mpacts.contact.models.misc. rigidbodyconstraints

In order to be able to use this module import it like this:

import mpacts.contact.models.misc.rigidbodyconstraints
#or assign it to a shorter name
import mpacts.contact.models.misc.rigidbodyconstraints as rig

RigidBodyFixedPointMove

Description: RigidBody constraint that allows a kinematic point to follow a master Geometry combinations available:

PC2 | PC1 - any
any YES

RigidBodyFixedPointMove (any any)

RigidBody constraint that allows a kinematic point to follow a master

Parallel Compatible: No

Properties:

  • Required keywords:
    • pc1 — The first particle container in the binary contact detection.
    • pc2 — The second particle container in the binary contact detection. If contact detection within the same particle container is desired, and it is applicable for the contactmodel, pass the same pc to both pc1 and pc2.
    • relative_position — Position of the fixed point in body frame coordinates

This contact model is composed out of following pieces (click on the chain elements to get more information):

DefaultBoilerPlatePoint_2_DataPoint_1_DataPoint_PointRigidBodyFixedPointMoveNoFeedback

RigidBodyFixedPointTranslateForceMoment

Description: RigidBody constraint that translates a force and moment on a fixed point to a corresponding force and moment on the rigidbody. Geometry combinations available:

PC2 | PC1 - any
any YES

RigidBodyFixedPointTranslateForceMoment (any any)

RigidBody constraint that translates a force and moment on a fixed point to a corresponding force and moment on the rigidbody.

Parallel Compatible: No

Properties:

  • Required keywords:
    • pc1 — The first particle container in the binary contact detection.
    • pc2 — The second particle container in the binary contact detection. If contact detection within the same particle container is desired, and it is applicable for the contactmodel, pass the same pc to both pc1 and pc2.

This contact model is composed out of following pieces (click on the chain elements to get more information):

DefaultBoilerPlatePoint_2_DataPoint_1_DataPoint_PointRigidBodyFixedPointTranslateForceMomentNoFeedback

RigidBodyRotationConstraint

Description: RigidBodyRotationConstraint Geometry combinations available:

PC2 | PC1 - any
any YES

RigidBodyRotationConstraint (any any)

RigidBodyRotationConstraint

Parallel Compatible: No

Properties:

  • Required keywords:
    • constraint_axis — axis along which this constraint will act. This axis is relative to the P1, and thus will rotate, when P1 rotates. To constrain in multiple axes add multiple seperate constraints
    • pc1 — The first particle container in the binary contact detection.
    • pc2 — The second particle container in the binary contact detection. If contact detection within the same particle container is desired, and it is applicable for the contactmodel, pass the same pc to both pc1 and pc2.
    • q10 — Initial orientation of p1
    • q20 — Initial orientation of p2
  • Optional keywords:
    • eta (default value = 1) — Critical damping ratio.
    • free_angle (default value = 0) — Optional value that allows a free motion between 0 and this angle Values smaller than this value will cause the constraint to act and limit further rotation. The angle is in radians and with respect to the initial position (angle =0).
    • relaxation_factor (default value = 10) — Determines how ‘soft’ the coupling. Higher values lead to more stable simulations but larger tracking errors, lower values lead to less stable simulations but lower tracking errors. This represents a time since this value is multiplied by the timestep to get a value that can be interpreted as ‘time allowed to correct the error’
  • Read only properties:
    • error — the tracking error of last timestep.

This contact model is composed out of following pieces (click on the chain elements to get more information):

DefaultBoilerPlatePoint_2_DataPoint_1_DataPoint_PointRigidBodyRotationConstraintNoFeedback

RigidBodyTranslationConstraint

Description: RigidBodyTranslationConstraint Geometry combinations available:

PC2 | PC1 - any
any YES

RigidBodyTranslationConstraint (any any)

RigidBodyTranslationConstraint

Parallel Compatible: No

Properties:

  • Required keywords:
    • constraint_axis — axis along which this constraint will act. This axis is relative to the P1, and thus will rotate, when P1 rotates. To constrain in multiple axes add multiple seperate constraints
    • pc1 — The first particle container in the binary contact detection.
    • pc2 — The second particle container in the binary contact detection. If contact detection within the same particle container is desired, and it is applicable for the contactmodel, pass the same pc to both pc1 and pc2.
    • q10 — Initial orientation of p1. This is needed because typically when one expresses constraints in XYZ rotated by the reference frame of P1, what is meant is ‘with respect to the current orientation, rather than the absolute orientation of P1’.
  • Optional keywords:
    • eta (default value = 1) — Critical damping ratio
    • free_movement (default value = 0) — When given the constraint will not act between 0 and this value (or more correctly offset and offset+this value)
    • offset (default value = 0) — distance along constraint axis which is considered as ‘zero error’
    • relaxation_factor (default value = 10) — Determines how ‘soft’ the coupling. Higher values lead to more stable simulations but larger tracking errors, lower values lead to less stable simulations but lower tracking errors. This represents a time since this value is multiplied by the timestep to get a value that can be interpreted as ‘time allowed to correct the error’
  • Read only properties:
    • error — the tracking error of last timestep.

This contact model is composed out of following pieces (click on the chain elements to get more information):

DefaultBoilerPlatePoint_2_DataPoint_1_DataPoint_PointRigidBodyTranslationConstraintAssembleForcesNoFeedback