[SOLVED] Problem with LinearMovementConstraint

[SrNaranja]

Hi @Hugo and everyone!

I am trying to simulate the gallop of an animal. For which I have created in the SOFA scenario a beam representing the backbone and the two parts of the leg.

I want to put an actuator in the first part of the leg, called “Hip”. So I have created a LinearMovementConstraint with a rotation from clockwise to anti-clockwise direction.

But the problem is when I put this LinearMovementConstraint, the second part of the leg, called “Leg” it disconnects from the first part and falls.

I don’t know if there is a solution to connect the two parts and put the LinearMovementConstraint, because without the LinearMovementConstraint, both parts are connected successfully with the BilateralInteractionConstraint.

Here you have the entire Github repository:

https://github.com/jruro/SOFA_Beam.git

The file with the two parts connected is called

beam_code2_1.9

and the file with the problem I am talking about is called

beam_code2_2.1

.

Thank you so much for help and I wait your answers,

Juan.

[SrNaranja]

Hi @Hugo and everyone!

That problem was solved, but I have another problem with the connection between the horizontal beam and the first part of the leg, called “Hip” in the code.

The problem is that when I put the PartialLinearMovementConstraint inside the Hip node, during the movement, the “Hip” is disconnected from the beam, and then when the movements finish, it reconnects.

The correct implementation of the movement should be the Hip rotating but connected with the beam.

The code of the scene is in the next Github link:

https://github.com/jruro/SOFA_Beam.git

The scene is called beam_code2_2.1.scn

Thank you so much for help and I wait your answers,

Juan.

[Author]

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