rigidSolver

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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.

geoConnector, dynGlobals

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