Alessio Quaglino
4998e7b392
PiperOrigin-RevId: 676434954 Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
33 lines
1.5 KiB
Markdown
33 lines
1.5 KiB
Markdown
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<a href="#"><img alt="MuJoCo" src="../../banner.png" width="100%"/></a>
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</h1>
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## Elasticity plugins
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These are first-party plugins that implement passive forces based on discretized continuum mechanics models. They can be applied to **flexes** and **bodies** (via the **composite** functionality). Sample models can be found in [this folder](../../model/plugin/elasticity/).
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### Cable
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Implemented in [cable.cc](cable.cc).
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The cable plugin discretizes an inextensible 1D continuum. It is intended to simulate the twist and bending of rods where the stretching in negligible compared to the other deformation modes.
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Parameters:
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- `twist` [Pa]: twisting stiffness.
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- `bend` [Pa]: bending stiffness.
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- `flat` [bool]: if true, the stress-equilibrium configuration is that of a straight cable; if false or unspecified, it is the configuration defined in the XML.
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- `vmax` [N/m^2]: If greater than zero, the cable is colored using mechanical stresses; the value represent the maximum stress in the color scale.
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### Shell
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Implemented in [shell.cc](shell.cc).
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The shell plugin discretizes an inextensible 2D continuum. It is intended to simulate the bending of plates where the stretching is negligible compared to other deformation modes.
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Parameters:
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- `young` [Pa]: Young's modulus.
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- `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
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- `thickness` [m]: shell thickness, used to scale the bending stiffness.
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