- Planar joint (two translational states, one rotational)
- Free motion joint (six degrees of freedom)
- Playback speed setting
- Approximate size setting
The first two are what I'll call the motion joints, used for rigid body motions with both translation and rotation. I used the free motion joint to generate the flying box at the right, similar to the spinning box example I posted previously, but now with 3-D translational dynamics. With quaternions!
The second two are tied to the visualization, but not to the model itself. Playback speed will allow you to slow down or speed up the animation, and approximate size dictates the size of fonts, thickness of lines, etc.