia  SFMatrix3f    1 0 0 0 1 0 0 0 1    
linearDampingFactor  SFFloat    0.001    
linearVelocity  SFVec3f    0 0 0    
mass  SFFloat    1    
position  SFVec3f    0 0 0    
orientation  SFRotation    0 0 1 0    
torques  MFVec3f        
useFiniteRotation  SFBool    false    
useGlobalGravity  SFBool    true    
containerField  derived by: xs:NMTOKEN    bodies    
annotation
appinfo
<xs:element name="geometry" type="MFNode" fixed="inputOutputField" default="X3DNBodyCollidableNode"/>
<xs:element name="massDensityModel" type="SFNode" fixed="inputOutputField" default="Sphere|Box|Cone"/>
<xs:attribute name="componentName" type="xs:NMTOKEN" fixed="RigidBodyPhysics"/>
<xs:attribute name="componentLevel" type="xs:positiveInteger" fixed="2"/>
source <xs:element name="RigidBody">
 
<xs:annotation>
   
<xs:appinfo>
     
<xs:element name="geometry" type="MFNode" fixed="inputOutputField" default="X3DNBodyCollidableNode"/>
     
<xs:element name="massDensityModel" type="SFNode" fixed="inputOutputField" default="Sphere|Box|Cone"/>
     
<xs:attribute name="componentName" type="xs:NMTOKEN" fixed="RigidBodyPhysics"/>
     
<xs:attribute name="componentLevel" type="xs:positiveInteger" fixed="2"/>
   
</xs:appinfo>
   
<xs:documentation source="http://www.web3d.org/documents/specifications/19775-1/V3.3/Part01/components/rigid_physics.html#RigidBody"/>
 
</xs:annotation>
 
<xs:complexType>
   
<xs:complexContent>
     
<xs:extension base="X3DNode">
       
<xs:group ref="RigidBodyContentModel" minOccurs="0"/>
       
<xs:attribute name="angularDampingFactor" type="SFFloat" default="0.001"/>
       
<xs:attribute name="angularVelocity" type="SFVec3f" default="0 0 0"/>
       
<xs:attribute name="autoDamp" type="SFBool" default="false"/>
       
<xs:attribute name="autoDisable" type="SFBool" default="false"/>
       
<xs:attribute name="centerOfMass" type="SFVec3f" default="0 0 0"/>
       
<xs:attribute name="disableAngularSpeed" type="SFFloat" default="0"/>
       
<xs:attribute name="disableLinearSpeed" type="SFFloat" default="0"/>
       
<xs:attribute name="disableTime" type="SFTime" default="0"/>
       
<xs:attribute name="enabled" type="SFBool" default="true"/>
       
<xs:attribute name="finiteRotationAxis" type="SFVec3f" default="0 1 0"/>
       
<xs:attribute name="fixed" type="SFBool" default="false"/>
       
<xs:attribute name="forces" type="MFVec3f"/>
       
<xs:attribute name="inertia" type="SFMatrix3f" default="1 0 0 0 1 0 0 0 1"/>
       
<xs:attribute name="linearDampingFactor" type="SFFloat" default="0.001"/>
       
<xs:attribute name="linearVelocity" type="SFVec3f" default="0 0 0"/>
       
<xs:attribute name="mass" type="SFFloat" default="1"/>
       
<xs:attribute name="position" type="SFVec3f" default="0 0 0"/>
       
<xs:attribute name="orientation" type="SFRotation" default="0 0 1 0"/>
       
<xs:attribute name="torques" type="MFVec3f"/>
       
<xs:attribute name="useFiniteRotation" type="SFBool" default="false"/>
       
<xs:attribute name="useGlobalGravity" type="SFBool" default="true"/>
       
<xs:attribute name="containerField" default="bodies">
         
<xs:simpleType>
           
<xs:restriction base="xs:NMTOKEN">
             
<xs:enumeration value="body1"/>
             
<xs:enumeration value="body2"/>
             
<xs:enumeration value="bodies"/>
           
</xs:restriction>
         
</xs:simpleType>
       
</xs:attribute>
     
</xs:extension>
   
</xs:complexContent>
 
</xs:complexType>
</xs:element>

attribute RigidBody/@angularDampingFactor
type SFFloat
properties
default 0.001
source <xs:attribute name="angularDampingFactor" type="SFFloat" default="0.001"/>

attribute RigidBody/@angularVelocity
type SFVec3f
properties
default 0 0 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="angularVelocity" type="SFVec3f" default="0 0 0"/>

attribute RigidBody/@autoDamp
type SFBool
properties
default false
source <xs:attribute name="autoDamp" type="SFBool" default="false"/>

