Detailed Description

The geometry of a virtual, interactive spring.

This spring connects the point F (a point fixed on the body B – named by path) with an immovable target point T. Both points are measured and expressed in the world frame. This definition is for kinematics only: the spring's stiffness, damping, and resultant forces are not defined here.

#include <drake/geometry/meshcat.h>

Public Attributes
std::string	path
	The "/"-delimited Meshcat path of the object being dragged (e.g., "/drake/visualizer/my_model/my_body/my_geometry").
Eigen::Vector3d	body_point_in_world
	The current position of F affixed to body B.
Eigen::Vector3d	target_point_in_world
	The current position of the fixed target point T.

Member Data Documentation

◆ body_point_in_world

Eigen::Vector3d body_point_in_world

The current position of F affixed to body B.

Note: in an interactive scenario with active dynamics, this position will change as the body B moves.

Note: This is expressed in Drake's z-up world frame (not Meshcat's y-up frame).

◆ path

std::string path

The "/"-delimited Meshcat path of the object being dragged (e.g., "/drake/visualizer/my_model/my_body/my_geometry").

This could be any valid Meshcat path, including for either a body or a geometry. Whether it has any effect depends on the caller's treatment.

◆ target_point_in_world

Eigen::Vector3d target_point_in_world

The current position of the fixed target point T.

The target point is solely determined by the interactive Meshcat application. From Drake's perspective it is a point with a prescribed position in the world frame.