Home › Forum › SOFA › Using SOFA › Simulate pivot liaison using RigidMapping and ArticulatedSystem
Tagged: 64_bits, SOFA_2006, Windows_10
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epernod.
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25 May 2020 at 19:14 #16373
epernod
BlockedHi,
I’m new in using… rigid bodies and I don’t know how to create the behavior I want.
Basically I have a rigid linear tool, it’s position is mapped on the 2nd dof but it should go through the 1st dof. Like a pivot and joint ball liaison. See picture of the motion:
But when my tool start colliding with for example a rigid floor, the collision model is not anymore mapped through the 1st dof.
I’m using a basic rigid mapping toward the collision model and a articulated system mapping to constraint the motion. Should I use a rigidrigid mapping here to change the center of mass?
<Node name="Grasper" > <EulerImplicitSolver name="cg odesolver" printLog="false" rayleighStiffness="0.1" rayleighMass="0.1" /> <CGLinearSolver iterations="100" name="linear solver" threshold="1e-20" tolerance="1e-20" /> <MechanicalObject name="Articulations" template="Vec1d" position="0 0 0 0 0 0" /> <Node name="model"> <MechanicalObject name="instrumentState" template="Rigid3d" position="@../Device.position"/> <RestShapeSpringsForceField points="0 1 2 3 4 5" stiffness='1000000000000' angularStiffness='1000000000000' external_rest_shape='@../../Instrument/GrasperDOFs' /> <UncoupledConstraintCorrection/> <UniformMass name="mass" totalMass="100.0" /> <ArticulatedSystemMapping input1="@../Articulations" output="@instrumentState" /> <Node name="Shaft_collision" tags="toolCollision"> <MeshObjLoader filename="./mesh/grasper_shaft_collision.obj" name="loader"/> <MeshTopology src="@loader" name="InstrumentCollisionModel" /> <MechanicalObject src="@loader" name="instrumentCollisionState" ry="0" rz="0" dy="0" tags="toolPosition"/> <SphereCollisionModel name="instrumentPoint" radius="0.2" group="0" /> <LineCollisionModel group="0"/> <TriangleCollisionModel group="0"/> <RigidMapping name="MM->CM mapping" input="@.." output="@instrumentCollisionState" index="1"/> </Node> </Node> <ArticulatedHierarchyContainer /> <Node name="articulationCenters"> <Node name="articulationCenter1"> <ArticulationCenter parentIndex="0" childIndex="1" posOnParent="0 0 0" posOnChild="0 0 0" /> <Node name="articulations"> <Articulation translation="1" rotation="0" rotationAxis="0 1 0" articulationIndex="0" /> </Node> </Node> </Node> </Node>
Any idea is welcomed. thanks for your help!
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