[x3d-public] defining maxCorrectionSpeed in X3D RigidBodyCollection node

[Don Brutzman]

There is an omission in the specification for RigidBodyCollection, the field maxErrorCorrectionSpeed is undefined (first reported in 2009, ouch).

This is recorded as Mantis issue 407.

* https://www.web3d.org/member-only/mantis/view.php?id=407

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37.4.11 RigidBodyCollection
https://www.web3d.org/specifications/X3Dv4Draft/ISO-IEC19775-1v4-CD/Part01/components/rigidBodyPhysics.html#RigidBodyCollection

RigidBodyCollection : X3DChildNode {
MFNode  [in]     set_contacts                     [Contact]
SFBool  [in,out] autoDisable             FALSE
MFNode  [in,out] bodies                  []       [RigidBody]
SFFloat [in,out] constantForceMix        0.0001   [0,∞)
SFFloat [in,out] contactSurfaceThickness 0        [0,∞)
SFFloat [in,out] disableAngularSpeed     0        [0,∞)
SFFloat [in,out] disableLinearSpeed      0        [0,∞)
   SFTime  [in,out] disableTime             0       [0,∞)
SFBool  [in,out] enabled                 TRUE
SFFloat [in,out] errorCorrection         0.8      [0,1]
SFVec3f [in,out] gravity                 0 -9.8 0
SFInt32 [in,out] iterations              10	    [0,∞)
MFNode  [in,out] joints                  []       [X3DRigidJointNode]
SFFloat [in,out] maxCorrectionSpeed      -1       [0,∞) or -1
SFNode  [in,out] metadata                NULL     [X3DMetadataObject]
SFBool  [in,out] preferAccuracy          FALSE
SFNode  []       collider                NULL     [CollisionCollection]
}
==================================

Related field:
"The /errorCorrection/ field describes how quickly the system should resolve intersection errors due to floating point inaccuracies. This value ranges between 0 and 1. A value of 0 means no correction at all while a value of 1 indicates that all errors should be corrected in a single step."

Suggested definition, please improve if possible:

"The /maxCorrectionSpeed/ field limits the amount of /errorCorrection/ that can be applied using an absolute value of speed.  A value of -1 indicates that no speed limitation exists, while a value of 0 indicates that no corrections are allowed."

Thanks for all scrutiny, comments and improvements.

all the best, Don
-- 
Don Brutzman  Naval Postgraduate School, Code USW/Br       brutzman at nps.edu
Watkins 270,  MOVES Institute, Monterey CA 93943-5000 USA   +1.831.656.2149
X3D graphics, virtual worlds, navy robotics http://faculty.nps.edu/brutzman