x_ite 8.8.6 → 8.9.0

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

@@ -1,6 +1,6 @@
 ---
 title: Contact
-date: 2022-01-07
+date: 2023-01-07
 nav: components-RigidBodyPhysics
 categories: [components, RigidBodyPhysics]
 tags: [Contact, RigidBodyPhysics]
@@ -15,7 +15,7 @@ tags: [Contact, RigidBodyPhysics]
 
 Contact nodes are produced as output events when two collidable objects or spaces make contact.
 
-The Contact node belongs to the **RigidBodyPhysics** component and its default container field is *children.* It is available since X3D version 3.2 or later.
+The Contact node belongs to the **RigidBodyPhysics** component and its default container field is *children.* It is available from X3D version 3.2 or higher.
 
 ## Hierarchy
 
@@ -28,7 +28,11 @@ The Contact node belongs to the **RigidBodyPhysics** component and its default c
 
 ### 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.
+Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
+
+#### Hint
+
+- [X3D Architecture 7.2.4 Metadata](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/core.html#Metadata){:target="_blank"}
 
 ### SFVec3f [in, out] **position** 0 0 0 <small>(-∞,∞)</small>
 
@@ -44,17 +48,17 @@ Metadata are not part of the X3D world and not interpreted by the X3D browser, b
 
 ### MFString [in, out] **appliedParameters** "BOUNCE"
 
-Default global parameters for collision outputs of rigid body physics system. Contact node can override parent CollisionCollection node. Selectable values for array: "BOUNCE" "USER_FRICTION" "FRICTION_COEFFICIENT-2" "ERROR_REDUCTION" "CONSTANT_FORCE" "SPEED-1" "SPEED-2" "SLIP-1" "SLIP-2".
+Default global parameters for collision outputs of rigid body physics system. Contact node can override parent CollisionCollection node. Selectable values for array: "BOUNCE" "USER_FRICTION" "FRICTION_COEFFICIENT_2" "ERROR_REDUCTION" "CONSTANT_FORCE" "SPEED_1" "SPEED_2" "SLIP_1" "SLIP_2".
 
 #### Hint
 
-- BOUNCE: bounce value is used; USER_FRICTION: apply user-supplied value; FRICTION_COEFFICIENT-2: apply frictionCoefficients values; ERROR_REDUCTION: apply softnessErrorCorrection value; CONSTANT_FORCE: apply softnessConstantForceMix value; SPEED-1: apply first component of surfaceSpeed array; SPEED-2: apply second component of surfaceSpeed array; SLIP-1: apply first component of slipFactors array; SLIP-2: apply second component of slipFactors array.
+- BOUNCE: bounce value is used; USER_FRICTION: apply user-supplied value; FRICTION_COEFFICIENT_2: apply frictionCoefficients values; ERROR_REDUCTION: apply softnessErrorCorrection value; CONSTANT_FORCE: apply softnessConstantForceMix value; SPEED_1: apply first component of surfaceSpeed array; SPEED_2: apply second component of surfaceSpeed array; SLIP_1: apply first component of slipFactors array; SLIP_2: apply second component of slipFactors array.
 
 ### SFFloat [in, out] **bounce** 0 <small>[0,1]</small>
 
-*bounce* indicates bounciness (0 = no bounce at all, 1 = maximum bounce).
+*bounce* indicates bounciness (0 = no *bounce* at all, 1 = maximum *bounce*).
 
-### SFFloat [in, out] **minBounceSpeed**
+### SFFloat [in, out] **minBounceSpeed** <small>[0,∞)</small>
 
 *minBounceSpeed* m/s needed to bounce.
 
@@ -88,30 +92,30 @@ Default global parameters for collision outputs of rigid body physics system. Co
 
 ### SFNode [in, out] **geometry1** NULL <small>[X3DNBodyCollidableNode]</small>
 
-Input/Output field geometry1.
+The *geometry1* and geometry2 fields specify collision-related information about body1 and body2.
 
