artisynth.core.mechmodels
Class DeformableContactConstraintBase.PointInfo

java.lang.Object
  extended by artisynth.core.mechmodels.DeformableContactConstraintBase.CompInfo
      extended by artisynth.core.mechmodels.DeformableContactConstraintBase.PointInfo
Enclosing class:
DeformableContactConstraintBase

public class DeformableContactConstraintBase.PointInfo
extends DeformableContactConstraintBase.CompInfo


Constructor Summary
DeformableContactConstraintBase.PointInfo(Point pnt)
           
 
Method Summary
 void addFrictionBlock(SparseBlockMatrix DT, Vector3d dir, int bj)
           
 void addRelativeVelocity(Vector3d vrel, Twist tmpT)
          Uses the component's current velocity to compute its contribution to the current relative velocity.
 double computeDirectionalVelocity(Vector3d dir, Twist tmpT)
           
 Matrix3x1Block getBlock()
          Returns the matrix block associated with this constraint.
 DynamicMechComponent getComp()
          Returns the dynamic component
 Point getPoint()
           
 int getSolveIndex()
          Returns the solve index of the dynamic component
 double getWeight()
           
 boolean isParametric()
          Returns true if the dynamic component is parametric
 void setConstraint(Vector3d nrml, double weight)
           
 void setPoint(Point myPoint)
           
 void setWeight(double myWeight)
           
 
Methods inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase.CompInfo
getNext, setNext
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DeformableContactConstraintBase.PointInfo

public DeformableContactConstraintBase.PointInfo(Point pnt)
Method Detail

getBlock

public Matrix3x1Block getBlock()
Description copied from class: DeformableContactConstraintBase.CompInfo
Returns the matrix block associated with this constraint. This block will be added to the transposed constraint matrix GT.

Specified by:
getBlock in class DeformableContactConstraintBase.CompInfo

getComp

public DynamicMechComponent getComp()
Description copied from class: DeformableContactConstraintBase.CompInfo
Returns the dynamic component

Specified by:
getComp in class DeformableContactConstraintBase.CompInfo

getSolveIndex

public int getSolveIndex()
Description copied from class: DeformableContactConstraintBase.CompInfo
Returns the solve index of the dynamic component

Specified by:
getSolveIndex in class DeformableContactConstraintBase.CompInfo

isParametric

public boolean isParametric()
Description copied from class: DeformableContactConstraintBase.CompInfo
Returns true if the dynamic component is parametric

Specified by:
isParametric in class DeformableContactConstraintBase.CompInfo

setConstraint

public void setConstraint(Vector3d nrml,
                          double weight)

getWeight

public double getWeight()

computeDirectionalVelocity

public double computeDirectionalVelocity(Vector3d dir,
                                         Twist tmpT)
Specified by:
computeDirectionalVelocity in class DeformableContactConstraintBase.CompInfo

addFrictionBlock

public void addFrictionBlock(SparseBlockMatrix DT,
                             Vector3d dir,
                             int bj)
Specified by:
addFrictionBlock in class DeformableContactConstraintBase.CompInfo

addRelativeVelocity

public void addRelativeVelocity(Vector3d vrel,
                                Twist tmpT)
Description copied from class: DeformableContactConstraintBase.CompInfo
Uses the component's current velocity to compute its contribution to the current relative velocity.

Specified by:
addRelativeVelocity in class DeformableContactConstraintBase.CompInfo

getPoint

public Point getPoint()

setPoint

public void setPoint(Point myPoint)

setWeight

public void setWeight(double myWeight)