Khronos Blog opencollada-rigid_constraint_xml.png

      <rigid_constraint sid="pCylinder1Constraint1" name="pCylinder1Constraint1">
        <ref_attachment rigid_body="">
          <translate sid="translate">39.0505 28 0</translate>
          <rotate sid="rotateZ">0 0 1 -167.4119</rotate>
          <rotate sid="rotateX">1 0 0 -90</rotate>
        </ref_attachment>
        <attachment rigid_body="./pCylinder1RigidBody1">
          <translate sid="translate">8 4.35484e-5 -3.37174e-7</translate>
          <rotate sid="rotateZ">0 0 1 -180</rotate>
          <rotate sid="rotateX">1 0 0 90</rotate>
        </attachment>
        <technique_common>
          <interpenetrate>0</interpenetrate>
          <limits>
            <swing_cone_and_twist>
              <min>-90.00021 0 -INF</min>
              <max>90.00021 0 INF</max>
            </swing_cone_and_twist>
          </limits>
          <spring>
            <angular>
              <stiffness>0</stiffness>
            </angular>
            <linear>
              <stiffness>0</stiffness>
            </linear>
          </spring>
        </technique_common>
        <extra>
          <technique profile="PhysX_3.x" xmlns:px="http://www.collada.org/2016/08/COLLADAPhysX3Schema" xsi:schemaLocation="http://www.collada.org/2016/08/COLLADAPhysX3Schema http://www.collada.org/2016/08/COLLADAPhysX3Schema.xsd">
            <px:px_d6joint>
              <px:local_pose0>-0.0775209 0.702845 -0.702845 0.0775209 39.0505 28 0 </px:local_pose0>
              <px:local_pose1>0 0.707107 0.707107 0 8 0 0 </px:local_pose1>
              <px:break_force>3.40282e36</px:break_force>
              <px:break_torque>3.40282e34</px:break_torque>
              <px:constraint_flags>COLLISION_ENABLED</px:constraint_flags>
              <px:projection_angular_tolerance>179.9998</px:projection_angular_tolerance>
              <px:limits_extra>
                <px:linear_extra>
                  <px:contact_distance>0.01</px:contact_distance>
                </px:linear_extra>
                <px:swing_cone_and_twist_extra>
                  <px:restitution>0.4 0</px:restitution>
                  <px:bounce_threshold>0.5 0.5</px:bounce_threshold>
                  <px:contact_distance>0.0785398 0.1</px:contact_distance>
                </px:swing_cone_and_twist_extra>
              </px:limits_extra>
              <px:spring_extra>
                <px:angular_extra>
                  <px:stiffness>0</px:stiffness>
                </px:angular_extra>
              </px:spring_extra>
              <px:drive>
                <px:linear_x>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_x>
                <px:linear_y>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_y>
                <px:linear_z>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.5</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:linear_z>
                <px:swing>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.523599</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:swing>
                <px:twist>
                  <px:stiffness>0</px:stiffness>
                  <px:damping>0.523599</px:damping>
                  <px:force_limit>3.40282e38</px:force_limit>
                  <px:drive_flags>ACCELERATION</px:drive_flags>
                </px:twist>
                <px:slerp>
                  <px:stiffness>0</px:stiffness>
                  <px:force_limit>0</px:force_limit>
                </px:slerp>
              </px:drive>
            </px:px_d6joint>
          </technique>
        </extra>
      </rigid_constraint>