SurfacePressureConstraint
This component constrains a model by applying pressure on surfaces (for exemple cavities)
Vec3d
Templates:
- Vec3d
Target: SoftRobots
namespace: softrobots::constraint
parents:
- SurfacePressureModel
Data
| Name | Description | Default value |
|---|---|---|
| name | object name | unnamed |
| printLog | if true, emits extra messages at runtime. | 0 |
| tags | list of the subsets the objet belongs to | |
| bbox | this object bounding box | |
| componentState | The state of the component among (Dirty, Valid, Undefined, Loading, Invalid). | Undefined |
| listening | if true, handle the events, otherwise ignore the events | 0 |
| group | ID of the group containing this constraint. This ID is used to specify which constraints are solved by which solver, by specifying in each solver which groups of constraints it should handle. | 0 |
| constraintIndex | Constraint index (first index in the right hand term resolution vector) | 0 |
| endTime | The SoftRobotsConstraint stops acting after the given value. Use a negative value for infinite SoftRobotsConstraints | -1 |
| triangles | List of triangles on which the surface pressure is applied. If no list is given, the component will fill the two lists with the context topology. | |
| quads | List of quads on which the surface pressure is applied. If no list is given, the component will fill the two lists with the context topology. | |
| initialCavityVolume | Output volume of the cavity at init (only relevant in case of closed mesh) | |
| cavityVolume | Output volume of the cavity (only relevant in case of closed mesh) | 1 |
| flipNormal | Allows to invert cavity faces orientation. If a positive pressure acts like a depressurization, try to set flipNormal to true. | 0 |
| maxPressure | Maximum pressure allowed for actuation. If no value is set by user, no maximum pressure constraint will be considered. | |
| minPressure | Minimum pressure allowed for actuation. If no value is set by user, no minimum pressure constraint will be considered. A negative pressure will empty/drain the cavity. | |
| eqPressure | Equality constraint for the pressure. Solver will try to maintain the pressure at this value. If unspecified, no equality constraint will be considered. | 0 |
| maxPressureVariation | Maximum pressure variation allowed for actuation. If no value is set by user, no maximum will be considered. | |
| maxVolumeGrowth | Maximum volume growth allowed for actuation. If no value is set by user, no maximum will be considered. NB: this value has a dependancy with the time step (volume/dt) in the dynamic case. | |
| minVolumeGrowth | Minimum volume growth allowed for actuation. If no value is set by user, no minimum will be considered. NB: this value has a dependancy with the time step (volume/dt) in the dynamic case. | |
| eqVolumeGrowth | Equality constraint for the volume growth. Solver will try to maintain the volume growth at this value. If unspecified, no equality constraint will be considered. | 0 |
| maxVolumeGrowthVariation | Maximum volume growth variation allowed for actuation. If no value is set by user, no maximum will be considered. NB: this value has a dependancy with the time step (volume/dt) in the dynamic case. | |
| value | List of choices for volume growth or pressure to impose. | |
| valueIndex | Index of the value (in InputValue vector) that we want to impose If unspecified the default value is {0} | 0 |
| valueType | volumeGrowth = the constraint will impose the volume growth provided in data value[valueIndex] pressure = the constraint will impose the pressure provided in data value[valueIndex] If unspecified, the default value is pressure | pressure |
| Vector | ||
| pressure | Output pressure. Warning: to get the actual pressure you should divide this value by dt. | 0 |
| volumeGrowth | Output volume growth. | 0 |
| Visualization | ||
| drawPressure | Visualization of the value of pressure. If unspecified, the default value is {false} | 0 |
| drawScale | Scale for visualization. If unspecified the default value is {0.1} | 0.1 |
Links
| Name | Description | Destination type name |
|---|---|---|
| context | Graph Node containing this object (or BaseContext::getDefault() if no graph is used) | BaseContext |
| slaves | Sub-objects used internally by this object | BaseObject |
| master | nullptr for regular objects, or master object for which this object is one sub-objects | BaseObject |