XDE Workbench

XDE Workbench is a command dedicated to the creation of the XDE physics simulations. It is the place to:

• Create kinematics constraints
• Specify flexibles behaviour
• Configure physical properties on parts (mass, collisions, friction, ...)

Setup command

XDE Workbench command comes with the Extension "Advanced Physics (beta)". Therefore, you need to add this extension to your experience to benefit from it.
Then, as it requires Xde Physics module to run, you must activate it through the experience settings, and ensure you have access to an XDE license.
Finally, if it is the firts time you add the extension, you must add the command "Xde Workbench" to your decktop menu.

Overview

The user interface of the command is composed of two panels. The left panel, dedicated to listing the objects (Hierarchy, groups, constraints, cables, assemblies, ...). The right panel is dedicated to displaying the properties.

Groups

Groups can be created from the Hierachy panel or from the Group panel.
In both cases, the group is created from the current selection. The hierarchy can help selecting multiple parts.

The group panel shows all the created groups.

A group behaves exactly as a part. So they share the same properties. A click on a group displays its properties in the right panel.

Part properties

Those properties are also applicable to groups that can be considered as parts (for physics). A part have states:

• Simulated: If not simulated, the part is not in the physics engine. Therefore, it can't move, collide, be attached to constraint or cable.
• Fixed: the part is fixed to the world, except if the user manipulates it with a Grab method.
• Selectable: Not directly linked to physics, it is a way to forbid the user manipulating the part.

A part bears the following physical properties:

• Mass (kg): can be computed from the default density and the volume (if computed)
• Collision group: "Part" by default, used to remove collision from certain parts, or split the collisions in multiple groups for optimization purpose.
• Contact material: defines the material type. Contact laws describe then the interaction between different materials. (friction, reaction)
• Ambiant damping: fluid friction between the part and the ambiant fluid (air, water, whatever)

Constraints

Constraints can be created from the constraint tab. Once created, you can edit its properties in the right panel.
Constraints are automatically grouped under "chain" items if the parts they link make a kinematic chain.

Creation process

1. Create New Constraint from the left panel
2. Choose the Type
3. Set Parent/Child clicking on the target icon
4. Fix one on them if necessary clicking on the anchor icon
5. Edit Advanced properties if needed (can also be done later on)
6. Place constraint clicking on the blue button

Attachement

A constraint must reduce degrees of freedom between two parts.
This attachement is done through the "Parent" and "Child" properties.

info

Rule to choose parent vs child:

• in general: a part can be child only once
• exception: can be done using the compliant property on a constraint. If a part is child of N constraints, you need N-1 constraints with compliant property enabled.

Joint Type

Hinge

Description: Only one rotation allowed.
Properties:

• Is Compliant
• Angular limit min in degree
• Angular limit max in degree
• Damping
• Dry friction

Prismatic

Description: Only one translation allowed.
Properties:

• Is Compliant
• Limit min in mm
• Limit max in mm
• Damping
• Dry friction

Cylindrical

Description: One rotation and one translation (same axis) allowed.
Properties:

• Is Compliant
• Limit min in mm
• Limit max in mm
• Angular limit min in degree
• Angular limit max in degree
• Damping
• Dry friction

Hinge

Description: One rotation and one translation coupled (one degree of freedom in the end) allowed.
Properties:

• Lead (mm): displacement for 360 deg rotation
• Limit min in mm
• Limit max in mm
• Damping
• Dry friction

Planar

Desciption: Two translations allowed. The constraint placement is an axis that describes the normal to the plane.
No Properties.

Ball

Description: Three rotations allowed. The constraint placement is a point.
Properties:

• Is Compliant
• Damping

Cardan

Desciption: Two rotations allowed. The constraint placement is a point and an axis that describes the locked axis.
No Properties.

Point on line

Desciption: One translation and Three rotations allowed. The constraint placement is an axis that describes the translation axis.
No Properties.

Create Cables