ConstantVelocity

ConstantVelocity is Mate:
    with Physics.Signals.AngleOutputTrait
    with Physics.Signals.AngularVelocity1DOutputTrait
    with Physics3D.Signals.Force3DOutputTrait
    with Physics3D.Signals.Torque3DOutputTrait
    .doc: """
    A constant velocity mate which constrains four degrees of freedom between two bodies.
    Two rotational degrees of freedom are left unconstrained -
    rotation around normal and cross.
    When rotating one body around main, the constrained degree of freedom will keep the
    rotatation constant around their local main axes.
    """
    # SNAP will try to reposition connected body according to the initial angles
    # around normal and cross.
    initial_normal_angle is Real: 0.0
    initial_cross_angle is Real: 0.0

    dissipation becomes Physics3D.Interactions.Dissipation.DefaultConstantVelocityDissipation
    flexibility becomes Physics3D.Interactions.Flexibility.DefaultConstantVelocityFlexibility
    toughness becomes Physics3D.Interactions.Toughness.DefaultConstantVelocityToughness


    normal_angle_output is Physics.Signals.AngleOutput:
        enabled: false
        source: this

    cross_angle_output is Physics.Signals.AngleOutput:
        enabled: false
        source: this

    torque_output is Physics3D.Signals.Torque3DOutput:
        source: this
        enabled: false

    force_output is Physics3D.Signals.Force3DOutput:
        source: this
        enabled: false