Universal

Universal is Mate:
    with Physics.Signals.AngleOutputTrait
    with Physics.Signals.AngularVelocity1DOutputTrait
    with Physics3D.Signals.Force3DOutputTrait
    with Physics3D.Signals.Torque3DOutputTrait
    .doc: """
    A universal 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 of the
    angle around main is depending on the current normal and cross angles.
    """
    # 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.DefaultUniversalDissipation
    flexibility becomes Physics3D.Interactions.Flexibility.DefaultUniversalFlexibility
    toughness becomes Physics3D.Interactions.Toughness.DefaultUniversalToughness

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

    normal_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