Equation class
Equation base class.
a, b and eps are {@link https://www8.cs.umu.se/kurser/5DV058/VT15/lectures/SPOOKlabnotes.pdf SPOOK} parameters that default to 0.0. See {@link https://github.com/schteppe/cannon.js/issues/238#issuecomment-147172327 this exchange} for more details on Cannon's physics implementation.
Properties
- a ↔ double
-
SPOOK parameter
getter/setter pair
- b ↔ double
-
SPOOK parameter
getter/setter pair
- bi ↔ Body
-
getter/setter pair
- bj ↔ Body
-
getter/setter pair
- enabled ↔ bool
-
getter/setter pair
- eps ↔ double
-
SPOOK parameter
getter/setter pair
- hashCode → int
-
The hash code for this object.
no setterinherited
- id ↔ int
-
getter/setter pair
- jacobianElementA ↔ JacobianElement
-
getter/setter pair
- jacobianElementB ↔ JacobianElement
-
getter/setter pair
- maxForce ↔ double
-
Maximum (read: positive max) force to be applied by the constraint.
getter/setter pair
- minForce ↔ double
-
Minimum (read: negative max) force to be applied by the constraint.
getter/setter pair
- multiplier ↔ double
-
A number, proportional to the force added to the bodies.
getter/setter pair
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- si ↔ Shape
-
getter/setter pair
- sj ↔ Shape
-
getter/setter pair
Methods
-
addToWlambda(
double deltalambda) → void - Add constraint velocity to the bodies.
-
computeB(
double h) → double - Computes the right hand side of the SPOOK equation
-
computeC(
) → double - Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
-
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.
-
computeGiMGt(
) → double - Computes G*inv(M)*G'
-
computeGq(
) → double - Computes G*q, where q are the generalized body coordinates
-
computeGW(
) → double - Computes G*W, where W are the body velocities
-
computeGWlambda(
) → double - Computes G*Wlambda, where W are the body velocities
-
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.
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited