Results 1 to 9 of 9

Thread: Export of distance joint

  1. #1
    Junior Member
    Join Date
    Aug 2008
    Posts
    5

    Export of distance joint

    Hi, all

    I'm working on Collada exporter for cad application, My problem is next: I have two bodies which are joined by PointToPoint distance joint, I do know the coordinates of the joint points. In my Collada output of this joint I orient axis-X in direction point1-point2 and set x-limit as distance between points. But it doesn't seem to be right.

    Maybe somebody has any idea how to solve this issue?

    Thanks,
    Vladimir

  2. #2
    Senior Member
    Join Date
    Aug 2004
    Location
    California
    Posts
    771
    Can you post a sample of your exported data that highlights your questions?

    Thanks,
    Mark

  3. #3
    Junior Member
    Join Date
    Aug 2008
    Posts
    5
    Below is a example of joint which assumed to be distace joint. But it works similar to point_point coincident join because of Y-limits and Z-limits

    <rigid_constraint sid="Joint0-RigidConstraint" name="Spring(base-1, Shatun-1)">
    <ref_attachment rigid_body="Actor0-RigidBody" name="base-1">
    <translate>0.065686166 -0.015199227 0.005</translate>
    <rotate>1 0 0 0</rotate>
    </ref_attachment>
    <attachment rigid_body="Actor2-RigidBody" name="Shatun-1">
    <translate>0.04566646 0.01 -0.020632435</translate>
    <rotate>1 0 0 0</rotate>
    </attachment>
    <technique_common> <enabled>1</enabled> <interpenetrate>true</interpenetrate>
    <limits>
    <linear> <min>0.161375508 0 0</min> <max>0.161375508 0 0</max>
    </linear> <swing_cone_and_twist> <min>-INF -INF -INF</min> <max>INF INF INF</max> </swing_cone_and_twist>
    </limits>
    <spring>
    <linear>
    <stiffness>0.001</stiffness>
    <damping>0</damping>
    <target_value>0.161375508</target_value>
    </linear>
    <angular>
    <stiffness>1</stiffness>
    <damping>0</damping>
    <target_value>0</target_value>
    </angular>
    </spring>
    </technique_common>
    </rigid_constraint>

  4. #4
    Junior Member
    Join Date
    Apr 2008
    Posts
    8
    Could you provide a stripped example which is complete (may be with two boxes)?

    From which CAD system you want to export?

    Wu

  5. #5
    Junior Member
    Join Date
    Aug 2008
    Posts
    5
    Actually, cad system is not important. The all data what I have is two points and two objects(including their location).

    There is a full example: (I'm sorry for so much text but I haven't WEB-location where I can place it )

    <?xml version="1.0" encoding="utf-8"?>
    <COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
    <asset>
    <contributor>
    <author>NxuStream2 converter - http://www.ageia.com</author>
    <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
    <comments>questions to: jratcliff@ageia.com</comments>
    <source_data>C:\Example1.dae</source_data>
    </contributor>
    <created>2008-08-22T15:57:01.562Z</created>
    <modified>2008-08-22T15:57:01.562Z</modified>
    <unit meter="1" name="meter"/>
    <up_axis>Y_UP</up_axis>
    </asset>
    <library_materials>
    <material id="Material" name="Material">
    <instance_effect url="#Material-fx"></instance_effect>
    </material>
    <material id="SWMaterial-0" name="SWMaterial-0">
    <instance_effect url="#SWMaterial-fx-0"></instance_effect>
    </material>
    <material id="SWMaterial-1" name="SWMaterial-1">
    <instance_effect url="#SWMaterial-fx-1"></instance_effect>
    </material>
    </library_materials>
    <library_effects>
    <effect id="Material-fx" name="Material">
    <profile_COMMON>
    <technique id="Material-fx-COMMON-0" sid="COMMON">
    <phong>
    <ambient>
    <color>0.803922 0.588235 0.92549 1</color>
    </ambient>
    <diffuse>
    <color>0.803922 0.588235 0.92549 1</color>
    </diffuse>
    <specular>
    <color>0.631373 0.631373 0.631373 1</color>
    </specular>
    <shininess>
    <float>1</float>
    </shininess>
    <reflective>
    <color>0 0 0 1</color>
    </reflective>
    <transparent>
    <color>1 1 1 1</color>
    </transparent>
    <transparency>
    <float>0</float>
    </transparency>
    </phong>
    </technique>
    </profile_COMMON>
    </effect>
    <effect id="SWMaterial-fx-0" name="SWMaterial-0">
    <profile_COMMON>
    <technique id="Material-fx-COMMON-1" sid="COMMON">
    <phong>
    <ambient>
    <color>0.000000 1.000000 0.000000 1</color>
    </ambient>
    <diffuse>
    <color>0.000000 1.000000 0.000000 1</color>
    </diffuse>
    <specular>
    <color>0.000000 0.500000 0.000000 1</color>
    </specular>
    <shininess>
    <float>0.400000</float>
    </shininess>
    <reflective>
    <color>0 0 0 1</color>
    </reflective>
    <transparent>
    <color>1 1 1 1</color>
    </transparent>
    <transparency>
    <float>0.000000</float>
    </transparency>
    </phong>
    </technique>
    </profile_COMMON>
    </effect>
    <effect id="SWMaterial-fx-1" name="SWMaterial-1">
    <profile_COMMON>
    <technique id="Material-fx-COMMON-2" sid="COMMON">
    <phong>
    <ambient>
    <color>1.000000 0.000000 0.000000 1</color>
    </ambient>
    <diffuse>
    <color>1.000000 0.000000 0.000000 1</color>
    </diffuse>
    <specular>
    <color>0.500000 0.000000 0.000000 1</color>
    </specular>
    <shininess>
    <float>0.400000</float>
    </shininess>
    <reflective>
    <color>0 0 0 1</color>
    </reflective>
    <transparent>
    <color>1 1 1 1</color>
    </transparent>
    <transparency>
    <float>0.000000</float>
    </transparency>
    </phong>
    </technique>
    </profile_COMMON>
    </effect>
    </library_effects>
    <library_geometries>
    <geometry id="ConvexMesh_0-Mesh" name="ConvexMesh_0-Mesh">
    <convex_mesh>
    <source id="ConvexMesh_0-Position">
    <float_array count="18" id="ConvexMesh_0-Position-array">
    -0.024928218 0 0.022375332 0.02372686 0.039999999 -0.025979411 -0.024928218 0.039999999 0.022375332 -0.024928218 0 -0.025979411
    0.02372686 0 -0.025979411 -0.024928218 0.039999999 -0.025979411
    </float_array>
    <technique_common>
    <accessor count="6" source="#ConvexMesh_0-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ConvexMesh_0-Vertex">
    <input semantic="POSITION" source="#ConvexMesh_0-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="8">
    <input offset="0" semantic="VERTEX" source="#ConvexMesh_0-Vertex"/>


    4 1 2 4 2 0 5 3 0
    5 0 2 4 0 3 4 3 5
    4 5 1 5 2 1 </p>
    </triangles>
    </convex_mesh>
    </geometry>
    <geometry id="ConvexMesh_1-Mesh" name="ConvexMesh_1-Mesh">
    <convex_mesh>
    <source id="ConvexMesh_1-Position">
    <float_array count="15" id="ConvexMesh_1-Position-array">
    0.02372686 0 0.022375332 -0.024928218 0 0.022375332 0.02372686 0 -0.025979411 0.02372686 0.039999999 0.022375332
    0.02372686 0.039999999 -0.025979411
    </float_array>
    <technique_common>
    <accessor count="5" source="#ConvexMesh_1-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ConvexMesh_1-Vertex">
    <input semantic="POSITION" source="#ConvexMesh_1-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="6">
    <input offset="0" semantic="VERTEX" source="#ConvexMesh_1-Vertex"/>


    0 1 2 1 0 3 4 3 0
    4 0 2 4 2 1 4 1 3
    </p>
    </triangles>
    </convex_mesh>
    </geometry>
    <geometry id="ConvexMesh_2-Mesh" name="ConvexMesh_2-Mesh">
    <convex_mesh>
    <source id="ConvexMesh_2-Position">
    <float_array count="12" id="ConvexMesh_2-Position-array">
    -0.012093999 0.02716578 0.022132056 -0.02492822 0 0.02237533 0.02372686 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533
    </float_array>
    <technique_common>
    <accessor count="4" source="#ConvexMesh_2-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ConvexMesh_2-Vertex">
    <input semantic="POSITION" source="#ConvexMesh_2-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="4">
    <input offset="0" semantic="VERTEX" source="#ConvexMesh_2-Vertex"/>


    0 2 1 0 1 3 1 2 3
    0 3 2 </p>
    </triangles>
    </convex_mesh>
    </geometry>
    <geometry id="ConvexMesh_3-Mesh" name="ConvexMesh_3-Mesh">
    <convex_mesh>
    <source id="ConvexMesh_3-Position">
    <float_array count="12" id="ConvexMesh_3-Position-array">
    0.02372686 0.039999999 0.02237533 0.009520265 0.039756723 -0.011772816 0.02372686 0.039999999 -0.025979411 -0.02492822 0.039999999 -0.025979411
    </float_array>
    <technique_common>
    <accessor count="4" source="#ConvexMesh_3-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ConvexMesh_3-Vertex">
    <input semantic="POSITION" source="#ConvexMesh_3-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="4">
    <input offset="0" semantic="VERTEX" source="#ConvexMesh_3-Vertex"/>


    0 1 2 0 3 1 0 2 3
    1 3 2 </p>
    </triangles>
    </convex_mesh>
    </geometry>
    <geometry id="ConvexMesh_4-Mesh" name="ConvexMesh_4-Mesh">
    <convex_mesh>
    <source id="ConvexMesh_4-Position">
    <float_array count="12" id="ConvexMesh_4-Position-array">
    -0.010721625 0.039756723 0.008168736 0.02372686 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533 -0.02492822 0.039999999 -0.025979411
    </float_array>
    <technique_common>
    <accessor count="4" source="#ConvexMesh_4-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ConvexMesh_4-Vertex">
    <input semantic="POSITION" source="#ConvexMesh_4-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="4">
    <input offset="0" semantic="VERTEX" source="#ConvexMesh_4-Vertex"/>


    0 3 1 1 3 2 0 1 2
    0 2 3 </p>
    </triangles>
    </convex_mesh>
    </geometry>
    <geometry id="TriangleMesh_0-Mesh" name="TriangleMesh_0-Mesh">
    <mesh>
    <source id="TriangleMesh_0-Position">
    <float_array count="24" id="TriangleMesh_0-Position-array">
    -0.02492822 0.039999999 0.02237533 -0.02492822 0 -0.025979411 -0.02492822 0 0.02237533 -0.02492822 0.039999999 -0.025979411
    0.02372686 0.039999999 0.02237533 0.02372686 0 0.02237533 0.02372686 0.039999999 -0.025979411 0.02372686 0 -0.025979411
    </float_array>
    <technique_common>
    <accessor count="8" source="#TriangleMesh_0-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="TriangleMesh_0-Vertex">
    <input semantic="POSITION" source="#TriangleMesh_0-Position"/>
    </vertices>
    <triangles material="SWMaterial-0" count="12">
    <input offset="0" semantic="VERTEX" source="#TriangleMesh_0-Vertex"/>


    4 2 5 6 5 7 5 6 4
    7 3 6 3 4 6 2 7 5
    3 7 1 2 4 0 1 0 3
    4 3 0 7 2 1 0 1 2
    </p>
    </triangles>
    </mesh>
    </geometry>
    <geometry id="ActorShape0_0-Mesh" name="ActorShape0_0-Mesh">
    <mesh>
    <source id="ActorShape0_0-Position">
    <float_array count="108" id="ActorShape0_0-Position-array">
    -0.02492822 0.039999999 0.02237533 -0.02492822 0.039999999 -0.025979411 -0.02492822 0 0.02237533 -0.02492822 0 0.02237533
    -0.02492822 0.039999999 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533
    0.02372686 0 0.02237533 0.02372686 0 0.02237533 -0.02492822 0.039999999 0.02237533 -0.02492822 0 0.02237533
    0.02372686 0.039999999 -0.025979411 0.02372686 0.039999999 0.02237533 0.02372686 0 -0.025979411 0.02372686 0 -0.025979411
    0.02372686 0.039999999 0.02237533 0.02372686 0 0.02237533 -0.02492822 0.039999999 -0.025979411 0.02372686 0.039999999 -0.025979411
    -0.02492822 0 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0.039999999 -0.025979411 0.02372686 0 -0.025979411
    0.02372686 0.039999999 0.02237533 0.02372686 0.039999999 -0.025979411 -0.02492822 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533
    0.02372686 0.039999999 -0.025979411 -0.02492822 0.039999999 -0.025979411 0.02372686 0 -0.025979411 0.02372686 0 0.02237533
    -0.02492822 0 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0 0.02237533 -0.02492822 0 0.02237533
    </float_array>
    <technique_common>
    <accessor count="36" source="#ActorShape0_0-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <source id="ActorShape0_0-Normal">
    <float_array count="108" id="ActorShape0_0-Normal-array">
    -1 0 0 -1 0 0 -1 0 0 -1 0 0
    -1 0 0 -1 0 0 0 0 1 0 0 1
    0 0 1 0 0 1 0 0 1 0 0 1
    1 0 0 1 0 0 1 0 0 1 0 0
    1 0 0 1 0 0 0 0 -1 0 0 -1
    0 0 -1 0 0 -1 0 0 -1 0 0 -1
    0 1 0 0 1 0 0 1 0 0 1 0
    0 1 0 0 1 0 0 -1 0 0 -1 0
    0 -1 0 0 -1 0 0 -1 0 0 -1 0
    </float_array>
    <technique_common>
    <accessor count="36" source="#ActorShape0_0-Normal-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ActorShape0_0-Vertex">
    <input semantic="POSITION" source="#ActorShape0_0-Position"/>
    </vertices>
    <triangles material="SWMaterial-0" count="12">
    <input offset="0" semantic="VERTEX" source="#ActorShape0_0-Vertex"/>
    <input offset="0" semantic="NORMAL" source="#ActorShape0_0-Normal"/>


