CustomLengthConstraint

CustomLengthConstraint allows users to apply custom constraints. Users set the tension between two points using setTension().

An example is shown below:

auto wire7 = world.addCustomWire(pin7, 0, {0,0,0}, anymalB, 0, {0., 0, 0}, 2.0);
wire7->setTension(400);

The following code results in:

../_images/customWire.gif

You can find a runnable example here.

API

class CustomLengthConstraint : public raisim::LengthConstraint

Public Functions

void setTension(double tension)

set the tension of the wire

Parameters:

tension – the applied tension. If this number is positive, then the force is acting such a way that brings the two objects together