[SpringForceField] Add stiffness matrix computation to JointSpringForceField#5936
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alxbilger wants to merge 2 commits intosofa-framework:masterfrom
Open
[SpringForceField] Add stiffness matrix computation to JointSpringForceField#5936alxbilger wants to merge 2 commits intosofa-framework:masterfrom
alxbilger wants to merge 2 commits intosofa-framework:masterfrom
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alxbilger
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pr: enhancement
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[ci-build][with-all-scenes] |
hugtalbot
approved these changes
Feb 24, 2026
bakpaul
approved these changes
Feb 25, 2026
th-skam
reviewed
Feb 26, 2026
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| df1_dx1(spring.m1, spring.m1) += worldKT; | ||
| df1_dx2(spring.m1, spring.m2) += -worldKT; | ||
| df2_dx1(spring.m2, spring.m1) += -worldKT; | ||
| df2_dx2(spring.m2, spring.m2) += worldKT; | ||
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| //rotation | ||
| const Mat worldKR = rot * mR * rotInv; | ||
| df1_dx1(spring.m1 + N, spring.m1 + N) += worldKR; | ||
| df1_dx2(spring.m1 + N, spring.m2 + N) += -worldKR; | ||
| df2_dx1(spring.m2 + N, spring.m1 + N) += -worldKR; | ||
| df2_dx2(spring.m2 + N, spring.m2 + N) += worldKR; |
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Just noticed this, bringing some attention to it. The signs here are opposite from the SpringForceField.
If that's how it should be, we can merge it.
hugtalbot
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pr: status wip
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Supersedes #5895.
Blind attempt to implement
buildStiffnessMatrixinJointSpringForceField. The implementation is based onaddDForce, and in particular the methodaddSpringDForce.I tested the scene
JointSpringForceField.scnin the examples, but I suspect a problem in the scene. There are no unit tests, so this implementation couldn't be tested.[with-all-scenes]
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