    0 1 2 3 4 5 6 7 8
    9 10 11 12 13 14 15 16 17
    18 19 20 21 22 23 24 25 26
    27 28 29 30 31 32 33 34 35
    </p>
    </triangles>
    </mesh>
    </geometry>
    <geometry id="ActorShape1_0-Mesh" name="ActorShape1_0-Mesh">
    <mesh>
    <source id="ActorShape1_0-Position">
    <float_array count="108" id="ActorShape1_0-Position-array">
    -0.02492822 0.039999999 0.02237533 -0.02492822 0.039999999 -0.025979411 -0.02492822 0 0.02237533 -0.02492822 0 0.02237533
    -0.02492822 0.039999999 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533
    0.02372686 0 0.02237533 0.02372686 0 0.02237533 -0.02492822 0.039999999 0.02237533 -0.02492822 0 0.02237533
    0.02372686 0.039999999 -0.025979411 0.02372686 0.039999999 0.02237533 0.02372686 0 -0.025979411 0.02372686 0 -0.025979411
    0.02372686 0.039999999 0.02237533 0.02372686 0 0.02237533 -0.02492822 0.039999999 -0.025979411 0.02372686 0.039999999 -0.025979411
    -0.02492822 0 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0.039999999 -0.025979411 0.02372686 0 -0.025979411
    0.02372686 0.039999999 0.02237533 0.02372686 0.039999999 -0.025979411 -0.02492822 0.039999999 0.02237533 -0.02492822 0.039999999 0.02237533
    0.02372686 0.039999999 -0.025979411 -0.02492822 0.039999999 -0.025979411 0.02372686 0 -0.025979411 0.02372686 0 0.02237533
    -0.02492822 0 -0.025979411 -0.02492822 0 -0.025979411 0.02372686 0 0.02237533 -0.02492822 0 0.02237533
    </float_array>
    <technique_common>
    <accessor count="36" source="#ActorShape1_0-Position-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <source id="ActorShape1_0-Normal">
    <float_array count="108" id="ActorShape1_0-Normal-array">
    -1 0 0 -1 0 0 -1 0 0 -1 0 0
    -1 0 0 -1 0 0 0 0 1 0 0 1
    0 0 1 0 0 1 0 0 1 0 0 1
    1 0 0 1 0 0 1 0 0 1 0 0
    1 0 0 1 0 0 0 0 -1 0 0 -1
    0 0 -1 0 0 -1 0 0 -1 0 0 -1
    0 1 0 0 1 0 0 1 0 0 1 0
    0 1 0 0 1 0 0 -1 0 0 -1 0
    0 -1 0 0 -1 0 0 -1 0 0 -1 0
    </float_array>
    <technique_common>
    <accessor count="36" source="#ActorShape1_0-Normal-array" stride="3">
    <param name="X" type="float"/>
    <param name="Y" type="float"/>
    <param name="Z" type="float"/>
    </accessor>
    </technique_common>
    </source>
    <vertices id="ActorShape1_0-Vertex">
    <input semantic="POSITION" source="#ActorShape1_0-Position"/>
    </vertices>
    <triangles material="SWMaterial-1" count="12">
    <input offset="0" semantic="VERTEX" source="#ActorShape1_0-Vertex"/>
    <input offset="0" semantic="NORMAL" source="#ActorShape1_0-Normal"/>


    0 1 2 3 4 5 6 7 8
    9 10 11 12 13 14 15 16 17
    18 19 20 21 22 23 24 25 26
    27 28 29 30 31 32 33 34 35
    </p>
    </triangles>
    </mesh>
    </geometry>
    </library_geometries>
    <library_visual_scenes>
    <visual_scene id="Scene0-Visual" name="Scene0-Visual">
    <node id="Actor0-Node" name="Actor0" type="NODE">
    <translate>-0.001169665 -0.011301155 0.008295055</translate>
    <rotate>1 0 0 0</rotate>
    <instance_geometry url="#ActorShape0_0-Mesh" >
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    </node>
    <node id="Actor1-Node" name="Actor1" type="NODE">
    <translate>-0.121538259 0.033152219 0.015283021</translate>
    <rotate>1 0 0 0</rotate>
    <instance_geometry url="#ActorShape1_0-Mesh" >
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    </node>
    </visual_scene>
    </library_visual_scenes>
    <library_physics_materials>
    <physics_material id="pmat0_0-PhysicsMaterial" name="pmat0_0-PhysicsMaterial">
    <technique_common>
    <dynamic_friction>0.029999999</dynamic_friction>
    <restitution>0</restitution>
    <static_friction>0.029999999</static_friction>
    </technique_common>
    </physics_material>
    <physics_material id="pmat1_0-PhysicsMaterial" name="pmat1_0-PhysicsMaterial">
    <technique_common>
    <dynamic_friction>0.100000001</dynamic_friction>
    <restitution>0.001</restitution>
    <static_friction>0.100000001</static_friction>
    </technique_common>
    </physics_material>
    </library_physics_materials>
    <library_physics_models>
    <physics_model id="Scene0-PhysicsModel">
    <rigid_body sid="Actor0-RigidBody" name="Box-1">
    <technique_common>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#TriangleMesh_0-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.000140083</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <dynamic>false</dynamic>
    <mass>1</mass>
    </technique_common>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <disable_collision>false</disable_collision>
    <disable_response>false</disable_response>
    <lock_com>true</lock_com>
    </technique>
    </extra>
    </rigid_body>
    <rigid_body sid="Actor1-RigidBody" name="Box-2">
    <technique_common>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#ConvexMesh_0-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.00014</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#ConvexMesh_1-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.00014</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#ConvexMesh_2-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.00014</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#ConvexMesh_3-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.00014</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <shape>
    <density>1</density>
    <instance_physics_material url="#pmat1_0-PhysicsMaterial"/>
    <instance_geometry url="#ConvexMesh_4-Mesh">
    <bind_material>
    <technique_common>
    <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    </technique_common>
    </bind_material>
    </instance_geometry>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    <extra>
    <technique profile="PhysX">
    <group>0</group>
    <skinWidth>0.00014</skinWidth>
    <disable_collision>false</disable_collision>
    </technique>
    </extra>
    </shape>
    <dynamic>true</dynamic>
    <mass>0.094108149</mass>
    <mass_frame>
    <translate>-0.00060068 0.02 -0.00180204</translate>
    <rotate>-0.99999994 -0 -0 90</rotate>
    </mass_frame>
    <inertia>0.01 0.01 0.01</inertia>
    </technique_common>
    <extra>
    <technique profile="PhysX">
    <wakeUpCounter>0.399999976</wakeUpCounter>
    <linearDamping>0</linearDamping>
    <angularDamping>0.050000001</angularDamping>
    <maxAngularVelocity>12.56637001</maxAngularVelocity>
    <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
    <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
    <solverIterationCount>60</solverIterationCount>
    <disable_gravity>false</disable_gravity>
    <kinematic>false</kinematic>
    <pose_sleep_test>false</pose_sleep_test>
    <filter_sleep_velocity>false</filter_sleep_velocity>
    <group>0</group>
    <disable_collision>false</disable_collision>
    <disable_response>false</disable_response>
    <lock_com>true</lock_com>
    </technique>
    </extra>
    </rigid_body>
    <rigid_constraint sid="Joint0-RigidConstraint" name="Distance1(Box-2, Box-1)">
    <ref_attachment rigid_body="Actor1-RigidBody" name="Box-2">
    <translate>0.023726866 0.040000003 0.02237533</translate>
    <rotate>1 0 0 0</rotate>
    </ref_attachment>
    <attachment rigid_body="Actor0-RigidBody" name="Box-1">
    <translate>-0.02492822 0.039999999 0.02237533</translate>
    <rotate>1 0 0 0</rotate>
    </attachment>
    <technique_common>
    <enabled>1</enabled>
    <interpenetrate>true</interpenetrate>
    <limits>
    <linear>
    <min>0.084662631 0 0</min>
    <max>0.084662631 0 0</max>
    </linear>
    <swing_cone_and_twist>
    <min>-INF -INF -INF</min>
    <max>INF INF INF</max>
    </swing_cone_and_twist>
    </limits>
    <spring>
    <linear>
    <stiffness>1</stiffness>
    <damping>0</damping>
    <target_value>0</target_value>
    </linear>
    <angular>
    <stiffness>1</stiffness>
    <damping>0</damping>
    <target_value>0</target_value>
    </angular>
    </spring>
    </technique_common>
    <extra>
    <technique profile="PhysX">
    </technique>
    </extra>
    </rigid_constraint>
    </physics_model>
    <physics_model id="Scene0-PhysicsInstance">
    <instance_physics_model url="#Scene0-PhysicsModel">
    <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
    <technique_common>
    </technique_common>
    </instance_rigid_body>
    <instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
    <technique_common>
    <angular_velocity>0 0 0</angular_velocity>
    <velocity>0 0 0</velocity>
    </technique_common>
    </instance_rigid_body>
    <instance_rigid_constraint constraint="Joint0-RigidConstraint"/>
    <extra>
    <technique profile="PhysX">
    </technique>
    </extra>
    </instance_physics_model>
    </physics_model>
    </library_physics_models>
    <library_physics_scenes>
    <physics_scene id="SceneInstances-Physics">
    <instance_physics_model url="#Scene0-PhysicsInstance"/>
    <technique_common>
    <gravity>0 0 0</gravity>
    </technique_common>
    </physics_scene>
    </library_physics_scenes>
    <scene>
    <instance_physics_scene url="#SceneInstances-Physics"/>
    <instance_visual_scene url="#Scene0-Visual"/>
    </scene>
    </COLLADA>

