- Specification Version: 1.4.1
- Category: (Physics) Physics Model
Introduction
- COLLADA format allows Physics scene description. However only a small set of parameters are supported. This extension allows to embed full set of parameters supported by PhysX 3.x.
- See PhysX 3.x documentation for further details about each parameter.
Note relative to transforms
- COLLADA does not define any transform for <rigid_body> element and supposes rigid body's initial transform is taken from <instance_rigid_body>’s target. In Maya, a rigid body can have a different transform than its targeted node. Importers can use <global_pose> element to get the actual transform used by PhysX SDK in Maya. Importing and using <global_pose> is optional but if an importer chooses to use <global_pose> then it must use <shape>/<extra>/<technique profile=”PhysX_3.3”>/<local_pose> and <rigid_constraint>/<extra>/<technique profile=”PhysX_3.3”>/<local_pose0>|<local_pose1> and ignore standard COLLADA shape transform and constraint <ref_attachment>/<attachment> transforms.
Related Elements
| Affected Parent element(s)
|
<rigid_constraint>
|
| Extra and/or Technique
|
<extra>/<technique profile=”PhysX_3.x”>
|
| Child elements
|
See following section
|
Child Elements
| Name |
Description |
Default |
Occurrences
|
| <px_d6joint> |
Extension’s root element. |
N/A |
0 or 1
|
Child Elements for px_d6joint
- Child elements must appear in the following order if present:
| Name |
Description |
Default |
Occurrences
|
| <local_pose0 sid=”..”> |
7 floating point values: 4 for rotation quaternion and 3 for translation. |
N/A |
1
|
| <local_pose1 sid=”...”> |
7 floating point values: 4 for rotation quaternion and 3 for translation. |
N/A |
1
|
| <break_force sid=”...”> |
Float |
INF |
0 or 1
|
| <break_torque sid=”...”> |
Float |
INF |
0 or 1
|
| <constraint_flags> |
List of xs:NCNAME. See PxConstraintFlags documentation. Can be any combination of BROKEN, PROJECT_TO_ACTOR0, PROJECT_TO_ACTOR1, PROJECTION, COLLISION_ENABLED, REPORTING, VISUALIZATION, DRIVE_LIMITS_ARE_FORCES, IMPROVED_SLERP |
No flag |
0 or 1
|
| <inv_mass_scale0 sid=”...”> |
Float |
1 |
0 or 1
|
| <inv_inertia_scale0 sid=”...”> |
Float |
1 |
0 or 1
|
| <inv_mass_scale1 sid=”...”> |
Float |
1 |
0 or 1
|
| <inv_inertia_scale1 sid=”...”> |
Float |
1 |
0 or 1
|
| <projection_linear_tolerance sid=”...”> |
Float |
1e10f |
0 or 1
|
| <projection_angular_tolerance sid=”...”> |
Float |
180 |
0 or 1
|
| <limits_extra>* |
|
|
0 or 1
|
| <linear_extra>* |
|
|
0 or 1
|
| <restitution sid=”...”> |
Float |
0 |
0 or 1
|
| <bounce_threshold sid=”...”> |
Float |
0 |
0 or 1
|
| <contact_distance sid=”...”> |
Float |
0 |
0 or 1
|
| </linear_extra> |
|
|
|
| <swing_cone_and_twist_extra>* |
|
|
0 or 1
|
| <restitution sid=”...”> |
Vector2. For swingY/Z and twist. |
0 0 |
0 or 1
|
| <bounce_threshold sid=”...”> |
Vector2. For swingY/Z and twist. |
0 0 |
0 or 1
|
| <contact_distance sid=”...”> |
Vector2. For swingY/Z and twist. |
0 0 |
0 or 1
|
| </swing_cone_and_twist_extra> |
|
|
|
| </limits_extra> |
|
|
|
| <spring_extra>* |
|
|
0 or 1
|
| <angular_extra>* |
|
|
0 or 1
|
| <stiffness sid=”...”> |
Float. Additional value for twist. |
1 |
0 or 1
|
| <damping sid=”...”> |
Float. Additional value for twist. |
0 |
0 or 1
|
| </angular_extra> |
|
|
|
| </spring_extra> |
|
|
|
| <drive>
|
| <linear_x> |
Also accepts <linear_y>, <linear_z>, <swing>, <twist> and <slerp>. |
|
0 or 1
|
| <stiffness sid=”...”> |
Float |
1 |
0 or 1
|
| <damping sid=”...”> |
Float |
0 |
0 or 1
|
| <force_limit sid=”...”> |
Float |
INF |
0 or 1
|
| <drive_flags> |
List of xs:NCNAME. Only flag is ACCELERATION. |
No flag |
0 or 1
|
| </linear_x> |
Or </linear_y>, </linear_z>, </swing>, </twist> and </slerp> |
|
|
| <translate> |
Transformation of drive position. Any combination of these elements in any order. |
0 0 0 |
0 or more
|
| <rotate> |
|
0 0 0 0 |
0 or more
|
| <linear_velocity sid=”...”> |
Vector3 |
0 0 0 |
0 or 1
|
| <angular_velocity sid=”...”> |
Vector3 |
0 0 0 |
0 or 1
|
| </drive> |
|
|
|
Example
<rigid_constraint>
...
