RotationalMotorEquation class
Rotational motor constraint. Tries to keep the relative angular velocity of the bodies to a given value.
Constructors
- RotationalMotorEquation(Body bodyA, Body bodyB, [double maxForce = 1e6])
Properties
- a ↔ double
-
SPOOK parameter
getter/setter pairinherited
- axisA ↔ Vec3
-
World oriented rotational axis.
getter/setter pair
- axisB ↔ Vec3
-
World oriented rotational axis.
getter/setter pair
- 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
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- si ↔ Shape
-
getter/setter pairinherited
- sj ↔ Shape
-
getter/setter pairinherited
- targetVelocity ↔ double
-
Motor velocity.
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