  6. #6
    Senior Member
    Join Date
    Aug 2004
    Location
    California
    Posts
    771
    I'm not familiar with the NxuStream tool but I do see some interesting bits in the example that you should double check.

    1. The orientation of the all the object rotations are 0 degrees.
    2. The mass frame is rotated so slightly it's probably a rounding error.
    3. The swing cone/twist is +/- infinity.

    I've trimmed down your example to just the nodes and their transforms:

    Quote Originally Posted by VladimirV
    <library_visual_scenes>
    <visual_scene id="Scene0-Visual" name="Scene0-Visual">
    <node id="Actor0-Node" name="Actor0" type="NODE">
    <translate>-0.001169665 -0.011301155 0.008295055</translate>
    <rotate>1 0 0 0</rotate>
    </node>
    <node id="Actor1-Node" name="Actor1" type="NODE">
    <translate>-0.121538259 0.033152219 0.015283021</translate>
    <rotate>1 0 0 0</rotate>
    </node>
    </visual_scene>
    </library_visual_scenes>
    <library_physics_models>
    <physics_model id="Scene0-PhysicsModel">
    <rigid_body sid="Actor0-RigidBody" name="Box-1">
    <technique_common>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    </technique_common>
    </rigid_body>
    <rigid_body sid="Actor1-RigidBody" name="Box-2">
    <technique_common>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    <shape>
    <translate>0 0 0</translate>
    <rotate>1 0 0 0</rotate>
    </shape>
    <mass_frame>
    <translate>-0.00060068 0.02 -0.00180204</translate>
    <rotate>-0.99999994 -0 -0 90</rotate>
    </mass_frame>
    </technique_common>
    </rigid_body>
    <rigid_constraint sid="Joint0-RigidConstraint" name="Distance1(Box-2, Box-1)">
    <ref_attachment rigid_body="Actor1-RigidBody" name="Box-2">
    <translate>0.023726866 0.040000003 0.02237533</translate>
    <rotate>1 0 0 0</rotate>
    </ref_attachment>
    <attachment rigid_body="Actor0-RigidBody" name="Box-1">
    <translate>-0.02492822 0.039999999 0.02237533</translate>
    <rotate>1 0 0 0</rotate>
    </attachment>
    <technique_common>
    <limits>
    <linear>
    <min>0.084662631 0 0</min>
    <max>0.084662631 0 0</max>
    </linear>
    <swing_cone_and_twist>
    <min>-INF -INF -INF</min>
    <max>INF INF INF</max>
    </swing_cone_and_twist>
    </limits>
    </technique_common>
    </rigid_constraint>
    </physics_model>
    </library_physics_models>

  7. #7
    Junior Member
    Join Date
    Aug 2008
    Posts
    5
    2Marcus:
    The the orientation of the shapes is correct because the coordinates of mesh points calculated according such shape transforms. Eventually, I tried to import my collada files to MSRS and I haven't seen any problems with shapes.

    As for second item I do not ready to reply. As for third, the actors are joined by point-to-point distance joint, so I think that angular degrees of freedom are absolutely unlocked. Am I right?

  8. #8
    Senior Member
    Join Date
    Aug 2004
    Location
    California
    Posts
    771
    Quote Originally Posted by VladimirV
    2Marcus:
    As for third, the actors are joined by point-to-point distance joint, so I think that angular degrees of freedom are absolutely unlocked. Am I right?
    Yes that's right.

