Revision control
++ // Copyright (C) 2026 The Qt Company Ltd.
++ // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
++ import QtQuick
++ import QtQuick3D
++ import QtQuick3D.Physics
++
++ //! [full]
++ Node {
++ id: root
++
++ DynamicRigidBody {
++ id: baseStand
++ position: Qt.vector3d(0, 0, 0)
++
++ collisionShapes: BoxShape {
++ extents: Qt.vector3d(50, 10, 50)
++ }
++
++ Model {
++ source: "#Cube"
++ scale: Qt.vector3d(0.50, 0.10, 0.50)
++
++ materials: PrincipledMaterial {
++ baseColor: "darkslategray"
++ }
++ }
++ }
++
++ DynamicRigidBody {
++ id: floatingSphere
++ position: Qt.vector3d(0, 102.5, 0)
++
++ collisionShapes: SphereShape {
++ diameter: 20
++ }
++
++ Model {
++ source: "#Sphere"
++ // scale: Qt.vector3d(0.2, 0.2, 0.2)
++ materials: PrincipledMaterial {
++ baseColor: "cornflowerblue"
++ roughness: 0.2
++ }
++ }
++ }
++
++ // D6 Joint acting as a soft spring wire
++ D6Joint {
++ bodyA: baseStand
++ bodyB: floatingSphere
++
++ positionA: Qt.vector3d(0, 2.5, 0)
++ positionB: Qt.vector3d(0, -100, 0)
++
++ xMotion: D6Joint.Locked
++ yMotion: D6Joint.Locked
++ zMotion: D6Joint.Locked
++
++ // Allow omnidirectional rotation
++ twistMotion: D6Joint.Limited
++ swingMotionY: D6Joint.Limited
++ swingMotionZ: D6Joint.Limited
++
++ twistLimitLower: -0.07 // ~-4 degrees in radians
++ twistLimitUpper: 0.07 // ~+4 degrees in radians
++ swingLimitAngleY: 0.087 // ~5 degrees in radians
++ swingLimitAngleZ: 0.087 // ~5 degrees in radians
++
++ angularStiffness: 2550000.0
++ angularDamping: 2500.0
++ }
++ }
++ //! [full]