 ### SFNode [in, out] **geometry2** NULL <small>[X3DNBodyCollidableNode]</small>
 
-Input/Output field geometry2.
+The geometry1 and *geometry2* fields specify collision-related information about body1 and body2.
 
 ### SFNode [in, out] **body1** NULL <small>[RigidBody]</small>
 
-Input/Output field body1.
+The *body1* and body2 fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other.
 
 ### SFNode [in, out] **body2** NULL <small>[RigidBody]</small>
 
-Input/Output field body2.
+The body1 and *body2* fields specify two top-level nodes that should be evaluated in the physics model as a single set of interactions with respect to each other.
 
-## Description
+## Advisories
 
 ### Hint
 
-- Each Contact node contains two RigidBody (containerField='body1,body2') and two CollidableShape or CollidableOffset nodes (containerField='geometry1,geometry2').
+- Each Contact node contains two RigidBody nodes (`containerField='body1'` and `containerField='body2')` as well as two CollidableShape or CollidableOffset nodes (`containerField='geometry1'` and `containerField='geometry2').`
 
 ### Warning
 
-- Contact nodes are transient and can only occur at run time, not in saved X3D files.
+- Contact nodes are transient and can only occur at run time. It is an error to define this transient node in an X3D file.
 
-## External Links
+## See Also
 
-- [X3D Specification of Contact](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#Contact){:target="_blank"}
+- [X3D Specification of Contact node](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#Contact){:target="_blank"}

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

@@ -1,6 +1,6 @@
 ---
 title: DoubleAxisHingeJoint
-date: 2022-01-07
+date: 2023-01-07
 nav: components-RigidBodyPhysics
 categories: [components, RigidBodyPhysics]
 tags: [DoubleAxisHingeJoint, RigidBodyPhysics]
@@ -15,7 +15,7 @@ tags: [DoubleAxisHingeJoint, RigidBodyPhysics]
 
 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.
+The DoubleAxisHingeJoint node belongs to the **RigidBodyPhysics** component and its default container field is *joints.* It is available from X3D version 3.2 or higher.
 
 ## Hierarchy
 
@@ -29,71 +29,71 @@ The DoubleAxisHingeJoint node belongs to the **RigidBodyPhysics** component and
 
 ### 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.
+Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
 
-### MFString [in, out] **forceOutput** "NONE" <small>["ALL","NONE",...]</small>
+#### Hint
+
+- [X3D Architecture 7.2.4 Metadata](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/core.html#Metadata){:target="_blank"}
+
+### 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
+### SFVec3f [in, out] **anchorPoint** 0 0 0 <small>(-∞,∞)</small>
 
 *anchorPoint* is joint center, specified in world coordinates.
 
-### SFVec3f [in, out] **axis1** 0 0 0
+### SFVec3f [in, out] **axis1** 0 0 0 <small>(-∞,∞)</small>
 
 *axis1* defines axis vector of joint connection to body1.
 
 #### Hint
 
-- 0 0 0 means motor disabled.
+- 0 0 0 means motor disabled about this axis.
 
-### SFVec3f [in, out] **axis2** 0 0 0
+### SFVec3f [in, out] **axis2** 0 0 0 <small>(-∞,∞)</small>
 
 *axis2* defines axis vector of joint connection to body2.
 
 #### Hint
 
-- 0 0 0 means motor disabled.
+- 0 0 0 means motor disabled about this axis.
 
-### SFFloat [in, out] **minAngle1** -π <small>π [-π,π] <span class="red">not supported</span>
-</small>
+### SFFloat [in, out] **minAngle1** -π <small>π [-π,π]</small> <small class="red">not supported</small>
 
-MinAngle1 is minimum rotation angle for hinge.
+*minAngle1* is minimum rotation angle for hinge.
 
-### SFFloat [in, out] **maxAngle1** π <small>[-π,π] <span class="red">not supported</span>
-</small>
+### SFFloat [in, out] **maxAngle1** π <small>[-π,π]</small> <small class="red">not supported</small>
 
-MaxAngle1 is maximum rotation angle for hinge.
+*maxAngle1* is maximum rotation angle for hinge.
 
