artisynth.core.mechmodels
Class RigidBodySolver
java.lang.Object
artisynth.core.mechmodels.RigidBodySolver
public class RigidBodySolver
- extends java.lang.Object
Solves a sub-set of a MechSystem defined by rigid bodies
Method Summary |
void |
dispose()
|
void |
finalize()
|
int[] |
getDTMap()
|
boolean[] |
getZBasic()
|
int[] |
getZState()
|
boolean |
projectFriction(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
SparseBlockMatrix DT,
VectorNd Rg,
VectorNd bg,
VectorNd Rn,
VectorNd bn,
VectorNd bd,
MechSystem.FrictionInfo[] finfo,
VectorNd vel,
VectorNd lam,
VectorNd the,
VectorNd phi)
|
boolean |
projectPosition(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
VectorNd bg,
VectorNd bn,
VectorNd vel,
VectorNd lam,
VectorNd the)
|
boolean |
projectVelocity(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
VectorNd bg,
VectorNd bn,
VectorNd vel,
VectorNd lam,
VectorNd the)
|
void |
updateStructure(SparseBlockMatrix M,
SparseBlockMatrix GT)
|
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
RigidBodySolver
public RigidBodySolver(MechSystem sys)
getDTMap
public int[] getDTMap()
updateStructure
public void updateStructure(SparseBlockMatrix M,
SparseBlockMatrix GT)
projectVelocity
public boolean projectVelocity(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
VectorNd bg,
VectorNd bn,
VectorNd vel,
VectorNd lam,
VectorNd the)
projectPosition
public boolean projectPosition(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
VectorNd bg,
VectorNd bn,
VectorNd vel,
VectorNd lam,
VectorNd the)
projectFriction
public boolean projectFriction(SparseBlockMatrix M,
SparseBlockMatrix GT,
SparseBlockMatrix NT,
SparseBlockMatrix DT,
VectorNd Rg,
VectorNd bg,
VectorNd Rn,
VectorNd bn,
VectorNd bd,
MechSystem.FrictionInfo[] finfo,
VectorNd vel,
VectorNd lam,
VectorNd the,
VectorNd phi)
getZBasic
public boolean[] getZBasic()
getZState
public int[] getZState()
dispose
public void dispose()
finalize
public void finalize()
- Overrides:
finalize
in class java.lang.Object