FrictionEquation class

Constrains the slipping in a contact along a tangent

Inheritance

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