-### SFFloat [in, out] **desiredAngularVelocity1** 0 <small>(-∞,∞) <span class="red">not supported</span>
-</small>
+### SFFloat [in, out] **desiredAngularVelocity1** 0 <small>(-∞,∞)</small> <small class="red">not supported</small>
 
-DesiredAngularVelocity1 is goal rotation rate for hinge connection to body1.
+*desiredAngularVelocity1* is goal rotation rate for hinge connection to body1.
 
-### SFFloat [in, out] **desiredAngularVelocity2** 0 <small>(-∞,∞) <span class="red">not supported</span>
-</small>
+### SFFloat [in, out] **desiredAngularVelocity2** 0 <small>(-∞,∞)</small> <small class="red">not supported</small>
 
-DesiredAngularVelocity2 is goal rotation rate for hinge connection to body2.
+*desiredAngularVelocity2* is goal rotation rate for hinge connection to body2.
 
-### SFFloat [in, out] **maxTorque1** 0 <small>(-∞,∞) <span class="red">not supported</span></small>
+### SFFloat [in, out] **maxTorque1** 0 <small>(-∞,∞)</small> <small class="red">not supported</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>
+### SFFloat [in, out] **maxTorque2** 0 <small>(-∞,∞)</small> <small class="red">not supported</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.
+Input/Output field *stopBounce1*.
 
 ### SFFloat [in, out] **stopConstantForceMix1** 0.001 <small>[0,∞)<span class="red"> not supported</span></small>
 
-Input/Output field stopConstantForceMix1.
+Input/Output field *stopConstantForceMix1*.
 
 ### SFFloat [in, out] **stopErrorCorrection1** 0.8 <small>[0,1]<span class="red"> not supported</span></small>
 
-Input/Output field stopErrorCorrection1.
+Input/Output field *stopErrorCorrection1*.
 
 ### SFFloat [in, out] **suspensionForce** 0 <small>[0,∞)<span class="red"> not supported</span></small>
 
@@ -101,7 +101,8 @@ Input/Output field stopErrorCorrection1.
 
 #### Hints
 
-- Use with stop1ConstantForceMix to improve softness and numerical stability. 0 means no stop adjustment, 1 means springier stop response.
+- 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>
 
@@ -109,54 +110,55 @@ Input/Output field stopErrorCorrection1.
 
 #### Hints
 
-- Use with stop1ConstantForceMix to improve softness and numerical stability. 0 means no stop adjustment, 1 means springier stop response.
+- 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.
+Output field *body1AnchorPoint*.
 
 ### SFVec3f [out] **body2AnchorPoint**
 
-Output field body2AnchorPoint.
+Output field *body2AnchorPoint*.
 
 ### SFVec3f [out] **body1Axis**
 
-Output field body1Axis.
+Output field *body1Axis*.
 
 ### SFVec3f [out] **body2Axis**
 
-Output field body2Axis.
+Output field *body2Axis*.
 
 ### SFFloat [out] **hinge1Angle**
 
-Output field hinge1Angle.
+Output field *hinge1Angle*.
 
 ### SFFloat [out] **hinge2Angle**
 
-Output field hinge2Angle.
+Output field *hinge2Angle*.
 
 ### SFFloat [out] **hinge1AngleRate**
 
-Output field hinge1AngleRate.
+Output field *hinge1AngleRate*.
 
 ### SFFloat [out] **hinge2AngleRate**
 
-Output field hinge2AngleRate.
+Output field *hinge2AngleRate*.
 
 ### SFNode [in, out] **body1** NULL <small>[RigidBody]</small>
 
-Input/Output field body1.
+The *body1* and body2 fields indicate the two RigidBody nodes connected by this joint.
 
 ### SFNode [in, out] **body2** NULL <small>[RigidBody]</small>
 
-Input/Output field body2.
+The body1 and *body2* fields indicate the two RigidBody nodes connected by this joint.
 
