#include <JointSpring.h>
JOINTSPRING. More...
JOINTSPRING.
Public Attributes | |
| sofa::Index | m1 |
| Attributes. More... | |
| sofa::Index | m2 |
| the two extremities of the spring: masses m1 and m2 More... | |
| Real | kd |
| damping factor More... | |
| Vector | torsion |
| torsion of the springs in axis/angle format More... | |
| Vector | lawfulTorsion |
| projected torsion in allowed angles More... | |
| Vector | KT |
| linear stiffness More... | |
| Vector | KR |
| angular stiffness More... | |
| type::Quat< SReal > | ref |
| referential of the spring (p1) to use it in addSpringDForce() More... | |
| Vector | initTrans |
| offset length of the spring More... | |
| type::Quat< SReal > | initRot |
| offset orientation of the spring More... | |
| sofa::type::Vec< 6, bool > | freeMovements |
| defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis More... | |
| Real | softStiffnessTrans |
| stiffness to apply on axis where the translations are free (default 0.0) More... | |
| Real | hardStiffnessTrans |
| stiffness to apply on axis where the translations are forbidden (default 10000.0) More... | |
| Real | softStiffnessRot |
| stiffness to apply on axis where the rotations are free (default 0.0) More... | |
| Real | hardStiffnessRot |
| stiffness to apply on axis where the rotations are forbidden (default 10000.0) More... | |
| Real | blocStiffnessRot |
| stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100) More... | |
| bool | needToInitializeTrans |
| bool | needToInitializeRot |
| sofa::type::Vec< 6, Real > | limitAngles |
| limit angles on rotation axis (default no limit) More... | |
Friends | |
| std::istream & | operator>> (std::istream &in, JointSpring< DataTypes > &s) |
| std::ostream & | operator<< (std::ostream &out, const JointSpring< DataTypes > &s) |
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::blocStiffnessRot |
stiffness to apply on axis where the rotations are bloqued (=hardStiffnessRot/100)
| sofa::type::Vec<6,bool> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::freeMovements |
defines the axis where the movements is free. (0,1,2)--> translation axis (3,4,5)-->rotation axis
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessRot |
stiffness to apply on axis where the rotations are forbidden (default 10000.0)
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::hardStiffnessTrans |
stiffness to apply on axis where the translations are forbidden (default 10000.0)
| type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initRot |
offset orientation of the spring
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::initTrans |
offset length of the spring
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::kd |
damping factor
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KR |
angular stiffness
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::KT |
linear stiffness
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::lawfulTorsion |
projected torsion in allowed angles
| sofa::type::Vec<6,Real> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::limitAngles |
limit angles on rotation axis (default no limit)
| sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m1 |
Attributes.
| sofa::Index sofa::component::solidmechanics::spring::JointSpring< DataTypes >::m2 |
the two extremities of the spring: masses m1 and m2
| bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeRot |
| bool sofa::component::solidmechanics::spring::JointSpring< DataTypes >::needToInitializeTrans |
| type::Quat<SReal> sofa::component::solidmechanics::spring::JointSpring< DataTypes >::ref |
referential of the spring (p1) to use it in addSpringDForce()
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessRot |
stiffness to apply on axis where the rotations are free (default 0.0)
| Real sofa::component::solidmechanics::spring::JointSpring< DataTypes >::softStiffnessTrans |
stiffness to apply on axis where the translations are free (default 0.0)
| Vector sofa::component::solidmechanics::spring::JointSpring< DataTypes >::torsion |
torsion of the springs in axis/angle format
| sofa::component::solidmechanics::spring::JointSpring< DataTypes >::JointSpring | ( | sofa::Index | m1 = 0, |
| sofa::Index | m2 = 0, |
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| Real | softKst = 0, |
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| Real | hardKst = 10000, |
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| Real | softKsr = 0, |
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| Real | hardKsr = 10000, |
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| Real | blocKsr = 100, |
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| Real | axmin = -100000, |
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| Real | axmax = 100000, |
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| Real | aymin = -100000, |
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| Real | aymax = 100000, |
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| Real | azmin = -100000, |
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| Real | azmax = 100000, |
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| Real | kd = 0 |
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Affectors.
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