rigidConstraint

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                This node contains the attributes for the rigid constraints.  These
                constraints can only be used with rigid bodies.  The constraints include
      the following:

          nail:    Constrains a rigid body to a point in world space.

          pin:     Constrains two rigid bodies together.  By default the
                   constraint is created at the midpoint between the two rigid
                   bodies.

          hinge:   The hinge constrains the rigid body to an arbitrary axis
                   restricting it to two degrees of freedom.  This constraint can
                   act on one or two rigid bodies.  If one rigid body is selected
                   the body is hinged to a point in world space.  If two rigid
                   bodies are selected the two rigid bodies are hinged.  By default
                   the constraint is created at the midpoint between the two rigid bodies.

          spring:  The spring constraint creates a spring which can act on one
                   or two rigid bodies.  If one rigid body is selected a spring is
                   create which will constrain the rigid body to a point in world
                   space.  If two rigid bodies are selected a spring will be
                   created between the two rigid bodies.

          barrier: The barrier constraint limits the position of a rigid body to
                   one side of an arbitrary plane.  The constraint point is the
                   center of mass of the rigid body.

dynBase, field, airField, turbulenceField, radialField, vortexField, newtonField, volumeAxisField, dragField, uniformField, gravityField, pointEmitter, particle, rigidBody, geoConnectable, spring

angularVelocity, angularVelocityX, angularVelocityY, angularVelocityZ, constrain, constraintType, force, forceX, forceY, forceZ, initialOrientation, initialOrientationX, initialOrientationY, initialOrientationZ, initialPosition, initialPositionX, initialPositionY, initialPositionZ, interpenetrate, isBounded, isParented, relativeTo, rigidBody1, rigidBody2, solverId, springDamping, springRestLength, springStiffness, userDefinedPosition, userDefinedPositionX, userDefinedPositionY, userDefinedPositionZ, velocity, velocityX, velocityY, velocityZ

Long name (short name)	Type	Default	Flags
rigidBody1 (rb1)	Message	n/a
The first rigid body to be constrained.
rigidBody2 (rb2)	Message	n/a
The second rigid body to be constrained.
constraintType (typ)	enum	1
Constraint type. The enum values are historical.
initialPosition (ip)	double3	0, 0, 0
Initial position of the rigid body constraint.
initialPositionX (ipx) double 0.0 The X component of the initial position.
initialPositionY (ipy) double 0.0 The Y component of the initial position.
initialPositionZ (ipz) double 0.0 The Z component of the initial position.
velocity (vel)	double3	0, 0, 0
velocity of the rigid constraint
velocityX (vlx) double 0.0 velocity x of the rigid constraint.
velocityY (vly) double 0.0 velocity y of the rigid constraint.
velocityZ (vlz) double 0.0 velocity z of the rigid constraint.
angularVelocity (avl)	double3	0, 0, 0
angularVelocity of the rigid constraint
angularVelocityX (avx) double 0.0 angularVelocity x of the rigid constraint.
angularVelocityY (avy) double 0.0 angularVelocity y of the rigid constraint.
angularVelocityZ (avz) double 0.0 angularVelocity z of the rigid constraint.
initialOrientation (ino)	double3	0, 0, 0
The initial orientation of the rigid body constraint.
initialOrientationX (iox) angle (double) 0.0deg The X component of the initial orientation.
initialOrientationY (ioy) angle (double) 0.0deg The Y component of the initial orientation.
initialOrientationZ (ioz) angle (double) 0.0deg The Z component of the initial orientation.
force (for)	double3	0, 0, 0
the force on the constraint.
forceX (frx) double 0.0 the force in the x direction on the constraint.
forceY (fry) double 0.0 the force in the y direction on the constraint.
forceZ (frz) double 0.0 the force in the z direction on the constraint.
springStiffness (sst)	double	5.0
spring constraint stiffness
springDamping (dmp)	double	0.1
spring damping value.
springRestLength (srl)	double	1.0
spring rest length.
interpenetrate (int)	bool	false
interpenetration flag.
isParented (par)	bool	false
set if the rigid constraint is parented.
isBounded (bon)	bool	false
indicates if the constraint is bounded to a bounding box. Used so we do not clip the constraint when part of it is off the screen.
solverId (sid)	integer	-1
this is the index into the solver multi attributes.
constrain (con)	bool	true
The rigid constraint is on or off in the simulator if true.
relativeTo (rlt)	enum	0
Dtermines which rigid body the constraint shoul dbe recreated at.
userDefinedPosition (udp)	double3	0, 0, 0
position at which the constraint will be recreated at.
userDefinedPositionX (upx) double 0.0 user defined position x.
userDefinedPositionY (upy) double 0.0 user defined position y.
userDefinedPositionZ (upz) double 0.0 user defined position z.