-## Description
+## Advisories
 
 ### Hint
 
 - RigidBodyPhysics component, level 2.
 
-## External Links
+## See Also
 
-- [X3D Specification of DoubleAxisHingeJoint](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#DoubleAxisHingeJoint){:target="_blank"}
+- [X3D Specification of DoubleAxisHingeJoint node](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#DoubleAxisHingeJoint){:target="_blank"}

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

@@ -1,6 +1,6 @@
 ---
 title: MotorJoint
-date: 2022-01-07
+date: 2023-01-07
 nav: components-RigidBodyPhysics
 categories: [components, RigidBodyPhysics]
 tags: [MotorJoint, RigidBodyPhysics]
@@ -15,7 +15,7 @@ tags: [MotorJoint, RigidBodyPhysics]
 
 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.
+The MotorJoint node belongs to the **RigidBodyPhysics** component and its default container field is *joints.* It is available from X3D version 3.2 or higher.
 
 ## Hierarchy
 
@@ -29,52 +29,44 @@ The MotorJoint node belongs to the **RigidBodyPhysics** component and its defaul
 
 ### 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.
+Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
 
 #### Hint
 
-- 0 0 0 means motor disabled.
+- [X3D Architecture 7.2.4 Metadata](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/core.html#Metadata){:target="_blank"}
 
-### SFVec3f [in, out] **motor2Axis** 0 0 0
+### SFBool [ ] **autoCalc** FALSE
 
-*motor2Axis* defines axis vector of corresponding motor axis.
+*autoCalc* controls whether user manually provides individual angle rotations each frame (false) or if angle values are automatically calculated by motor implementations (true).
 
-#### Hint
+### MFString [in, out] **forceOutput** "NONE" <small>["ALL", "NONE", ...]</small>
 
-- 0 0 0 means motor disabled.
+*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] **motor3Axis** 0 0 0
+### SFFloat [in, out] **axis1Angle** 0 <small>[-π,π]</small>
 
-*motor3Axis* defines axis vector of corresponding motor axis.
+*axis1Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
 
 #### 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.
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
 
 ### SFFloat [in, out] **axis2Angle** 0 <small>[-π,π]</small>
 
 *axis2Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
 
+#### Hint
+
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
+
 ### SFFloat [in, out] **axis3Angle** 0 <small>[-π,π]</small>
 
 *axis3Angle* (radians) is rotation angle for corresponding motor axis when in user-calculated mode.
 
+#### Hint
+
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
+
 ### SFFloat [in, out] **axis1Torque** 0 <small>(-∞,∞)</small>
 
 *axis1Torque* is rotational torque applied by corresponding motor axis when in user-calculated mode.
@@ -87,6 +79,34 @@ Metadata are not part of the X3D world and not interpreted by the X3D browser, b
 
 *axis3Torque* is rotational torque applied by corresponding motor axis when in user-calculated mode.
 
+### 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 <small>(-∞,∞)</small>
+
+*motor1Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled about this axis.
+
+### SFVec3f [in, out] **motor2Axis** 0 0 0 <small>(-∞,∞)</small>
+
+*motor2Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled about this axis.
+
+### SFVec3f [in, out] **motor3Axis** 0 0 0 <small>(-∞,∞)</small>
+
+*motor3Axis* defines axis vector of corresponding motor axis.
+
+#### Hint
+
+- 0 0 0 means motor disabled about this axis.
+
 ### SFFloat [in, out] **stop1Bounce** 0 <small>[0,1]</small>
 
 *stop1Bounce* is velocity factor for bounce back once stop point is reached.
@@ -139,45 +159,77 @@ Metadata are not part of the X3D world and not interpreted by the X3D browser, b
 
 *motor1Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
 
+#### Hint
+
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
+
+#### Warning
+
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
+
 ### SFFloat [out] **motor2Angle**
 
 *motor2Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
 
+#### Hint
+
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
+
+#### Warning
+
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
+
 ### SFFloat [out] **motor3Angle**
 
 *motor3Angle* provides calculated angle of rotation (radians) for this motor joint from last frame.
 
