/usr/src/castle-game-engine-4.1.1/x3d/doc/x3d_nodes/2/RigidBodyPhysics.txt is in castle-game-engine-src 4.1.1-1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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 | X3DNBodyCollidableNode : X3DChildNode, X3DBoundedObject {
SFBool [in,out] enabled TRUE
SFRotation [in,out] rotation 0 0 1 0 [0,1]
SFVec3f [in,out] translation 0 0 0 (-Inf,Inf)
SFVec3f [] bboxCenter 0 0 0 (-Inf,Inf)
SFVec3f [] bboxSize -1 -1 -1 [0,Inf) or -1 -1 -1
}
X3DNBodyCollisionSpaceNode : X3DNode, X3DBoundedObject {
SFBool [in,out] enabled TRUE
SFVec3f [] bboxCenter 0 0 0 (-Inf,Inf)
SFVec3f [] bboxSize -1 -1 -1 [0,Inf) or -1 -1 -1
}
X3DRigidJointNode : X3DNode {
SFNode [in,out] body1 NULL [RigidBody]
SFNode [in,out] body2 NULL [RigidBody]
MFString [in,out] forceOutput "NONE" ["ALL","NONE",...]
}
BallJoint : X3DRigidJointNode {
SFVec3f [in,out] anchorPoint 0 0 0
SFVec3f [out] body1AnchorPoint
SFVec3f [out] body2AnchorPoint
}
CollidableOffset : X3DNBodyCollidableNode {
SFNode [] collidable NULL [X3DNBodyCollidableNode]
}
CollidableShape : X3DNBodyCollidableNode {
SFNode [] shape NULL [Shape]
}
CollisionCollection : X3DChildNode {
MFString [in,out] appliedParameters "BOUNCE" []
SFFloat [in,out] bounce 0 [0,1]
MFNode [in,out] collidables NULL [X3DNBodyCollisionSpaceNode, X3DNBodyCollidableNode]
SFBool [in,out] enabled TRUE
SFVec2f [in,out] frictionCoefficients 0 0 [0,Inf)
SFFloat [in,out] minBounceSpeed 0.1 [0,Inf)
SFVec2f [in,out] slipFactors 0 0 (-Inf,Inf)
SFFloat [in,out] softnessConstantForceMix 0.0001 [0,1]
SFFloat [in,out] softnessErrorCorrection 0.8 [0,1]
SFVec2f [in,out] surfaceSpeed 0 0 (-Inf,Inf)
}
CollisionSensor : X3DSensorNode {
SFNode [in,out] collider NULL [CollisionCollection]
MFNode [out] intersections [X3DNBodyCollidableNode]
MFNode [out] contacts [Contact]
}
CollisionSpace : X3DNBodyCollisionSpaceNode {
MFNode [in,out] collidables NULL [X3DNBodyCollisionSpaceNode,X3DNBodyCollidableNode]
SFBool [in,out] useGeometry FALSE
}
Contact : X3DNode {
MFString [in,out] appliedParameters "BOUNCE" []
SFNode [in,out] body1 NULL [RigidBody]
SFNode [in,out] body2 NULL [RigidBody]
SFFloat [in,out] bounce 0 [0,1]
SFVec3f [in,out] contactNormal 0 1 0 (-Inf,Inf)
SFFloat [in,out] depth 0 (-Inf,Inf)
SFVec2f [in,out] frictionCoefficients 0 0 [0,Inf)
SFVec3f [in,out] frictionDirection 0 1 0 (-Inf,Inf)
SFNode [in,out] geometry1 NULL [X3DNBodyCollidableNode]
SFNode [in,out] geometry2 NULL [X3DNBodyCollidableNode]
SFFloat [in,out] minbounceSpeed 0 [0,Inf)
SFVec3f [in,out] position 0 0 0 (-Inf,Inf)
SFVec2f [in,out] slipCoefficients 0 0 (-Inf,Inf)
SFFloat [in,out] softnessConstantForceMix 0.0001 [0,1]
SFFloat [in,out] softnessErrorCorrection 0.8 [0,1]
SFVec2f [in,out] surfaceSpeed 0 0 (-Inf,Inf)
}
DoubleAxisHingeJoint : X3DRigidJointNode {
SFVec3f [in,out] anchorPoint 0 0 0
SFVec3f [in,out] axis1 0 0 0
SFVec3f [in,out] axis2 0 0 0
SFFloat [in,out] desiredAngularVelocity1 0 (-Inf,Inf)
SFFloat [in,out] desiredAngularVelocity2 0 (-Inf,Inf)
SFFloat [in,out] maxAngle1 Pi [-Pi,Pi]
SFFloat [in,out] maxTorque1 0 (-Inf,Inf)
SFFloat [in,out] maxTorque2 0 (-Inf,Inf)
SFFloat [in,out] minAngle1 -Pi [-Pi,Pi]
SFFloat [in,out] stopBounce1 0 [0,1]
SFFloat [in,out] stopConstantForceMix1 0.001 [0,Inf)
SFFloat [in,out] stopErrorCorrection1 0.8 [0,1]
SFFloat [in,out] suspensionErrorCorrection 0.8 [0,1]
SFFloat [in,out] suspensionForce 0 [0,Inf)
SFVec3f [out] body1AnchorPoint
SFVec3f [out] body1Axis
SFVec3f [out] body2AnchorPoint
SFVec3f [out] body2Axis
SFFloat [out] hinge1Angle
SFFloat [out] hinge1AngleRate
SFFloat [out] hinge2Angle
SFFloat [out] hinge2AngleRate
}
MotorJoint : X3DRigidJointNode {
