Qt Quick 3D Physics - Joints Example

 // Copyright (C) 2026 The Qt Company Ltd.
 // SPDX-License-Identifier: LicenseRef-Qt-Commercial OR BSD-3-Clause
 import QtQuick
 import QtQuick3D
 import QtQuick3D.Helpers
 import QtQuick3D.Physics
 import QtQuick3D.Physics.Helpers

 Window {
     width: 640
     height: 480
     visible: true
     title: qsTr("Qt Quick 3D Physics - Joints")

     PhysicsWorld {
         scene: viewport.scene
         running: true
     }

     View3D {
         id: viewport
         anchors.fill: parent

         environment: SceneEnvironment {
             clearColor: "#d6dbdf"
             backgroundMode: SceneEnvironment.Color
         }

         PerspectiveCamera {
             position: Qt.vector3d(0, 600, 700)
             eulerRotation: Qt.vector3d(-30, 0, 0)
             clipFar: 5000
             clipNear: 1
         }

         DirectionalLight {
             eulerRotation.x: -45
             eulerRotation.y: 45
             castsShadow: true
             brightness: 1
             shadowFactor: 50
             shadowMapQuality: Light.ShadowMapQualityHigh
         }

         Rope {
             eulerRotation: Qt.vector3d(0, 0, -90)
             position: Qt.vector3d(0, 500, 0)
         }

         Prismatic {
             id: prismatic
             position: Qt.vector3d(-250, 100, 0)
         }

         Revolute {
             id: revolute
             position: Qt.vector3d(200, 200, 100)
         }

         StaticRigidBody {
             position: Qt.vector3d(0, -100, 0)
             eulerRotation: Qt.vector3d(-90, 0, 0)
             collisionShapes: PlaneShape {}
             Model {
                 source: "#Rectangle"
                 scale: Qt.vector3d(20, 20, 1)
                 materials: PrincipledMaterial {
                     baseColor: "green"
                 }
                 castsShadows: false
                 receivesShadows: true
             }
         }

         FrameAnimation {
             id: animator
             running: true
             onTriggered: {
                 prismatic.jointRotation.z += 1
                 revolute.jointRotation.x += 0.95
             }
         }
     }
 }