+#### Hint
+
+- [Radian units for angular measure](https://en.wikipedia.org/wiki/Radian){:target="_blank"}
+
+#### Warning
+
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
+
 ### SFFloat [out] **motor1AngleRate**
 
 *motor1AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
 
+#### Warning
+
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
+
 ### SFFloat [out] **motor2AngleRate**
 
 *motor2AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
 
+#### Warning
+
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
+
 ### SFFloat [out] **motor3AngleRate**
 
 *motor3AngleRate* provides calculated anglular rotation rate (radians/second) for this motor joint from last frame.
 
-### SFBool [ ] **autoCalc** FALSE
+#### Warning
 
-*autoCalc* controls whether user manually provides individual angle rotations each frame (false) or if angle values are automatically calculated by motor implementations (true).
+- It is an error to define this transient outputOnly field in an X3D file, instead only use it a source for ROUTE events.
 
 ### SFNode [in, out] **body1** NULL <small>[RigidBody]</small>
 
-Input/Output field body1.
+The *body1* and body2 fields indicate the two RigidBody nodes connected by this joint.
 
 ### SFNode [in, out] **body2** NULL <small>[RigidBody]</small>
 
-Input/Output field body2.
+The body1 and *body2* fields indicate the two RigidBody nodes connected by this joint.
 
-## Description
+## Advisories
 
 ### Hints
 
 - Useful in combination with BallJoint.
 - RigidBodyPhysics component, level 2.
 
-## External Links
+## See Also
 
-- [X3D Specification of MotorJoint](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#MotorJoint){:target="_blank"}
+- [X3D Specification of MotorJoint node](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#MotorJoint){:target="_blank"}

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

@@ -1,6 +1,6 @@
 ---
 title: RigidBody
-date: 2022-01-07
+date: 2023-01-07
 nav: components-RigidBodyPhysics
 categories: [components, RigidBodyPhysics]
 tags: [RigidBody, RigidBodyPhysics]
@@ -13,9 +13,9 @@ tags: [RigidBody, RigidBodyPhysics]
 
 ## 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.
+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.
+The RigidBody node belongs to the **RigidBodyPhysics** component and its default container field is *bodies.* It is available from X3D version 3.2 or higher.
 
 ## Hierarchy
 
@@ -26,9 +26,13 @@ The RigidBody node belongs to the **RigidBodyPhysics** component and its default
 
 ## Fields
 
-### SFNode [in, out] **metadata** NULL
+### 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.
+Information about this node can be contained in a MetadataBoolean, MetadataDouble, MetadataFloat, MetadataInteger, MetadataString or MetadataSet node.
+
+#### Hint
+
+- [X3D Architecture 7.2.4 Metadata](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/components/core.html#Metadata){:target="_blank"}
 
 ### SFBool [in, out] **enabled** TRUE
 
@@ -40,17 +44,17 @@ Enables/disables node operation.
 
 #### Hint
 
-- Fixed is useful for indicating objects that do not move: walls, ground, etc.
+- *fixed* is useful for indicating objects that do not move: walls, ground, etc.
 
-### SFVec3f [in, out] **position** 0 0 0
+### SFVec3f [in, out] **position** 0 0 0 <small>(-∞,∞)</small>
 
 *position* sets body location in world space, then reports physics updates.
 
-### SFRotation [in, out] **orientation** 0 0 1 0
+### SFRotation [in, out] **orientation** 0 0 1 0 <small>[-1,1] or (-∞,∞)</small>
 
 *orientation* sets body direction in world space, then reports physics updates.
 
-### SFVec3f [in, out] **linearVelocity** 0 0 0
+### SFVec3f [in, out] **linearVelocity** 0 0 0 <small>(-∞,∞)</small>
 
 *linearVelocity* sets constant velocity value to object every frame, and reports updates by physics model.
 
