x_ite 8.4.3 → 8.5.3

package/docs/_posts/components/RigidBodyPhysics/DoubleAxisHingeJoint.md

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+---
+title: DoubleAxisHingeJoint
+date: 2022-01-07
+nav: components-RigidBodyPhysics
+categories: [components, RigidBodyPhysics]
+tags: [DoubleAxisHingeJoint, RigidBodyPhysics]
+---
+<style>
+.post h3 {
+  word-spacing: 0.2em;
+}
+</style>
+
+## Overview
+
+DoubleAxisHingeJoint has two independent axes located around a common anchor point. axis1 has limits and a motor, axis 2 only has a motor Contains two RigidBody nodes (containerField values body1, body2).
+
+The DoubleAxisHingeJoint node belongs to the **RigidBodyPhysics** component and its default container field is *joints.* It is available since X3D version 3.2 or later.
+
+## Hierarchy
+
+```
++ X3DNode
+  + X3DRigidJointNode
+    + DoubleAxisHingeJoint
+```
+
+## Fields
+
+### SFNode [in, out] **metadata** NULL <small>[X3DMetadataObject]</small>
+
+Metadata are not part of the X3D world and not interpreted by the X3D browser, but they can be accessed via the ECMAScript interface.
+
+### MFString [in, out] **forceOutput** "NONE" <small>["ALL","NONE",...]</small>
+
+*forceOutput* controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame.
+
+### SFVec3f [in, out] **anchorPoint** 0 0 0
+
+*anchorPoint* is joint center, specified in world coordinates.
+
+### SFVec3f [in, out] **axis1** 0 0 0
+
+*axis1* defines axis vector of joint connection to body1.
+
+#### Hint
+
+- 0 0 0 means motor disabled.
+
+### SFVec3f [in, out] **axis2** 0 0 0
+
+*axis2* defines axis vector of joint connection to body2.
+
+#### Hint
+
+- 0 0 0 means motor disabled.
+
+### SFFloat [in, out] **minAngle1** -π <small>π [-π,π] <span class="red">not supported</span>
+</small>
+
+MinAngle1 is minimum rotation angle for hinge.
+
+### SFFloat [in, out] **maxAngle1** π <small>[-π,π] <span class="red">not supported</span>
+</small>
+
+MaxAngle1 is maximum rotation angle for hinge.
+
+### SFFloat [in, out] **desiredAngularVelocity1** 0 <small>(-∞,∞) <span class="red">not supported</span>
+</small>
+
+DesiredAngularVelocity1 is goal rotation rate for hinge connection to body1.
+
+### SFFloat [in, out] **desiredAngularVelocity2** 0 <small>(-∞,∞) <span class="red">not supported</span>
+</small>
+
+DesiredAngularVelocity2 is goal rotation rate for hinge connection to body2.
+
+### SFFloat [in, out] **maxTorque1** 0 <small>(-∞,∞) <span class="red">not supported</span></small>
+
+*maxTorque1* is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity1.
+
+### SFFloat [in, out] **maxTorque2** 0 <small>(-∞,∞) <span class="red">not supported</span></small>
+
+*maxTorque2* is maximum rotational torque applied by corresponding motor axis to achieve desiredAngularVelocity2.
+
+### SFFloat [in, out] **stopBounce1** 0 <small>[0,1]<span class="red"> not supported</span></small>
+
+Input/Output field stopBounce1.
+
+### SFFloat [in, out] **stopConstantForceMix1** 0.001 <small>[0,∞)<span class="red"> not supported</span></small>
+
+Input/Output field stopConstantForceMix1.
+
+### SFFloat [in, out] **stopErrorCorrection1** 0.8 <small>[0,1]<span class="red"> not supported</span></small>
+
+Input/Output field stopErrorCorrection1.
+
+### SFFloat [in, out] **suspensionForce** 0 <small>[0,∞)<span class="red"> not supported</span></small>
+
+*suspensionForce* describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
+
+#### Hints
+
+- Use with stop1ConstantForceMix to improve softness and numerical stability. 0 means no stop adjustment, 1 means springier stop response.
+
+### SFFloat [in, out] **suspensionErrorCorrection** 0.8 <small>[0,1]<span class="red"> not supported</span></small>
+
+*suspensionErrorCorrection* describes how quickly the system resolves intersection errors due to floating-point inaccuracies.
+
+#### Hints
+
+- Use with stop1ConstantForceMix to improve softness and numerical stability. 0 means no stop adjustment, 1 means springier stop response.
+
+### SFVec3f [out] **body1AnchorPoint**
+
+Output field body1AnchorPoint.
+
+### SFVec3f [out] **body2AnchorPoint**
+
+Output field body2AnchorPoint.
+
+### SFVec3f [out] **body1Axis**
+
+Output field body1Axis.
+
+### SFVec3f [out] **body2Axis**
+
+Output field body2Axis.
+
+### SFFloat [out] **hinge1Angle**
+
+Output field hinge1Angle.
+
+### SFFloat [out] **hinge2Angle**
+
+Output field hinge2Angle.
+
+### SFFloat [out] **hinge1AngleRate**
+
+Output field hinge1AngleRate.
+
+### SFFloat [out] **hinge2AngleRate**
+
+Output field hinge2AngleRate.
+
+### SFNode [in, out] **body1** NULL <small>[RigidBody]</small>
+
+Input/Output field body1.
+
+### SFNode [in, out] **body2** NULL <small>[RigidBody]</small>
+
+Input/Output field body2.
+
+## Description
+
+### Hint
+
+- RigidBodyPhysics component, level 2.
+
+## External Links
+
+- [X3D Specification of DoubleAxisHingeJoint](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#DoubleAxisHingeJoint){:target="_blank"}

