ContactEquation class - contact_equation library

Constructors

a ↔ double: SPOOK parameter
getter/setter pairinherited
b ↔ double: SPOOK parameter
getter/setter pairinherited
bi ↔ Body: getter/setter pairinherited
bj ↔ Body: getter/setter pairinherited
enabled ↔ bool: getter/setter pairinherited
eps ↔ double: SPOOK parameter
getter/setter pairinherited
hashCode → int: The hash code for this object.
no setterinherited
id ↔ int: getter/setter pairinherited
jacobianElementA ↔ JacobianElement: getter/setter pairinherited
jacobianElementB ↔ JacobianElement: getter/setter pairinherited
maxForce ↔ double: Maximum (read: positive max) force to be applied by the constraint.
getter/setter pairinherited
minForce ↔ double: Minimum (read: negative max) force to be applied by the constraint.
getter/setter pairinherited
multiplier ↔ double: A number, proportional to the force added to the bodies.
getter/setter pairinherited
ni ↔ Vec3: Contact normal, pointing out of body i.
getter/setter pair
restitution ↔ double: "bounciness": u1 = -e*u0
getter/setter pair
ri ↔ Vec3: World-oriented vector that goes from the center of bi to the contact point.
getter/setter pair
rj ↔ Vec3: World-oriented vector that starts in body j position and goes to the contact point.
getter/setter pair
runtimeType → Type: A representation of the runtime type of the object.
no setterinherited
si ↔ Shape: getter/setter pairinherited
sj ↔ Shape: getter/setter pairinherited

addToWlambda(double deltalambda) → void: Add constraint velocity to the bodies.
inherited
computeB(double h) → double: Computes the right hand side of the SPOOK equation
override
computeC() → double: Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
inherited
computeGiMf() → double: Computes G*inv(M)*f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.
inherited
computeGiMGt() → double: Computes G*inv(M)*G'
inherited
computeGq() → double: Computes G*q, where q are the generalized body coordinates
inherited
computeGW() → double: Computes G*W, where W are the body velocities
inherited
computeGWlambda() → double: Computes G*Wlambda, where W are the body velocities
inherited
getImpactVelocityAlongNormal() → double: Get the current relative velocity in the contact point.
noSuchMethod(Invocation invocation) → dynamic: Invoked when a nonexistent method or property is accessed.
inherited
setSpookParams(double stiffness, double relaxation, double timeStep) → void: Recalculates a, b, and eps.
inherited
toString() → String: A string representation of this object.
inherited