General description
The “BarycentricCenterEffector” component is used to constrain the barycenter of a model to reach a desired position, by acting on chosen actuator(s).
Methods description
Requirement: Real Time Inverse Simulation Method
Method
Here, J will be a one column matrix and will contain the coefficient 1/nbp at each index. With nbp the total number of points of the model.
How to use the component
To learn how to create a SOFA scene, please refer to the tutorial provided by the SOFA Modeler or this documentation.
To solve the inverse problem set by this component coupled with actuator component(s), you have to use an inverse problem solver component (for exemple QPInverseProblemSolver) and put it in the top of the scene graph.
An example is provided in the “examples” directory of the plugin.
Data field
Here are described the data field corresponding to this particular component.
Input data
effectorGoal : Desired positions of the barycenter.
axis : Directions in which you want to solve the barycenter position. Default value is (true, true, true).
Output data
no output data