package/docs/_posts/components/RigidBodyPhysics/MotorJoint.md

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+---
+title: MotorJoint
+date: 2022-01-07
+nav: components-RigidBodyPhysics
+categories: [components, RigidBodyPhysics]
+tags: [MotorJoint, RigidBodyPhysics]
+---
+<style>
+.post h3 {
+  word-spacing: 0.2em;
+}
+</style>
+
+## Overview
+
+MotorJoint drives relative angular velocities between body1 and body2 within a common reference frame. Contains two RigidBody nodes (containerField values body1, body2).
+
+The MotorJoint node belongs to the **RigidBodyPhysics** component and its default container field is *joints.* It is available since X3D version 3.2 or later.
+
+## Hierarchy
+
+```
++ X3DNode
+  + X3DRigidJointNode
+    + MotorJoint
+```
+
+## Fields
+
+### SFNode [in, out] **metadata** NULL <small>[X3DMetadataObject]</small>
+
+Metadata are not part of the X3D world and not interpreted by the X3D browser, but they can be accessed via the ECMAScript interface.
+
+### MFString [in, out] **forceOutput** "NONE" <small>["ALL","NONE",...]</small>
+
+*forceOutput* controls which output fields are generated for the next frame. Values are ALL, NONE, or exact names of output fields updated at start of next frame.
+
+### SFInt32 [in, out] **enabledAxes** 1 <small>[0,3]</small>
+
+*enabledAxes* indicates which motor axes are active. (0) none, (1) axis 1, (2) axes 1 and 2, (3) all three axes.
+
+### SFVec3f [in, out] **motor1Axis** 0 0 0
+
+*motor1Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled.
+
+### SFVec3f [in, out] **motor2Axis** 0 0 0
+
+*motor2Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled.
+
+### SFVec3f [in, out] **motor3Axis** 0 0 0
+
+*motor3Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled.
+
+### SFFloat [in, out] **axis1Angle** 0 <small>[-π,π]</small>
+
+*axis1Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **axis2Angle** 0 <small>[-π,π]</small>
+
+*axis2Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **axis3Angle** 0 <small>[-π,π]</small>
+
+*axis3Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **axis1Torque** 0 <small>(-∞,∞)</small>
+
+*axis1Torque* is rotational torque applied by corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **axis2Torque** 0 <small>(-∞,∞)</small>
+
+*axis2Torque* is rotational torque applied by corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **axis3Torque** 0 <small>(-∞,∞)</small>
+
+*axis3Torque* is rotational torque applied by corresponding motor axis when in user-calculated mode.
+
+### SFFloat [in, out] **stop1Bounce** 0 <small>[0,1]</small>
+
+*stop1Bounce* is velocity factor for bounce back once stop point is reached.
+
+#### Hint
+
+- 0 means no bounce, 1 means return velocity matches.
+
+### SFFloat [in, out] **stop2Bounce** 0 <small>[0,1]</small>
+
+*stop2Bounce* is velocity factor for bounce back once stop point is reached.
+
+#### Hint
+
+- 0 means no bounce, 1 means return velocity matches.
+
+### SFFloat [in, out] **stop3Bounce** 0 <small>[0,1]</small>
+
+*stop3Bounce* is velocity factor for bounce back once stop point is reached.
+
+#### Hint
+
+- 0 means no bounce, 1 means return velocity matches.
+
+### SFFloat [in, out] **stop1ErrorCorrection** 0.8 <small>[0,1]</small>
+
+*stop1ErrorCorrection* is fraction of error correction performed during time step once stop point is reached.
+
+#### Hint
+
+- 0 means no error correction, 1 means all error corrected in single step.
+
+### SFFloat [in, out] **stop2ErrorCorrection** 0.8 <small>[0,1]</small>
+
+*stop2ErrorCorrection* is fraction of error correction performed during time step once stop point is reached.
+
+#### Hint
+
+- 0 means no error correction, 1 means all error corrected in single step.
+
+### SFFloat [in, out] **stop3ErrorCorrection** 0.8 <small>[0,1]</small>
+
+*stop3ErrorCorrection* is fraction of error correction performed during time step once stop point is reached.
+
+#### Hint
+
+- 0 means no error correction, 1 means all error corrected in single step.
+
+### SFFloat [out] **motor1Angle**
+
+*motor1Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
+
+### SFFloat [out] **motor2Angle**
+
+*motor2Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
+
+### SFFloat [out] **motor3Angle**
+
+*motor3Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
+
+### SFFloat [out] **motor1AngleRate**
+
+*motor1AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
+
+### SFFloat [out] **motor2AngleRate**
+
+*motor2AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
+
+### SFFloat [out] **motor3AngleRate**
+
+*motor3AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
+
+### SFBool [ ] **autoCalc** FALSE
+
+*autoCalc* controls whether user manually provides individual angle rotations each frame (false) or if angle values are automatically calculated by motor implementations (true).
+
+### SFNode [in, out] **body1** NULL <small>[RigidBody]</small>
+
+Input/Output field body1.
+
+### SFNode [in, out] **body2** NULL <small>[RigidBody]</small>
+
+Input/Output field body2.
+
+## Description
+
+### Hints
+
+- Useful in combination with BallJoint.
+- RigidBodyPhysics component, level 2.
+
+## External Links
+
+- [X3D Specification of MotorJoint](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#MotorJoint){:target="_blank"}

