Physics3D/Bodies/RigidBody.openplx
RigidBody

RigidBody is Physics3D.Bodies.Body:
  with Physics3D.Signals.LinearVelocity3DInputTrait
  with Physics3D.Signals.AngularVelocity3DInputTrait
  with Physics3D.Signals.LinearVelocity3DOutputTrait
  with Physics3D.Signals.AngularVelocity3DOutputTrait
  with Physics3D.Signals.Position3DOutputTrait
  with Physics3D.Signals.RPYOutputTrait
  .doc: """
By default, all bodies follow the laws of dynamics.
To create exceptions, you must set the is_dynamic boolean attribute to false.
When set to false, the body is considered kinematically controlled
their motion is defined by explicit velocities specified in the kinematics attribute of the body.
is_dynamic - indicates wheather the rigid body is dynamic.
            The rigid body is expected to be kinematically controlled if set to false.
"""
  inertia becomes Physics3D.Bodies.Inertia
  kinematics becomes Physics3D.Bodies.RigidBodyKinematics
  is_dynamic is Bool: true

  linear_velocity_world_output is Physics3D.Signals.LinearVelocity3DOutput:
    source: this
    enabled: false
  angular_velocity_world_output is Physics3D.Signals.AngularVelocity3DOutput:
    source: this
    enabled: false

  linear_velocity_world_input is Physics3D.Signals.LinearVelocity3DInput:
    source: this
  angular_velocity_world_input is Physics3D.Signals.AngularVelocity3DInput:
    source: this

  position_output is Physics3D.Signals.Position3DOutput:
    source: this
    enabled: false

  rpy_output is Physics3D.Signals.RPYOutput:
    source: this
    enabled: false