A rigid body (perfectly rigid) is an undeformable body. Because its undeformable property, a rigid body composed a set of particles ensures that the distance of any pair of points and the angle of any pair of vectors remains constant in relation to time. Rigid bodies in SOFA are presented by different models (Visual Model, Collision Model, Behaviour Model) ensuring their appropriate task. These models are related by a mapping (rigid mapping in this case).
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Behavior Model |
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Visual Model |
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Behavior-Colision |
DeformableOnRigidFrameMapping, IdentityMapping, SkinningMapping.