package/docs/_posts/components/RigidBodyPhysics/RigidBody.md

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+---
+title: RigidBody
+date: 2022-01-07
+nav: components-RigidBodyPhysics
+categories: [components, RigidBodyPhysics]
+tags: [RigidBody, RigidBodyPhysics]
+---
+<style>
+.post h3 {
+  word-spacing: 0.2em;
+}
+</style>
+
+## Overview
+
+RigidBody describes a collection of shapes with a mass distribution that is affected by the physics model. Contains a Sphere, Box, or Cone (containerField='massDensityModel') and multiple CollidableOffset or CollidableShape nodes (containerField='geometry') for animating collidable geometry.
+
+The RigidBody node belongs to the **RigidBodyPhysics** component and its default container field is *bodies.* It is available since X3D version 3.2 or later.
+
+## Hierarchy
+
+```
++ X3DNode
+  + RigidBody
+```
+
+## Fields
+
+### SFNode [in, out] **metadata** NULL
+
+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.
+
+### SFBool [in, out] **fixed** FALSE
+
+*fixed* indicates whether body is able to move.
+
+#### Hint
+
+- Fixed is useful for indicating objects that do not move: walls, ground, etc.
+
+### SFVec3f [in, out] **position** 0 0 0
+
+*position* sets body location in world space, then reports physics updates.
+
+### SFRotation [in, out] **orientation** 0 0 1 0
+
+*orientation* sets body direction in world space, then reports physics updates.
+
+### SFVec3f [in, out] **linearVelocity** 0 0 0
+
+*linearVelocity* sets constant velocity value to object every frame, and reports updates by physics model.
+
+#### Hint
+
+- Initial value only applied during first frame if forces applied.
+
+#### Warning
+
+- Instantaneous velocity changes may lead to numerical instability.
+
+### SFVec3f [in, out] **angularVelocity** 0 0 0 <small>(-∞,∞)</small>
+
+*angularVelocity* sets constant velocity value to object every frame, and reports updates by physics model.
+
+#### Hint
+
+- Initial value only applied during first frame if forces applied.
+
+#### Warning
+
+- Instantaneous velocity changes may lead to numerical instability.
+
+### SFBool [in, out] **useFiniteRotation** FALSE
+
+*useFiniteRotation* enables/disables higher-resolution, higher-cost computational method for calculating rotations.
+
+### SFVec3f [in, out] **finiteRotationAxis** 0 0 0 <small>[-1,1]</small>
+
+*finiteRotationAxis* specifies vector around which the object rotates.
+
+### SFBool [in, out] **autoDamp** FALSE
+
+*autoDamp* enables/disables angularDampingFactor and linearDampingFactor.
+
+### SFFloat [in, out] **linearDampingFactor** 0.001
+
+*linearDampingFactor* automatically damps a portion of body motion over time.
+
+### SFFloat [in, out] **angularDampingFactor** 0.001 <small>[0,1]</small>
+
+*angularDampingFactor* automatically damps a portion of body motion over time.
+
+### SFFloat [in, out] **mass** 1
+
+*mass* of the body in kilograms.
+
+#### Warning
+
+- Mass must be greater than 0.
+
+### SFMatrix3f [in, out] **inertia** 1 0 0 0 1 0 0 0 1 <small>1 0 0</small>
+
+*inertia* matrix defines a 3x2 inertia tensor matrix.
+
+#### Warning
+
+- Only the first 6 values are used.
+
+### SFVec3f [in, out] **centerOfMass** 0 0 0 <small>(-∞,∞)</small>
+
+*centerOfMass* defines local center of mass for physics calculations.
+
+### SFNode [in, out] **massDensityModel** NULL <small class="small"><span class="red">not supported</span></small>
+
+Input/Output field massDensityModel.
+
+### SFBool [in, out] **useGlobalGravity** TRUE
+
+*useGlobalGravity* indicates whether this particular body is influenced by parent RigidBodyCollection's gravity setting.
+
+#### Hint
+
+- Contained sub-bodies are not affected by this setting.
+
+### MFVec3f [in, out] **forces** [ ]
+
+*forces* defines linear force values applied to the object every frame.
+
+### MFVec3f [in, out] **torques** [ ]
+
+*torques* defines rotational force values applied to the object every frame.
+
+### SFBool [in, out] **autoDisable** FALSE
+
+*autoDisable* toggles operation of disableAngularSpeed, disableLinearSpeed, disableTime.
+
+### SFFloat [in, out] **disableTime** 0 <small>[0,∞) <span class="red">not supported</span></small>
+
+*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 <small>[0,∞)</small>
+
+*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 <small>[0,∞)</small>
+
+*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'
+
+### MFNode [in, out] **geometry** [ ] <small>[X3DNBodyCollidableNode]</small>
+
+Input/Output field geometry.
+
+## Example
+
+<x3d-canvas src="https://create3000.github.io/media/examples/RigidBodyPhysics/RigidBody/RigidBody.x3d"></x3d-canvas>
+
+## External Links
+
+- [X3D Specification of RigidBody](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#RigidBody){:target="_blank"}

