UnilateralPlaneConstraint

In this scene we demonstrate how to use the UnilateralPlaneConstraint component. This component is a simple point plane collision model. By providing 4 points to the component, the first point will be constrained to stay in one side of the plane described by the three other points (in the direction of the plane normal). All the four points, the triangle and the normal can be seen by allowing the "Collision Model" in the "View" tab.


This scene simulates a tentacle articulated with a cable. The cable is controlled by a python script controller: At each time step the controller increases the displacement of the cable of 0.5mm. The "UnilateralPlaneConstraint" is use to set a simple collision model in the articulations.


More description can be found at: https://project.inria.fr/softrobot/documentation/constraint/UnilateralPlaneConstraint