@@ -78,7 +82,7 @@ Enables/disables node operation.
 
 *useFiniteRotation* enables/disables higher-resolution, higher-cost computational method for calculating rotations.
 
-### SFVec3f [in, out] **finiteRotationAxis** 0 0 0 <small>[-1,1]</small>
+### SFVec3f [in, out] **finiteRotationAxis** 0 1 0 <small>(-∞,∞)</small>
 
 *finiteRotationAxis* specifies vector around which the object rotates.
 
@@ -86,7 +90,7 @@ Enables/disables node operation.
 
 *autoDamp* enables/disables angularDampingFactor and linearDampingFactor.
 
-### SFFloat [in, out] **linearDampingFactor** 0.001
+### SFFloat [in, out] **linearDampingFactor** 0.001 <small>[0,1]</small>
 
 *linearDampingFactor* automatically damps a portion of body motion over time.
 
@@ -94,29 +98,26 @@ Enables/disables node operation.
 
 *angularDampingFactor* automatically damps a portion of body motion over time.
 
-### SFFloat [in, out] **mass** 1
+### SFFloat [in, out] **mass** 1 <small>(0,∞)</small>
 
 *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>
+#### Hints
 
-*inertia* matrix defines a 3x2 inertia tensor matrix.
+- [Kilogram](https://en.wikipedia.org/wiki/Kilogram){:target="_blank"}
+- [X3D Architecture 4.3.6 Standard units and coordinate system](https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD1/Part01/concepts.html#Standardunitscoordinates){:target="_blank"}
 
 #### Warning
 
-- Only the first 6 values are used.
+- *mass* must be greater than 0.
 
 ### SFVec3f [in, out] **centerOfMass** 0 0 0 <small>(-∞,∞)</small>
 
 *centerOfMass* defines local center of mass for physics calculations.
 
-### SFNode [in, out] **massDensityModel** NULL <small><span class="red">not supported</span></small>
+### SFNode [in, out] **massDensityModel** NULL <small class="red">not supported</small>
 
-Input/Output field massDensityModel.
+The *massDensityModel* field is used to describe the geometry type and dimensions used to calculate the mass density in the physics model. It is not rendered, nor modified by the physics model.
 
 ### SFBool [in, out] **useGlobalGravity** TRUE
 
@@ -134,17 +135,26 @@ Input/Output field massDensityModel.
 
 *torques* defines rotational force values applied to the object every frame.
 
+### 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.
+
 ### 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>
+### SFFloat [in, out] **disableTime** 0 <small>[0,∞)</small> <small class="red">not supported</small>
 
 *disableTime* defines interval when body becomes at rest and not part of rigid body calculations, reducing numeric instabilities.
 
-#### Hint
+#### Hints
 
 - Only activated if autoDisable='true'
+- *disableTime* is an SFTime duration interval, not an absolute clock time.
 
 ### SFFloat [in, out] **disableLinearSpeed** 0 <small>[0,∞)</small>
 
@@ -164,12 +174,12 @@ Input/Output field massDensityModel.
 
 ### MFNode [in, out] **geometry** [ ] <small>[X3DNBodyCollidableNode]</small>
 
-Input/Output field geometry.
+The *geometry* field is used to connect the body modelled by the physics engine implementation to the real *geometry* of the scene through the use of collidable nodes. This allows the *geometry* to be connected directly to the physics model as well as collision detection. Collidable nodes have their location set to the same location as the body instance in which they are located.
 
 ## Example
 
 <x3d-canvas src="https://create3000.github.io/media/examples/RigidBodyPhysics/RigidBody/RigidBody.x3d" update="auto"></x3d-canvas>
 
-## External Links
+## See Also
 
-- [X3D Specification of RigidBody](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#RigidBody){:target="_blank"}
+- [X3D Specification of RigidBody node](https://www.web3d.org/documents/specifications/19775-1/V4.0/Part01/components/rigidBodyPhysics.html#RigidBody){:target="_blank"}