<technique_common>
<enabled>true</enabled>
<interpenetrate>true</interpenetrate>
<limits>
<swing_cone_and_twist>
<min>-15.0 -15.0 -INF</min>
<max>15.0 15.0 INF</max>
</swing_cone_and_twist>
<linear>
<min>0 0 0</min>
<max>0 0 0</max>
</linear>
</limits>
<spring>
<linear>
<stiffness>5.4544</stiffness>
<damping>0.4132</damping>
<target_value>3</target_value>
</linear>
<angular>
<stiffness>5.4544</stiffness>
<damping>0.4132</damping>
<target_value>90</target_value>
</angular>
</spring>
</technique_common>
<extra>
<technique profile=”PhysX_3.x”>
<px_d6joint>
<local_pose0>0 0 0 1 0 0 0</local_pose0>
<local_pose1>0 0 0 1 0 -2 0</local_pose1>
<break_force>INF</break_force>
<break_torque>INF</break_torque>
<constraint_flags>PROJECT_TO_ACTOR0 PROJECT_TO_ACTOR1 PROJECTION</constraint_flags>
<inv_mass_scale0>1</inv_mass_scale0>
<inv_inertia_scale0>1</inv_inertia_scale0>
<inv_mass_scale1>1</inv_mass_scale1>
<inv_inertia_scale1>1</inv_inertia_scale1>
<limits_extra>
<linear_extra>
<restitution>0</restitution>
<bounce_threshold>0</bounce_threshold>
<contact_distance>0.01</contact_distance>
</linear_extra>
<swing_cone_and_twist_extra>
<restitution>0.4 0</restitution>
<bounce_threshold>0.5 0.5</bounce_threshold>
<contact_distance>0.0392699 0.1</contact_distance>
</swing_cone_and_twist_extra>
</limits_extra>
<spring_extra>
<angular_extra>
<stiffness>0</stiffness>
<damping>0</damping>
</angular_extra>
</spring_extra>
<drive>
<linear_x>
<stiffness>0</stiffness>
<damping>0.005</damping>
<force_limit>INF</force_limit>
<drive_flags>ACCELERATION</drive_flags>
</linear_x>
<linear_y>
<stiffness>0</stiffness>
<damping>0.005</damping>
<force_limit>INF</force_limit>
<drive_flags>ACCELERATION</drive_flags>
</linear_y>
<linear_z>
<stiffness>0</stiffness>
<damping>0.005</damping>
<force_limit>INF</force_limit>
<drive_flags>ACCELERATION</drive_flags>
</linear_z>
<swing>
<stiffness>0</stiffness>
<damping>5.23599e-5</damping>
<force_limit>INF</force_limit>
<drive_flags>ACCELERATION</drive_flags>
</swing>
<twist>
<stiffness>0</stiffness>
<damping>5.23599e-5</damping>
<force_limit>INF</force_limit>
<drive_flags>ACCELERATION</drive_flags>
</twist>
<slerp>
<stiffness>0</stiffness>
<damping>5.23599e-5</damping>
<force_limit>INF</force_limit>
</slerp>
<translate>0 1 2</translate>
<rotate>0 1 0 45</rotate>
<linear_velocity>0 0 0</linear_velocity>
<angular_velocity>0 0 0</angular_velocity>
</drive>
<projection_linear_tolerance>1e10</projection_linear_tolerance>
<projection_angular_tolerance>180</projection_angular_tolerance>
</px_d6joint>
</technique>
</extra>
</rigid_constraint>