  9. #9
    Junior Member
    Join Date
    Aug 2008
    Posts
    5
    Hi, all

    I have found the way to export distance joint using one additional rigid body and two point-point-coincident joint. There is an example of 'dae' file below. I hope it will be usefull:

    Code :
    <?xml	version="1.0"	encoding="utf-8"?>
    <COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
    <asset>
    <contributor>
    <author>NxuStream2 converter - http://www.ageia.com</author>
    <authoring_tool>PhysX	Rocket,	PhysX	Viewer,	or CreateDynamics</authoring_tool>
    <comments>questions	to:	[email]jratcliff@ageia.com[/email]</comments>
    <source_data>C:\Distance.dae</source_data>
    </contributor>
     <created>2008-09-08T10:33:29.359Z</created>
     <modified>2008-09-08T10:33:29.359Z</modified>
     <unit	meter="1"	name="meter"/>
     <up_axis>Y_UP</up_axis>
     </asset>
     <library_materials>
    <material	id="Material"	name="Material">
    	 <instance_effect	url="#Material-fx"></instance_effect>
    </material>
    <material	id="SWMaterial-0"	name="SWMaterial-0">
    	 <instance_effect	url="#SWMaterial-fx-0"></instance_effect>
    </material>
    <material	id="SWMaterial-1"	name="SWMaterial-1">
    	 <instance_effect	url="#SWMaterial-fx-1"></instance_effect>
    </material>
     </library_materials>
     <library_effects>
    <effect	id="Material-fx" name="Material">
    <profile_COMMON>
    <technique id="Material-fx-COMMON-0" sid="COMMON">
    <phong>				
    <ambient>						 <color>0.803922 0.588235	0.92549	1</color>
    </ambient>				
    <diffuse>
     <color>0.803922 0.588235	0.92549	1</color>
    </diffuse>
    <specular>
    <color>0.631373 0.631373	0.631373 1</color>
    </specular>
    <shininess>
     <float>1</float>
    </shininess>
    <reflective>
     <color>0	0	0	1</color>
    </reflective>
    <transparent>
     <color>1	1	1	1</color>
    </transparent>
    <transparency>					 <float>0</float>
    </transparency>
    </phong>
    </technique>
    </profile_COMMON>
    </effect>
    <effect	id="SWMaterial-fx-0" name="SWMaterial-0">		 <profile_COMMON>
    <technique id="Material-fx-COMMON-1" sid="COMMON">
     <phong>
    <ambient>
     <color>1.000000 0.000000 0.000000 1</color>
    </ambient>
    <diffuse>
    <color>1.000000 0.000000 0.000000 1</color>
    <diffuse>
    <specular>
     <color>0.500000 0.000000 0.000000 1</color>
    </specular>
    <shininess>
    <float>0.400000</float>
    </shininess>
    <reflective>
    <color>0	0	0	1</color>
    </reflective>
    <transparent>
     <color>1	1	1	1</color>
    </transparent>
    <transparency>
    <float>0.000000</float>
    </transparency>
     </phong>
    </technique>
     </profile_COMMON>
    </effect>
    <effect	id="SWMaterial-fx-1" name="SWMaterial-1">
     <profile_COMMON>
    <technique id="Material-fx-COMMON-2" sid="COMMON">
     <phong>
    <ambient>
     <color>0.000000 1.000000 0.000000 1</color>
    </ambient>
    <diffuse>
     <color>0.000000 1.000000 0.000000 1</color>
    </diffuse>
    <specular>
     <color>0.000000 0.500000 0.000000 1</color>
    </specular>
    <shininess>
     <float>0.400000</float>
    </shininess>
    <reflective>
     <color>0	0	0	1</color>
    </reflective>
    <transparent>
    <color>1	1	1	1</color>
    </transparent>
    <transparency>
     <float>0.000000</float>
    </transparency>
    </phong>
    </technique>
    </profile_COMMON>
    </effect>
    	 </library_effects>
    	<library_geometries>
    		<geometry	id="ConvexMesh_0-Mesh" name="ConvexMesh_0-Mesh">
    			<convex_mesh>
    				<source	id="ConvexMesh_0-Position">
    					<float_array count="18"	id="ConvexMesh_0-Position-array">
    						-0.024928218 0	0.022375332	0.02372686 0.039999999	-0.025979411	-0.024928218 0.039999999	0.022375332	-0.024928218 0	-0.025979411	
    						0.02372686 0	-0.025979411	-0.024928218 0.039999999	-0.025979411	
    					</float_array>
    					<technique_common>
    						<accessor	count="6" source="#ConvexMesh_0-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ConvexMesh_0-Vertex">
    					<input semantic="POSITION" source="#ConvexMesh_0-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="8">
    					<input offset="0"	semantic="VERTEX"	source="#ConvexMesh_0-Vertex"/>
     
     
    4 1 2 4 2 0 5 3 0 
    				 5 0 2 4 0 3 4 3 5 
    				 4 5 1 5 2 1 </p>
    				</triangles>
    			</convex_mesh>
    		</geometry>
    		<geometry	id="ConvexMesh_1-Mesh" name="ConvexMesh_1-Mesh">
    			<convex_mesh>
    				<source	id="ConvexMesh_1-Position">
    					<float_array count="15"	id="ConvexMesh_1-Position-array">
    						0.02372686 0	0.022375332	-0.024928218 0	0.022375332	0.02372686 0	-0.025979411	0.02372686 0.039999999	0.022375332	
    						0.02372686 0.039999999	-0.025979411	
    					</float_array>
    					<technique_common>
    						<accessor	count="5" source="#ConvexMesh_1-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ConvexMesh_1-Vertex">
    					<input semantic="POSITION" source="#ConvexMesh_1-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="6">
    					<input offset="0"	semantic="VERTEX"	source="#ConvexMesh_1-Vertex"/>
     
     
    0 1 2 1 0 3 4 3 0 
    				 4 0 2 4 2 1 4 1 3 
    				 </p>
    				</triangles>
    			</convex_mesh>
    		</geometry>
    		<geometry	id="ConvexMesh_2-Mesh" name="ConvexMesh_2-Mesh">
    			<convex_mesh>
    				<source	id="ConvexMesh_2-Position">
    					<float_array count="12"	id="ConvexMesh_2-Position-array">
    						-0.024928218 0.039999999	0.02237533	-0.012093999 0.02716578	0.021888779	-0.024928218 0	0.02237533	0.02372686 0.039999999	0.02237533	
    					</float_array>
    					<technique_common>
    						<accessor	count="4" source="#ConvexMesh_2-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ConvexMesh_2-Vertex">
    					<input semantic="POSITION" source="#ConvexMesh_2-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="4">
    					<input offset="0"	semantic="VERTEX"	source="#ConvexMesh_2-Vertex"/>
     
     
    0 1 2 1 0 3 3 2 1 
    				 2 3 0 </p>
    				</triangles>
    			</convex_mesh>
    		</geometry>
    		<geometry	id="ConvexMesh_3-Mesh" name="ConvexMesh_3-Mesh">
    			<convex_mesh>
    				<source	id="ConvexMesh_3-Position">
    					<float_array count="12"	id="ConvexMesh_3-Position-array">
    						0.02372686 0.039999999	-0.025979411	0.009520265 0.03951345	-0.011772816	-0.024928218 0.039999999	-0.025979411	0.02372686 0.039999999	0.022375332	
    					</float_array>
    					<technique_common>
    						<accessor	count="4" source="#ConvexMesh_3-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ConvexMesh_3-Vertex">
    					<input semantic="POSITION" source="#ConvexMesh_3-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="4">
    					<input offset="0"	semantic="VERTEX"	source="#ConvexMesh_3-Vertex"/>
     
