Hi SOFA community!
I know that some people have tried to validate some SOFA implementations during the past years, but the works remained isolated and not shared within the community.
It would be nice to collect the attempts that people have made in this direction, so that we could benefit from each others works, and align our efforts for further…[Read more]
I never used the JointSpringFF. What I can tell is that if you want to define rest_position and rotation of your DOFs, the best is to specify them in the rest_position=”x y z qw qx qy qz”. Moreover, in the code it is noted that the REST_R corresponds to the offset orientation of the spring.
Does this fit what you want to do?
Regarding your scene, the issue comes from the fact that each rigid position is solved independently with its own solver. Without any constraint or mapping linking the rigids, they won’t affect each other and therefore won’t move.
What you can do is to you one single solver for all rigid dof: