Torsional Spring

[farshizzo]

Sorry for the delay, but we just got our Phantom Omni in for testing. I tried it out and have the same problems as you. It seems the problem is related to the fact that the center of the cylinder object is not at the local origin of the object. This is causing problems with the physics engine and creating large angular acceleration values. I created a separate cylinder model that was centered properly and now it works fine. Here is the WRL text for the new cylinder object:

Transform {
	rotation 1 0 0 1.5707963267948966
	children [
		Shape {
			appearance Appearance {
				material Material {
					diffuseColor 0.8353 0.6039 0.898
				}
			}
			geometry Cylinder { radius 0.05 height 0.5 }
		}
	]
}

Save this to a file called pen.wrl and place it in the same directory as the following script:

import viz
import hd

viz.go()
viz.phys.enable()
viz.phys.setGravity(0,0,0)

cyl = viz.add('pen.wrl')
cyl.collideBox([1,1,1])

marker = viz.add('marker.wrl')
marker.scale(0.1,0.1,0.1)
hd.marker(marker)
hd.translate(0,2,5)

spring = cyl.addSpring(viz.LINK_ORI|viz.LINK_POS,linearKd=10,linearKs=100,angularKd=1,angularKs=20)

def UpdateSpring():
	spring.setPosition(hd.get(hd.POSITION))
	spring.setQuat(hd.get(hd.ROTATION))
vizact.ontimer(0,UpdateSpring)

Let me know if this solves your problems.