     
    0 1 2 1 0 3 3 2 1 
    				 2 3 0 </p>
    				</triangles>
    			</convex_mesh>
    		</geometry>
    		<geometry	id="ConvexMesh_4-Mesh" name="ConvexMesh_4-Mesh">
    			<convex_mesh>
    				<source	id="ConvexMesh_4-Position">
    					<float_array count="12"	id="ConvexMesh_4-Position-array">
    						-0.010721625 0.03951345	0.008168736	-0.024928218 0.039999999	0.022375332	-0.024928218 0.039999999	-0.025979411	0.02372686 0.039999999	0.022375332	
    					</float_array>
    					<technique_common>
    						<accessor	count="4" source="#ConvexMesh_4-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ConvexMesh_4-Vertex">
    					<input semantic="POSITION" source="#ConvexMesh_4-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="4">
    					<input offset="0"	semantic="VERTEX"	source="#ConvexMesh_4-Vertex"/>
     
     
    0 1 2 1 0 3 3 2 1 
    				 2 3 0 </p>
    				</triangles>
    			</convex_mesh>
    		</geometry>
    		<geometry	id="TriangleMesh_0-Mesh" name="TriangleMesh_0-Mesh">
    			<mesh>
    				<source	id="TriangleMesh_0-Position">
    					<float_array count="24"	id="TriangleMesh_0-Position-array">
    						-0.02492822 0.039999999	0.02237533	-0.02492822 0	-0.025979411	-0.02492822 0	0.02237533	-0.02492822 0.039999999	-0.025979411	
    						0.02372686 0.039999999	0.02237533	0.02372686 0	0.02237533	0.02372686 0.039999999	-0.025979411	0.02372686 0	-0.025979411	
    					</float_array>
    					<technique_common>
    						<accessor	count="8" source="#TriangleMesh_0-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="TriangleMesh_0-Vertex">
    					<input semantic="POSITION" source="#TriangleMesh_0-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-1" count="12">
    					<input offset="0"	semantic="VERTEX"	source="#TriangleMesh_0-Vertex"/>
     
     
    4 2 5 6 5 7 5 6 4 
    				 7 3 6 3 4 6 2 7 5 
    				 3 7 1 2 4 0 1 0 3 
    				 4 3 0 7 2 1 0 1 2 
    				 </p>
    				</triangles>
    			</mesh>
    		</geometry>
    		<geometry	id="ActorShape0_0-Mesh" name="ActorShape0_0-Mesh">
    			<mesh>
    				<source	id="ActorShape0_0-Position">
    					<float_array count="108"	id="ActorShape0_0-Position-array">
    						-0.02492822 0.039999999	0.02237533	-0.02492822 0.039999999	-0.025979411	-0.02492822 0	0.02237533	-0.02492822 0	0.02237533	
    						-0.02492822 0.039999999	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0.039999999	0.02237533	-0.02492822 0.039999999	0.02237533	
    						0.02372686 0	0.02237533	0.02372686 0	0.02237533	-0.02492822 0.039999999	0.02237533	-0.02492822 0	0.02237533	
    						0.02372686 0.039999999	-0.025979411	0.02372686 0.039999999	0.02237533	0.02372686 0	-0.025979411	0.02372686 0	-0.025979411	
    						0.02372686 0.039999999	0.02237533	0.02372686 0	0.02237533	-0.02492822 0.039999999	-0.025979411	0.02372686 0.039999999	-0.025979411	
    						-0.02492822 0	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0.039999999	-0.025979411	0.02372686 0	-0.025979411	
    						0.02372686 0.039999999	0.02237533	0.02372686 0.039999999	-0.025979411	-0.02492822 0.039999999	0.02237533	-0.02492822 0.039999999	0.02237533	
    						0.02372686 0.039999999	-0.025979411	-0.02492822 0.039999999	-0.025979411	0.02372686 0	-0.025979411	0.02372686 0	0.02237533	
    						-0.02492822 0	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0	0.02237533	-0.02492822 0	0.02237533	
    					</float_array>
    					<technique_common>
    						<accessor	count="36" source="#ActorShape0_0-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<source	id="ActorShape0_0-Normal">
    					<float_array count="108"	id="ActorShape0_0-Normal-array">
    						-1 0	0	-1 0	0	-1 0	0	-1 0	0	
    						-1 0	0	-1 0	0	0 0	1	0 0	1	
    						0 0	1	0 0	1	0 0	1	0 0	1	
    						1 0	0	1 0	0	1 0	0	1 0	0	
    						1 0	0	1 0	0	0 0	-1	0 0	-1	
    						0 0	-1	0 0	-1	0 0	-1	0 0	-1	
    						0 1	0	0 1	0	0 1	0	0 1	0	
    						0 1	0	0 1	0	0 -1	0	0 -1	0	
    						0 -1	0	0 -1	0	0 -1	0	0 -1	0	
    					</float_array>
    					<technique_common>
    						<accessor	count="36" source="#ActorShape0_0-Normal-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ActorShape0_0-Vertex">
    					<input semantic="POSITION" source="#ActorShape0_0-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-0" count="12">
    					<input offset="0"	semantic="VERTEX"	source="#ActorShape0_0-Vertex"/>
    					<input offset="0"	semantic="NORMAL"	source="#ActorShape0_0-Normal"/>
     
     
    0 1 2 3 4 5 6 7 8 
    				 9 10 11 12 13 14 15 16 17 
    				 18 19 20 21 22 23 24 25 26 
    				 27 28 29 30 31 32 33 34 35 
    				 </p>
    				</triangles>
    			</mesh>
    		</geometry>
    		<geometry	id="ActorShape1_0-Mesh" name="ActorShape1_0-Mesh">
    			<mesh>
    				<source	id="ActorShape1_0-Position">
    					<float_array count="108"	id="ActorShape1_0-Position-array">
    						-0.02492822 0.039999999	0.02237533	-0.02492822 0.039999999	-0.025979411	-0.02492822 0	0.02237533	-0.02492822 0	0.02237533	
    						-0.02492822 0.039999999	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0.039999999	0.02237533	-0.02492822 0.039999999	0.02237533	
    						0.02372686 0	0.02237533	0.02372686 0	0.02237533	-0.02492822 0.039999999	0.02237533	-0.02492822 0	0.02237533	
    						0.02372686 0.039999999	-0.025979411	0.02372686 0.039999999	0.02237533	0.02372686 0	-0.025979411	0.02372686 0	-0.025979411	
    						0.02372686 0.039999999	0.02237533	0.02372686 0	0.02237533	-0.02492822 0.039999999	-0.025979411	0.02372686 0.039999999	-0.025979411	
    						-0.02492822 0	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0.039999999	-0.025979411	0.02372686 0	-0.025979411	
    						0.02372686 0.039999999	0.02237533	0.02372686 0.039999999	-0.025979411	-0.02492822 0.039999999	0.02237533	-0.02492822 0.039999999	0.02237533	
    						0.02372686 0.039999999	-0.025979411	-0.02492822 0.039999999	-0.025979411	0.02372686 0	-0.025979411	0.02372686 0	0.02237533	
    						-0.02492822 0	-0.025979411	-0.02492822 0	-0.025979411	0.02372686 0	0.02237533	-0.02492822 0	0.02237533	
    					</float_array>
    					<technique_common>
    						<accessor	count="36" source="#ActorShape1_0-Position-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<source	id="ActorShape1_0-Normal">
    					<float_array count="108"	id="ActorShape1_0-Normal-array">
    						-1 0	0	-1 0	0	-1 0	0	-1 0	0	
    						-1 0	0	-1 0	0	0 0	1	0 0	1	
    						0 0	1	0 0	1	0 0	1	0 0	1	
    						1 0	0	1 0	0	1 0	0	1 0	0	
    						1 0	0	1 0	0	0 0	-1	0 0	-1	
    						0 0	-1	0 0	-1	0 0	-1	0 0	-1	
    						0 1	0	0 1	0	0 1	0	0 1	0	
    						0 1	0	0 1	0	0 -1	0	0 -1	0	
    						0 -1	0	0 -1	0	0 -1	0	0 -1	0	
    					</float_array>
    					<technique_common>
    						<accessor	count="36" source="#ActorShape1_0-Normal-array" stride="3">
    							<param name="X"	type="float"/>
    							<param name="Y"	type="float"/>
    							<param name="Z"	type="float"/>
    						</accessor>
    					 </technique_common>
    				 </source>
    				<vertices	id="ActorShape1_0-Vertex">
    					<input semantic="POSITION" source="#ActorShape1_0-Position"/>
    				</vertices>
    				<triangles material="SWMaterial-1" count="12">
    					<input offset="0"	semantic="VERTEX"	source="#ActorShape1_0-Vertex"/>
    					<input offset="0"	semantic="NORMAL"	source="#ActorShape1_0-Normal"/>
     
