stlib.physics.constraints¶

Templates for external constraints.

Content

`FixedBox`([applyTo, atPositions, name, …])	Constraint a set of degree of freedom to be at a fixed position.
`PartiallyFixedBox`([attachedTo, box, …])	Constraint a set of degree of freedom to be at a fixed position.
`SubTopology`([attachedTo, containerLink, …])	Args:

stlib.physics.constraints.FixedBox¶

stlib.physics.constraints.FixedBox(applyTo=None, atPositions=[-1.0, -1.0, -1.0, 1.0, 1.0, 1.0], name='FixedBox', doVisualization=False, position=None, constraintStrength='1e12', doRecomputeDuringSimulation=False)[source]¶

Constraint a set of degree of freedom to be at a fixed position.

Args:

applyTo (Sofa.Node): Node where the constraint will be applyied

atPosition (vec6f): Specify min/max points of the font.

name (str): Set the name of the FixedBox constraint.

doVisualization (bool): Control whether or not we display the boxes.

Structure:

Node : {
    name : "fixedbox",
    BoxROI,
    RestShapeSpringsFroceField
}

stlib.physics.constraints.PartiallyFixedBox¶

stlib.physics.constraints.PartiallyFixedBox(attachedTo=None, box=[-1.0, -1.0, -1.0, 1.0, 1.0, 1.0], fixedAxis=[1, 1, 1], name='PartiallyFixedBox', drawBoxes=False, fixAll=False, doUpdate=False)[source]¶

Constraint a set of degree of freedom to be at a fixed position.

Args:

attachedTo (Sofa.Node): Node where the constraint will be applyied

box (vec6f): Specify min/max points of the font.

fixedAxis (vec3bool): Specify which axis should be fixed (x,y,z)

name (str): Set the name of the FixedBox constraint.

drawBoxes (bool): Control whether or not we display the boxes.

fixAll (bool): If true will apply the partial fixed to all the points.

doUpdate (bool): If true

Structure:

Node : {
    name : "fixedbox",
    BoxROI,
    PartialFixedConstraint
}

stlib.physics.constraints.SubTopology¶

stlib.physics.constraints.SubTopology(attachedTo=None, containerLink=None, boxRoiLink=None, linkType='tetrahedron', name='modelSubTopo', poissonRatio=0.3, youngModulus=18000)[source]¶

Args:

attachedTo (Sofa.Node): Where the node is created.

containerLink (str): path to container with the dataField to link, ie: ‘@../container.position’

boxRoiLink (str): path to boxRoi with the dataField to link,

linkType (str): indicate of which type is the subTopo,

ei: ‘triangle’ -> TriangleSetTopologyContainer & TriangleFEMForceField

name (str): name of the child node

youngModulus (float): The young modulus.

poissonRatio (float): The poisson parameter.

Structure:

Node : {
    name : "modelSubTopo",
    TetrahedronSetTopologyContainer,
    TetrahedronFEMForceField
}