package/docs/_posts/components/RigidBodyPhysics/RigidBodyCollection.md

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+---
+title: RigidBodyCollection
+date: 2022-01-07
+nav: components-RigidBodyPhysics
+categories: [components, RigidBodyPhysics]
+tags: [RigidBodyCollection, RigidBodyPhysics]
+---
+<style>
+.post h3 {
+  word-spacing: 0.2em;
+}
+</style>
+
+## Overview
+
+RigidBodyCollection represents a system of bodies that interact within a single physics model.
+
+The RigidBodyCollection node belongs to the **RigidBodyPhysics** component and its default container field is *children.* It is available since X3D version 3.2 or later.
+
+## Hierarchy
+
+```
++ X3DNode
+  + X3DChildNode
+    + RigidBodyCollection
+```
+
+## Fields
+
+### SFNode [in, out] **metadata** NULL <small>[X3DMetadataObject]</small>
+
+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**<span class="red"><small class="small"> not supported</small></span>
+
+*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 <small>[0,1] <span class="red">not supported</span></small>
+
+*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 <small>[0,∞)</small>
+
+*iterations* controls number of iterations performed over collectioned joints and bodies during each evaluation.
+
+### SFFloat [in, out] **constantForceMix** 0.0001 <small>[0,∞) <span class="red">not supported</span></small>
+
+*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 <small>[0,∞) or -1 <span class="red">not supported</span></small>
+
+Or -1, maxCorrectionSpeed .
+
+### SFFloat [in, out] **contactSurfaceThickness** 0 <small>[0,∞)</small>
+
+*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 <small>[0,∞) <span class="red">not supported</span></small>
+
+*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 <small>[0,∞)</small>
+
+*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 <small>[0,∞)</small>
+
+*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 <small>[CollisionCollection]</small>
+
+Field collider.
+
+### MFNode [in, out] **bodies** [ ] <small>[RigidBody]</small>
+
+Input/Output field bodies.
+
+### MFNode [in, out] **joints** [ ] <small>[X3DRigidJointNode]</small>
+
+Input/Output field joints.
+
+## Example
+
+<x3d-canvas src="https://create3000.github.io/media/examples/RigidBodyPhysics/RigidBodyCollection/RigidBodyCollection.x3d"></x3d-canvas>
+
+## External Links
+
+- [X3D Specification of RigidBodyCollection](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#RigidBodyCollection){:target="_blank"}