     
    0 1 2 3 4 5 6 7 8 
    				 9 10 11 12 13 14 15 16 17 
    				 18 19 20 21 22 23 24 25 26 
    				 27 28 29 30 31 32 33 34 35 
    				 </p>
    				</triangles>
    			</mesh>
    		</geometry>
    	</library_geometries>
    	<library_visual_scenes>
    		<visual_scene	id="Scene0-Visual"	name="Scene0-Visual">
    			<node	id="Actor0-Node" name="Actor0" type="NODE">
            <translate>-0.122476481	0.037491828 0.10709627</translate>
            <rotate>-0.31239754 0.316459119	-0.89569068	 45.040027618</rotate>
    			    <instance_geometry url="#ActorShape0_0-Mesh" >
    				 <bind_material>
    				  <technique_common>
    				  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    				  </technique_common>
    				 </bind_material>
    				</instance_geometry>
    			</node>
    			<node	id="Actor1-Node" name="Actor1" type="NODE">
            <translate>-0.001169665	-0.006847781 0.008295055</translate>
            <rotate>1 0	0	 0</rotate>
    			    <instance_geometry url="#ActorShape1_0-Mesh" >
    				 <bind_material>
    				  <technique_common>
    				  <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    				  </technique_common>
    				 </bind_material>
    				</instance_geometry>
    			</node>
    			<node	id="Actor2-Node" name="Actor2" type="NODE">
            <translate>-0.026097884	0.033152219 0.030670384</translate>
            <rotate>1 0	0	 0</rotate>
    			</node>
    			</visual_scene>
    	</library_visual_scenes>
    	<library_physics_materials>
    		<physics_material	id="pmat0_0-PhysicsMaterial"	name="pmat0_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.029999999</dynamic_friction>
    				<restitution>0</restitution>
    				<static_friction>0.029999999</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat1_0-PhysicsMaterial"	name="pmat1_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.100000001</dynamic_friction>
    				<restitution>0.001</restitution>
    				<static_friction>0.100000001</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat2_0-PhysicsMaterial"	name="pmat2_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.200000003</dynamic_friction>
    				<restitution>0.002</restitution>
    				<static_friction>0.200000003</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat3_0-PhysicsMaterial"	name="pmat3_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.300000012</dynamic_friction>
    				<restitution>0.003</restitution>
    				<static_friction>0.300000012</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat4_0-PhysicsMaterial"	name="pmat4_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.400000006</dynamic_friction>
    				<restitution>0.004</restitution>
    				<static_friction>0.400000006</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat5_0-PhysicsMaterial"	name="pmat5_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.5</dynamic_friction>
    				<restitution>0.005</restitution>
    				<static_friction>0.5</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat6_0-PhysicsMaterial"	name="pmat6_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.600000024</dynamic_friction>
    				<restitution>0.006</restitution>
    				<static_friction>0.600000024</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat7_0-PhysicsMaterial"	name="pmat7_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.699999988</dynamic_friction>
    				<restitution>0.007</restitution>
    				<static_friction>0.699999988</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat8_0-PhysicsMaterial"	name="pmat8_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.800000012</dynamic_friction>
    				<restitution>0.008</restitution>
    				<static_friction>0.800000012</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat9_0-PhysicsMaterial"	name="pmat9_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>0.900000036</dynamic_friction>
    				<restitution>0.009</restitution>
    				<static_friction>0.900000036</static_friction>
    			</technique_common>
    		</physics_material>
    		<physics_material	id="pmat10_0-PhysicsMaterial"	name="pmat10_0-PhysicsMaterial">
    			<technique_common>
    				<dynamic_friction>1</dynamic_friction>
    				<restitution>0.01</restitution>
    				<static_friction>1</static_friction>
    			</technique_common>
    		</physics_material>
    	</library_physics_materials>
    	<library_physics_models>
    		<physics_model id="Scene0-PhysicsModel">
    			<rigid_body	sid="Actor0-RigidBody" name="Box-2">
    				<technique_common>
    					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#ConvexMesh_0-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000226166</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#ConvexMesh_1-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000226166</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#ConvexMesh_2-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000226166</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#ConvexMesh_3-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000226166</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#ConvexMesh_4-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-0" target="#SWMaterial-0"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000226166</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					 <dynamic>true</dynamic>
    					 <mass>0.094108149</mass>
    					 <mass_frame>
                <translate>-0.00060068	0.02 -0.00180204</translate>
                <rotate>-0.99999994 -0	-0	 90</rotate>
    					</mass_frame>
    					<inertia>0.01	0.01 0.01</inertia>
    					</technique_common>
    			<extra>
    				<technique profile="PhysX">
    						<wakeUpCounter>0.399999976</wakeUpCounter>
    						<linearDamping>0</linearDamping>
    						<angularDamping>0.050000001</angularDamping>
    						<maxAngularVelocity>12.56637001</maxAngularVelocity>
    						<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
    						<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
    						<solverIterationCount>60</solverIterationCount>
    						<disable_gravity>false</disable_gravity>
    						<kinematic>false</kinematic>
    						<pose_sleep_test>false</pose_sleep_test>
    						<filter_sleep_velocity>false</filter_sleep_velocity>
    					<group>0</group>
    					<disable_collision>false</disable_collision>
    					<disable_response>false</disable_response>
    					<lock_com>true</lock_com>
    				</technique>
    			</extra>
    			 </rigid_body>
    			<rigid_body	sid="Actor1-RigidBody" name="Box-1">
    				<technique_common>
    					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<instance_geometry url="#TriangleMesh_0-Mesh">
    						 <bind_material>
    						  <technique_common>
    						  <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
    						  </technique_common>
    						 </bind_material>
    						</instance_geometry>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000140083</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					<dynamic>false</dynamic>
