### Rigid Mapping

Description:

A rigid body (perfectly rigid) is an undeformable body. Because its undeformable property, a rigid body composed a set of particles ensures that the distance of any pair of points and the angle of any pair of vectors remains constant in relation to time. Rigid bodies in SOFA are presented by different models (Visual Model, Collision Model, Behaviour Model) ensuring their appropriate task. These models are related by a mapping (rigid mapping in this case).

Key points:

- Model Behaviour Rigid : Position and orientation (quaternion) of the center(s) of mass.
- Model Collision Rigid : A set of particles used for computing the collision with other objects.
- Model Visual Rigid : A set of particles used for visualizing.

Behavior Model

Visual Model

Results

Behavior-Colision

See also :

DeformableOnRigidFrameMapping, IdentityMapping, SkinningMapping.