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.

Implementers

Constructors

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

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