    					<mass>1</mass>
    					</technique_common>
    			<extra>
    				<technique profile="PhysX">
    					<group>0</group>
    					<disable_collision>false</disable_collision>
    					<disable_response>false</disable_response>
    					<lock_com>true</lock_com>
    				</technique>
    			</extra>
    			 </rigid_body>
    			<rigid_body	sid="Actor2-RigidBody" name="Additional_Actor_0">
    				<technique_common>
    					<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    					<shape>
    					 <density>1</density>
    						<instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
    						<box>
    							<half_extents>0.001 0.001	0.001</half_extents>
    						</box>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					 <extra>
    						 <technique	profile="PhysX">
    							 <group>0</group>
    							 <skinWidth>0.000007</skinWidth>
    							 <disable_collision>false</disable_collision>
    						 </technique>
    					 </extra>
    					 </shape>
    					 <dynamic>true</dynamic>
    					 <mass>0.00000008</mass>
    					 <mass_frame>
                <translate>0	0 0</translate>
                <rotate>1 0	0	 0</rotate>
    					</mass_frame>
    					<inertia>0.01	0.01 0.01</inertia>
    					</technique_common>
    			<extra>
    				<technique profile="PhysX">
    						<wakeUpCounter>0.399999976</wakeUpCounter>
    						<linearDamping>0</linearDamping>
    						<angularDamping>0.050000001</angularDamping>
    						<maxAngularVelocity>12.56637001</maxAngularVelocity>
    						<sleepLinearVelocity>0.150000006</sleepLinearVelocity>
    						<sleepAngularVelocity>0.140000001</sleepAngularVelocity>
    						<solverIterationCount>60</solverIterationCount>
    						<disable_gravity>false</disable_gravity>
    						<kinematic>false</kinematic>
    						<pose_sleep_test>false</pose_sleep_test>
    						<filter_sleep_velocity>false</filter_sleep_velocity>
    					<group>0</group>
    					<disable_collision>true</disable_collision>
    					<disable_response>false</disable_response>
    					<lock_com>true</lock_com>
    				</technique>
    			</extra>
    			 </rigid_body>
    			<rigid_constraint	sid="Joint0-RigidConstraint" name="Distance1_joint_0(Box-2, Additional_Actor_0)">
    				<ref_attachment	rigid_body="Actor0-RigidBody"	name="Box-2">
              <translate>0.02372686	0.040000003 0.022375327</translate>
              <rotate>0.862284482 0.314881593	0.396629661	 189.766220093</rotate>
    				</ref_attachment>
    				<attachment	rigid_body="Actor2-RigidBody"	name="Additional_Actor_0">
              <translate>-0.047894783	0.021138698 0.081969343</translate>
              <rotate>0.966540158 0.032284636	0.254475564	 166.018310547</rotate>
    				</attachment>
    				<technique_common>
    					<enabled>1</enabled>
    					<interpenetrate>true</interpenetrate>
    					<limits>
    						<linear>
    							<min>0	0 0</min>
    							<max>0	0 0</max>
    						 </linear>
    						<swing_cone_and_twist>
    							<min>-INF	-INF -INF</min>
    							<max>INF	INF INF</max>
    						</swing_cone_and_twist>
    					</limits>
    					<spring>
    						<linear>
    							<stiffness>1</stiffness>
    							<damping>0</damping>
    							<target_value>0</target_value>
    						</linear>
    						<angular>
    							<stiffness>1</stiffness>
    							<damping>0</damping>
    							<target_value>0</target_value>
    						</angular>
    					</spring>
    				</technique_common>
    				<extra>
    					<technique profile="PhysX">
    						<projectionMode>NX_JPM_NONE</projectionMode>
    						<projectionDistance>1</projectionDistance>
    					</technique>
    				</extra>
    			</rigid_constraint>
    			<rigid_constraint	sid="Joint1-RigidConstraint" name="Distance1_joint_1(Additional_Actor_0, Box-1)">
    				<ref_attachment	rigid_body="Actor2-RigidBody"	name="Additional_Actor_0">
              <translate>0	0 0</translate>
              <rotate>0.966540158 0.032284636	0.254475564	 166.018310547</rotate>
    				</ref_attachment>
    				<attachment	rigid_body="Actor1-RigidBody"	name="Box-1">
              <translate>-0.02492822	0.039999999 0.02237533</translate>
              <rotate>0.966540158 0.032284636	0.254475564	 166.018310547</rotate>
    				</attachment>
    				<technique_common>
    					<enabled>1</enabled>
    					<interpenetrate>true</interpenetrate>
    					<limits>
    						<linear>
    							<min>0	0 0</min>
    							<max>0	0 0</max>
    						 </linear>
    						<swing_cone_and_twist>
    							<min>-INF	-INF -INF</min>
    							<max>INF	INF INF</max>
    						</swing_cone_and_twist>
    					</limits>
    					<spring>
    						<linear>
    							<stiffness>1</stiffness>
    							<damping>0</damping>
    							<target_value>0</target_value>
    						</linear>
    						<angular>
    							<stiffness>1</stiffness>
    							<damping>0</damping>
    							<target_value>0</target_value>
    						</angular>
    					</spring>
    				</technique_common>
    				<extra>
    					<technique profile="PhysX">
    						<projectionMode>NX_JPM_NONE</projectionMode>
    						<projectionDistance>1</projectionDistance>
    					</technique>
    				</extra>
    			</rigid_constraint>
    		</physics_model>
    		<physics_model id="Scene0-PhysicsInstance">
    			<instance_physics_model	url="#Scene0-PhysicsModel">
    				<instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
    					<technique_common>
    						<angular_velocity>0 0	0</angular_velocity>
    						<velocity>0 0	0</velocity>
    					</technique_common>
    				</instance_rigid_body>
    				<instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
    					<technique_common>
    					</technique_common>
    				</instance_rigid_body>
    				<instance_rigid_body target="#Actor2-Node" body="Actor2-RigidBody">
    					<technique_common>
    						<angular_velocity>0 0	0</angular_velocity>
    						<velocity>0 0	0</velocity>
    					</technique_common>
    				</instance_rigid_body>
    				<instance_rigid_constraint constraint="Joint0-RigidConstraint"/>
    				<instance_rigid_constraint constraint="Joint1-RigidConstraint"/>
    			<extra>
    				<technique profile="PhysX">
    				</technique>
    			</extra>
    			</instance_physics_model>
    		</physics_model>
    	</library_physics_models>
    	<library_physics_scenes>
    		<physics_scene id="SceneInstances-Physics">
    			<instance_physics_model	url="#Scene0-PhysicsInstance"/>
    			<technique_common>
    				<gravity>0	0 0</gravity>
    			</technique_common>
    		</physics_scene>
    	</library_physics_scenes>
    	<scene>
    		<instance_physics_scene	url="#SceneInstances-Physics"/>
    		<instance_visual_scene	url="#Scene0-Visual"/>
    	</scene>
    </COLLADA>

Posting Permissions

  • You may not post new threads
  • You may not post replies
  • You may not post attachments
  • You may not edit your posts
  •