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21 lines
990 B
Markdown
21 lines
990 B
Markdown
<h1>
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<a href="#"><img alt="MuJoCo" src="../../banner.png" width="100%"/></a>
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</h1>
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## 弹性插件（Elasticity plugins）
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这些是第一方插件，基于离散连续介质力学模型实现被动力。它们可以应用于 **flexes**（柔性体）和 **bodies**（刚体，通过 **composite** 复合体功能）。示例模型可在[此文件夹](../../model/plugin/elasticity/)中找到。
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### 缆绳（Cable）
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在 [cable.cc](cable.cc) 中实现。
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缆绳插件离散化了一个不可伸长的一维连续介质。它旨在模拟细杆的扭转和弯曲，在这些场景下拉伸形变与其他形变模式相比可以忽略不计。
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参数：
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- `twist` [Pa]：扭转刚度。
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- `bend` [Pa]：弯曲刚度。
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- `flat` [bool]：若为 true，应力平衡构型为直缆状态；若为 false 或未指定，则为 XML 中定义的初始构型。
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- `vmax` [N/m^2]：若大于零，缆绳将根据机械应力着色；该值代表颜色标尺中的最大应力。
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