attribute RigidBody/@autoDisable
type SFBool
properties
default false
source <xs:attribute name="autoDisable" type="SFBool" default="false"/>

attribute RigidBody/@centerOfMass
type SFVec3f
properties
default 0 0 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="centerOfMass" type="SFVec3f" default="0 0 0"/>

attribute RigidBody/@disableAngularSpeed
type SFFloat
properties
default 0
source <xs:attribute name="disableAngularSpeed" type="SFFloat" default="0"/>

attribute RigidBody/@disableLinearSpeed
type SFFloat
properties
default 0
source <xs:attribute name="disableLinearSpeed" type="SFFloat" default="0"/>

attribute RigidBody/@disableTime
type SFTime
properties
default 0
source <xs:attribute name="disableTime" type="SFTime" default="0"/>

attribute RigidBody/@enabled
type SFBool
properties
default true
source <xs:attribute name="enabled" type="SFBool" default="true"/>

attribute RigidBody/@finiteRotationAxis
type SFVec3f
properties
default 0 1 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="finiteRotationAxis" type="SFVec3f" default="0 1 0"/>

attribute RigidBody/@fixed
type SFBool
properties
default false
source <xs:attribute name="fixed" type="SFBool" default="false"/>

attribute RigidBody/@forces
type MFVec3f
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?( )?(,)?( )?)*
source <xs:attribute name="forces" type="MFVec3f"/>

attribute RigidBody/@inertia
type SFMatrix3f
properties
default 1 0 0 0 1 0 0 0 1
facets
Kind Value Annotation
whiteSpace collapse
pattern (((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? ){8}((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?))?
source <xs:attribute name="inertia" type="SFMatrix3f" default="1 0 0 0 1 0 0 0 1"/>

attribute RigidBody/@linearDampingFactor
type SFFloat
properties
default 0.001
source <xs:attribute name="linearDampingFactor" type="SFFloat" default="0.001"/>

attribute RigidBody/@linearVelocity
type SFVec3f
properties
default 0 0 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="linearVelocity" type="SFVec3f" default="0 0 0"/>

attribute RigidBody/@mass
type SFFloat
properties
default 1
source <xs:attribute name="mass" type="SFFloat" default="1"/>

attribute RigidBody/@position
type SFVec3f
properties
default 0 0 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="position" type="SFVec3f" default="0 0 0"/>

attribute RigidBody/@orientation
type SFRotation
properties
default 0 0 1 0
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(((\.[0-9]+|0(\.[0-9]*)?)((E|e)(\+|\-)?[0-9]+)?)|(1(\.[0]*)?((E|e)\-[0-9]+)?)|([1-9](\.[0-9]*)((E|e)\-[0-9]+))) (\+|\-)?(((\.[0-9]+|0(\.[0-9]*)?)((E|e)(\+|\-)?[0-9]+)?)|(1(\.[0]*)?((E|e)\-[0-9]+)?)|([1-9](\.[0-9]*)((E|e)\-[0-9]+))) (\+|\-)?(((\.[0-9]+|0(\.[0-9]*)?)((E|e)(\+|\-)?[0-9]+)?)|(1(\.[0]*)?((E|e)\-[0-9]+)?)|([1-9](\.[0-9]*)((E|e)\-[0-9]+))) (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?)?
source <xs:attribute name="orientation" type="SFRotation" default="0 0 1 0"/>

attribute RigidBody/@torques
type MFVec3f
facets
Kind Value Annotation
whiteSpace collapse
pattern ((\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)? (\+|\-)?(0|[1-9][0-9]*)?(\.[0-9]*)?((E|e)(\+|\-)?[0-9]+)?( )?(,)?( )?)*
source <xs:attribute name="torques" type="MFVec3f"/>

attribute RigidBody/@useFiniteRotation
type SFBool
properties
default false
source <xs:attribute name="useFiniteRotation" type="SFBool" default="false"/>

attribute RigidBody/@useGlobalGravity
type SFBool
properties
default true
source <xs:attribute name="useGlobalGravity" type="SFBool" default="true"/>

attribute RigidBody/@containerField
type restriction of xs:NMTOKEN
properties
default bodies
facets
Kind Value Annotation
enumeration body1
enumeration body2
enumeration bodies
source <xs:attribute name="containerField" default="bodies">
 
<xs:simpleType>
   
<xs:restriction base="xs:NMTOKEN">
     
<xs:enumeration value="body1"/>
     
<xs:enumeration value="body2"/>
     
<xs:enumeration value="bodies"/>
   
</xs:restriction>
 
</xs:simpleType>
</xs:attribute>


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