LIBRARY

SpringShape

Spring coil shape primitive for 3D rendering.

This component extends from Shape

Usage

MultibodyComponents.SpringShape(render=true, color=[0.5, 0.5, 0.5, 1.0], specular_coefficient=0.7, num_windings=6, N=200, end_ratio=0.1)

Parameters:

Name	Description	Units	Default value
render	Whether this shape should be rendered	–	true
color	RGBA color of the shape	–	[0.5, 0.5, 0.5, 1]
specular_coefficient	Specular reflection coefficient (0 = fully diffuse)	–	0.7
num_windings		–	6
N		–	200
end_ratio		–	0.1

Variables

Name	Description	Units
r	3D position of the shape origin in world frame	–
R	3D rotation matrix (orientation) of the shape in world frame	–
r_shape	Offset from r to shape origin, resolved in shape frame	–
length_direction	Primary axis direction (unit vector, resolved in shape frame)	–
width_direction	Secondary axis direction (unit vector, resolved in shape frame)	–
length	Dimension along length_direction	–
width	Dimension along width_direction	–
height	Dimension perpendicular to both length and width	–

Behavior

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Source

"Spring coil shape primitive for 3D rendering."
component SpringShape
  extends Shape
  # Number of coil windings
  parameter num_windings::Real = 6
  # Number of points used to render each winding
  parameter N::Integer = 200
  # Fraction of total length used for tapered ends
  parameter end_ratio::Real = 0.1
relations
end

Flattened Source

"Spring coil shape primitive for 3D rendering."
component SpringShape
  "Whether this shape should be rendered"
  parameter render::Boolean = true
  "3D position of the shape origin in world frame"
  variable r::Real[3]
  "3D rotation matrix (orientation) of the shape in world frame"
  variable R::Real[3, 3]
  "Offset from r to shape origin, resolved in shape frame"
  variable r_shape::Real[3]
  "Primary axis direction (unit vector, resolved in shape frame)"
  variable length_direction::Real[3]
  "Secondary axis direction (unit vector, resolved in shape frame)"
  variable width_direction::Real[3]
  "Dimension along length_direction"
  variable length::Real
  "Dimension along width_direction"
  variable width::Real
  "Dimension perpendicular to both length and width"
  variable height::Real
  "RGBA color of the shape"
  parameter color::Real[4] = [0.5, 0.5, 0.5, 1.0]
  "Specular reflection coefficient (0 = fully diffuse)"
  parameter specular_coefficient::Real = 0.7
  # Number of coil windings
  parameter num_windings::Real = 6
  # Number of points used to render each winding
  parameter N::Integer = 200
  # Fraction of total length used for tapered ends
  parameter end_ratio::Real = 0.1
relations
metadata {}
end

Test Cases

No test cases defined.

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