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This node contains the attributes for the rigid solver. The attributes of the rigid solver control the accuracy of the rigid body solution along with some global attributes such as friction, bounciness and caching. The user can change the collision tolerance (a delta distance at which two rigid bodies are considered to be "in contact" with one another) and step size (the step the rigid solver takes to determine the rigid body solution). Decreasing either of these attributes will cause the solver to run slower but more accurately. This node also controls the display of annotations such as the center of mass, velocity and constraint indicators.

Node name Parents MFn type Compatible function sets
rigidSolver dependNode kRigidSolver kBase
kNamedObject
kDependencyNode
kRigidSolver

Related nodes

geoConnector, dynGlobals

Attributes (44)

allowDisconnection, autoSolverTolerances, bounciness, cacheData, collisionTolerance, constraintRotate, constraintRotateX, constraintRotateY, constraintRotateZ, constraintTranslate, constraintTranslateX, constraintTranslateY, constraintTranslateZ, contactData, current, currentTime, deltaTime, displayCenterOfMass, displayConstraint, displayLabel, displayVelocity, dynamics, forceDynamics, friction, generalForce, inputForce, inputTorque, lastSceneTime, rigidBodyCount, rotate, rotateX, rotateY, rotateZ, scaleVelocity, solverMethod, solving, startTime, state, statistics, stepSize, translate, translateX, translateY, translateZ

Long name (short name) Type Default Flags
currentTime (ct) time 0film outputinputconnectablekeyable
This holds the value for time to be queried.
startTime (stm) time 0film outputinputconnectablestorable
The start time of the animation in seconds.
deltaTime (dtm) time 0film outputinputhidden
The size of a time step in seconds.
lastSceneTime (lst) time 0film outputinputhidden
This is the scene time for the last time the dynamics was evaluated.
generalForce (gfr) compound n/a arrayoutputinputconnectablestorablehidden
Generalized force on the rigid bodies (forces and torques).
inputForce (ifr) vectorArray empty outputinputconnectablestorablehidden
Forces on the rigid bodies.
inputTorque (itr) vectorArray empty outputinputconnectablestorablehidden
Torques on the rigid bodies.
translate (t) double3 arrayoutputinputconnectablestorablehidden
Translation.
translateX (tx) distance (double) 0.0cm outputinputconnectablestorablehidden
Translate X.
translateY (ty) distance (double) 0.0cm outputinputconnectablestorablehidden
Translate Y.
translateZ (tz) distance (double) 0.0cm outputinputconnectablestorablehidden
Translate Z.
rotate (r) double3 arrayoutputinputconnectablestorablehidden
Rotation.
rotateX (rx) angle (double) 0.0deg outputinputconnectablestorablehidden
Rotate X.
rotateY (ry) angle (double) 0.0deg outputinputconnectablestorablehidden
Rotate Y.
rotateZ (rz) angle (double) 0.0deg outputinputconnectablestorablehidden
Rotate Z.
constraintTranslate (ctr) double3 arrayoutputinputconnectablestorablehidden
Constraint Translation.
constraintTranslateX (ctx) distance (double) 0.0cm outputinputconnectablestorablehidden
Constraint Translate X.
constraintTranslateY (cty) distance (double) 0.0cm outputinputconnectablestorablehidden
Constraint Translate Y.
constraintTranslateZ (ctz) distance (double) 0.0cm outputinputconnectablestorablehidden
Constraint Translate Z.
constraintRotate (cr) double3 arrayoutputinputconnectablestorablehidden
Constraint Rotation.
constraintRotateX (crx) angle (double) 0.0deg outputinputconnectablestorablehidden
Constraint Rotate X.
constraintRotateY (cry) angle (double) 0.0deg outputinputconnectablestorablehidden
Constraint Rotate Y.
constraintRotateZ (crz) angle (double) 0.0deg outputinputconnectablestorablehidden
Constraint Rotate Z.
collisionTolerance (ctl) double 0.02 outputinputstorable
A delta distance at which two rigid bodies are considered to be "in contact" with one another.
stepSize (ss) double 0.03 outputinputstorable
The step the rigid solver takes to determine the rigid body solution.
scaleVelocity (svv) double 1.0 outputinputconnectablestorablekeyable
Scale for the velocity vectors.
rigidBodyCount (rbc) integer 0 output
Number of rigid bodies in the solver.
solverMethod (slm) enum 2 outputinputconnectablestorablehidden
Rigid body solver method attribute
friction (f) bool true outputinputconnectablestorablekeyable
Turn friction on/off.
bounciness (b) bool true outputinputconnectablestorablekeyable
Turn bounciness (sometimes referred to as restitution) on/off.
dynamics (dyn) bool true outputinputconnectablestorablekeyable
Turn dynamics on/off.
autoSolverTolerances (ast) bool false outputinputconnectablestorablehidden
Calculate the solver tolerances.
displayVelocity (dv) bool false outputinputconnectablestorablekeyable
Turn on/off the display velocity vector.
displayCenterOfMass (dcom) bool true outputinputconnectablestorablekeyable
Turn on/off the display of the center of mass icon.
displayConstraint (dc) bool true outputinputconnectablestorablekeyable
Turn on/off the display of the constraint vector.
displayLabel (dl) bool false outputinputconnectablestorablekeyable
Turn on/off labels for the rigid bodies and constraints in the solver.
cacheData (cd) bool false outputinputconnectablestorablekeyable
Turn on/off the caching of all rigid bodies.
contactData (ctd) bool false outputinputconnectablestorablekeyable
Turn on/off the contact data output of the rigid bodies.
state (stt) bool true outputinputconnectablestorablekeyable
Turn on/off the solver
current (cur) bool false outputinputstorablehidden
Indicates that this is the current solver. The current solver is the one in which rigid bodies will be added to.
forceDynamics (fdn) bool false outputinputstorablehidden
By requesting this attribute, the rigid solver will be forced to evaluate.
allowDisconnection (ad) bool false outputinputstorablehidden
Allows the user to disconnect the connection made by the solver to the time and choice nodes.
solving (sol) bool false outputinputhidden
Indicates that we are solving.
statistics (st) bool false outputinputstorablehidden
This attribute is obsolete and should not be used.