SFFloat [in,out] axis1Angle 0 [-Pi,Pi]
SFFloat [in,out] axis1Torque 0 (-Inf,Inf)
SFFloat [in,out] axis2Angle 0 [-Pi,Pi]
SFFloat [in,out] axis2Torque 0 (-Inf,Inf)
SFFloat [in,out] axis3Angle 0 [-Pi,Pi]
SFFloat [in,out] axis3Torque 0 (-Inf,Inf)
SFInt32 [in,out] enabledAxes 1 [0,3]
SFVec3f [in,out] motor1Axis 0 0 0
SFVec3f [in,out] motor2Axis 0 0 0
SFVec3f [in,out] motor3Axis 0 0 0
SFFloat [in,out] stop1Bounce 0 [0,1]
SFFloat [in,out] stop1ErrorCorrection 0.8 [0,1]
SFFloat [in,out] stop2Bounce 0 [0,1]
SFFloat [in,out] stop2ErrorCorrection 0.8 [0,1]
SFFloat [in,out] stop3Bounce 0 [0,1]
SFFloat [in,out] stop3ErrorCorrection 0.8 [0,1]
SFFloat [out] motor1Angle
SFFloat [out] motor1AngleRate
SFFloat [out] motor2Angle
SFFloat [out] motor2AngleRate
SFFloat [out] motor3Angle
SFFloat [out] motor3AngleRate
SFBool [] autoCalc FALSE
}
RigidBody : X3DNode {
SFFloat [in,out] angularDampingFactor 0.001 [0,1]
SFVec3f [in,out] angularVelocity 0 0 0 (-Inf,Inf)
SFBool [in,out] autoDamp FALSE
SFBool [in,out] autoDisable FALSE
SFVec3f [in,out] centerOfMass 0 0 0 (-Inf,Inf)
SFFloat [in,out] disableAngularSpeed 0 [0,Inf)
SFFloat [in,out] disableLinearSpeed 0 [0,Inf)
SFFloat [in,out] disableTime 0 [0,Inf)
SFBool [in,out] enabled TRUE
SFVec3f [in,out] finiteRotationAxis 0 0 0 [-1,1]
SFBool [in,out] fixed FALSE
MFVec3f [in,out] forces []
MFNode [in,out] geometry [] [X3DNBodyCollidableNode]
SFMatrix3f [in,out] inertia 1 0 0 0 1 0 0 0 1
SFFloat [in,out] linearDampingFactor 0.001 [0,1]
SFVec3f [in,out] linearVelocity 0 0 0 (-Inf,Inf)
SFFloat [in,out] mass 1 (0,Inf)
SFNode [in,out] massDensityModel NULL [Sphere, Box, Cone]
SFRotation [in,out] orientation 0 0 1 0 [0,1]
SFVec3f [in,out] position 0 0 0 (-Inf,Inf)
MFVec3f [in,out] torques []
SFBool [in,out] useFiniteRotation FALSE
SFBool [in,out] useGlobalGravity TRUE
}
RigidBodyCollection : X3DChildNode {
MFNode [in] set_contacts [] [Contact]
SFBool [in,out] autoDisable FALSE
MFNode [in,out] bodies [] [RigidBody]
SFFloat [in,out] constantForceMix 0.0001 [0,Inf)
SFFloat [in,out] contactSurfaceThickness 0 [0,Inf)
SFFloat [in,out] disableAngularSpeed 0 [0,Inf)
SFFloat [in,out] disableLinearSpeed 0 [0,Inf)
SFFloat [in,out] disableTime 0 [0,Inf)
SFBool [in,out] enabled TRUE
SFFloat [in,out] errorCorrection 0.8 [0,1]
SFVec3f [in,out] gravity 0 -9.8 0
SFInt32 [in,out] iterations 10 [0,Inf)
MFNode [in,out] joints [] [X3DRigidJointNode]
SFFloat [in,out] maxCorrectionSpeed -1 [0,Inf) or -1
SFBool [in,out] preferAccuracy FALSE
SFNode [] collider NULL [CollisionCollection]
}
SingleAxisHingeJoint : X3DRigidJointNode {
SFVec3f [in,out] anchorPoint 0 0 0
SFVec3f [in,out] axis 0 0 0
SFFloat [in,out] maxAngle Pi
SFFloat [in,out] minAngle -Pi
SFFloat [in,out] stopBounce 0 [0,1]
SFFloat [in,out] stopErrorCorrection 0.8 [0,1]
SFFloat [out] angle
SFFloat [out] angleRate
SFVec3f [out] body1AnchorPoint
SFVec3f [out] body2AnchorPoint
}
SliderJoint : X3DRigidJointNode {
SFVec3f [in,out] axis 0 1 0
SFFloat [in,out] maxSeparation 1 [0,Inf)
SFFloat [in,out] minSeparation 0 [0,Inf)
SFFloat [in,out] stopBounce 0 [0,1]
SFFloat [in,out] stopErrorCorrection 1 [0,1]
SFFloat [out] separation
SFFloat [out] separationRate
}
UniversalJoint : X3DRigidJointNode {
SFVec3f [in,out] anchorPoint 0 0 0
SFVec3f [in,out] axis1 0 0 0
SFVec3f [in,out] axis2 0 0 0
SFFloat [in,out] stopBounce1 0 [0,1]
SFFloat [in,out] stop1ErrorCorrection 0.8 [0,1]
SFFloat [in,out] stop2Bounce 0 [0,1]
SFFloat [in,out] stop2ErrorCorrection 0.8 [0,1]
SFVec3f [out] body1AnchorPoint
SFVec3f [out] body1Axis
SFVec3f [out] body2AnchorPoint
SFVec3f [out] body2Axis
}
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