SFSolver#

SFSolver (String/Fiber，绳/纤维) 用于处理绳索、缆线和头发等一维结构的仿真。

概述#

SF solver 仿真：

  • Inextensible constraints (不可伸长约束)

  • Bending resistance (弯曲阻力)

  • Twist resistance (扭转阻力)

  • Contact with other objects (与其他对象的接触)

使用方法#

import genesis as gs

gs.init()
scene = gs.Scene(
    sf_options=gs.options.SFOptions(
        iterations=20,
    ),
)

# Add rope/cable
rope = scene.add_entity(
    gs.morphs.Mesh(file="rope.obj"),
    material=gs.materials.SF.Rope(
        stretch_stiffness=1.0,
        bend_stiffness=0.1,
    ),
)

scene.build()

for i in range(1000):
    scene.step()

配置#

SFOptions 中的关键选项：

Option

Type

Description

iterations

int

Constraint iterations (约束迭代次数)

damping

float

Velocity damping (速度阻尼)

另请参阅#