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++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
++ import QtQuick
++ import QtQuick3D
++ import QtQuick3D.Physics
++ import QtQuick3D.Physics.Helpers
++
++ //! [full]
++ Node {
++ id: root
++ property vector3d jointRotation : Qt.vector3d(0, 0, 90)
++
++ PrismaticJoint {
++ bodyA: prismaticBoxA
++ bodyB: prismaticBoxB
++ lowerLimit: -200
++ upperLimit: 0
++ positionA: Qt.vector3d(100, 0, 0)
++ positionB: Qt.vector3d(-100, 0, 0)
++ }
++
++ DynamicRigidBody {
++ id: prismaticBoxA
++ position: Qt.vector3d(0, 200, 0)
++ eulerRotation: root.jointRotation
++ kinematicPosition: Qt.vector3d(0, 200, 0)
++ kinematicEulerRotation: root.jointRotation
++ isKinematic: true
++ scale: Qt.vector3d(2, 0.5, 0.5)
++ collisionShapes: BoxShape {}
++ Model {
++ source: "#Cube"
++ materials: PrincipledMaterial {
++ baseColor: "yellow"
++ }
++ }
++ }
++
++ DynamicRigidBody {
++ id: prismaticBoxB
++ position: Qt.vector3d(200 * Math.cos(root.jointRotation.z * Math.PI / 180),
++ 200 + 200 * Math.sin(root.jointRotation.z * Math.PI / 180),
++ 0)
++ eulerRotation: root.jointRotation
++ scale: Qt.vector3d(2, 0.4, 0.4)
++ collisionShapes: BoxShape {}
++ Model {
++ source: "#Cube"
++ materials: PrincipledMaterial {
++ baseColor: "blue"
++ }
++ }
++ }
++ }
++ //! [full]