FrictionEquation class
Constrains the slipping in a contact along a tangent
Constructors
- FrictionEquation(Body bodyA, Body bodyB, double slipForce)
- @param slipForce should be +-F_friction = +-mu * F_normal = +-mu * m * g
Properties
- 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
- ri ↔ Vec3
-
getter/setter pair
- rj ↔ Vec3
-
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
- t ↔ Vec3
-
getter/setter pair
Methods
-
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
-
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
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited