PointOnPlane
- Constraint a point to a plane¶
The PointOnPlane
constraint constraints a point (defined by
the origin of a coordinate frame) to lie in a plane (defined by the
origin of another coordinate frame and normal vector).
The constraint equation is:
where \(g_1\) and \(p_1\) are the transformation of the frame defining the plane and its origin, \(p_2\) is the point being constrained, and \(norm\) is the normal vector of the plane expressed in the local coordinates of \(g_1\).
By defining two of PointOnPlane
constraints with normal
plane, you can constrain a point to a line. With three constraints,
you can constraint a point to another point.
Examples
pccd.py
, pypccd.py
, radial.py
-
class
trep.constraints.
PointOnPlane
(system, plane_frame, plane_normal, point_frame, name=None)¶ Create a new constraint to force the origin of point_frame to lie in a plane. The plane is coincident with the origin of plane_frame and normal to the vector plane_normal. The normal is expresed in the coordinates of plane_frame.
-
PointOnPlane.
plane_frame
¶ This is the coordinate frame the defines the plane.
(read-only)
-
PointOnPlane.
normal
¶ This is the normal of the plane expressed in plane_frame coordinates.
-
PointOnPlane.
point_frame
¶ This is the coordinate frame that defines the point to be constrained.