[SOLVED] Quasi-static simulation, without dynamics

Hello,

sorry for my late reply. I admit I do not understand your question completely.

First, for moving an object in small steps, you can use a controller or a constraint. Either you can implement one of those components in Python (controller) or C++ (constraint), or you can employ an existing one, such as LinearMovementConstraint or MechanicalStateController (see the scenes with these names in examples).

As for the quasi-static simulation itself, it’s a bit more tricky, since by default we are using the EulerImplicit integration, which is a dynamic integrator. Nonetheless, it can be used either as a second-order (the default option) or a first-order integrator. In the latter case, it is basically a quasi-static simulation (up to a factor of dt). However, according to your question it looks like if you preferred switching to “full dynamics” as soon as a contact appear. At this moment, we do not have such a functionality in SOFA (switching between quasi-statics and dynamics during the simulation).

Perhaps I did not get completely what you mean. 🙂 Do not hesitate to clarify your question; I’ll be happy to answer.