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3.11.2.7 Rigid Spring
The rigid spring applies a linear spring that connects two rigid bodies and at arbitrary points (not necessarily nodes).
In addition to the shared parameters above, it defines the following parameters.
| parameter | Description |
| k | spring constant (in units of force per length) |
| insertion_a | Insertion point of the spring on body a |
| insertion_b | Insection point of the spring on body b |
| free_length | The length of the unloaded spring (1) |
Comments:
- If the free_length parameter is zero, then the initial length of the spring, as defined by the two insertion points, is taken as the free length.
Example:
<constraint type="rigid spring"> <body_a>1</body_a> <body_b>2</body_b> <insertion_a>0,0,1</insertion_a> <insertion_b>0,0,3</insertion_b> <k>1</k> </constraint>