<xs:group name="RigidBodyCollectionContentModel">
    <xs:annotation>
        <xs:appinfo>RigidBodyCollectionContentModel can contain RigidBody nodes as a bodies field, plus X3DRigidJointNode nodes as a joints field, plus a CollisionCollection node as a collider field.
			</xs:appinfo>
        <xs:documentation />
    </xs:annotation>
    <!-- TODO:  incomplete -->
    <xs:choice>
        <xs:sequence>
            <xs:element ref="CollisionCollection">
                <xs:annotation>
                    <xs:documentation>collider</xs:documentation>
                </xs:annotation>
            </xs:element>
            <xs:choice>
                <xs:sequence minOccurs="0">
                    <xs:choice maxOccurs="unbounded">
                        <xs:element ref="RigidBody">
                            <xs:annotation>
                                <xs:documentation>bodies</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                    </xs:choice>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:annotation>
                            <xs:documentation>joints</xs:documentation>
                        </xs:annotation>
                        <xs:element ref="BallJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="DoubleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="MotorJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SingleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SliderJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="UniversalJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
                <xs:sequence minOccurs="0">
                    <xs:choice maxOccurs="unbounded">
                        <xs:annotation>
                            <xs:documentation>joints</xs:documentation>
                        </xs:annotation>
                        <xs:element ref="BallJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="DoubleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="MotorJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SingleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SliderJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="UniversalJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                    </xs:choice>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:element ref="RigidBody">
                            <xs:annotation>
                                <xs:documentation>bodies</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
            </xs:choice>
        </xs:sequence>
        <xs:sequence>
            <xs:choice maxOccurs="unbounded">
                <xs:element ref="RigidBody">
                    <xs:annotation>
                        <xs:documentation>bodies</xs:documentation>
                    </xs:annotation>
                </xs:element>
            </xs:choice>
            <xs:choice>
                <xs:sequence minOccurs="0">
                    <xs:element ref="CollisionCollection">
                        <xs:annotation>
                            <xs:documentation>collider</xs:documentation>
                        </xs:annotation>
                    </xs:element>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:annotation>
                            <xs:documentation>joints</xs:documentation>
                        </xs:annotation>
                        <xs:element ref="BallJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="DoubleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="MotorJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SingleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SliderJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="UniversalJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
                <xs:sequence minOccurs="0">
                    <xs:choice maxOccurs="unbounded">
                        <xs:annotation>
                            <xs:documentation>joints</xs:documentation>
                        </xs:annotation>
                        <xs:element ref="BallJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="DoubleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="MotorJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SingleAxisHingeJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="SliderJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="UniversalJoint">
                            <xs:annotation>
                                <xs:documentation>massDensityModel</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                    </xs:choice>
                    <xs:element ref="CollisionCollection" minOccurs="0">
                        <xs:annotation>
                            <xs:documentation>collider</xs:documentation>
                        </xs:annotation>
                    </xs:element>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
            </xs:choice>
        </xs:sequence>
        <xs:sequence>
            <xs:choice maxOccurs="unbounded">
                <xs:annotation>
                    <xs:documentation>joints</xs:documentation>
                </xs:annotation>
                <xs:element ref="BallJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
                <xs:element ref="DoubleAxisHingeJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
                <xs:element ref="MotorJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
                <xs:element ref="SingleAxisHingeJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
                <xs:element ref="SliderJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
                <xs:element ref="UniversalJoint">
                    <xs:annotation>
                        <xs:documentation>massDensityModel</xs:documentation>
                    </xs:annotation>
                </xs:element>
            </xs:choice>
            <xs:choice>
                <xs:sequence minOccurs="0">
                    <xs:element ref="CollisionCollection">
                        <xs:annotation>
                            <xs:documentation>collider</xs:documentation>
                        </xs:annotation>
                    </xs:element>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:element ref="RigidBody">
                            <xs:annotation>
                                <xs:documentation>bodies</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
                <xs:sequence minOccurs="0">
                    <xs:choice maxOccurs="unbounded">
                        <xs:element ref="RigidBody">
                            <xs:annotation>
                                <xs:documentation>bodies</xs:documentation>
                            </xs:annotation>
                        </xs:element>
                    </xs:choice>
                    <xs:element ref="CollisionCollection" minOccurs="0">
                        <xs:annotation>
                            <xs:documentation>collider</xs:documentation>
                        </xs:annotation>
                    </xs:element>
                    <xs:choice minOccurs="0" maxOccurs="unbounded">
                        <xs:element ref="ProtoInstance" />
                    </xs:choice>
                </xs:sequence>
            </xs:choice>
        </xs:sequence>
    </xs:choice>
</xs:group>