artisynth.core.mechmodels
Class RigidBodySolver

java.lang.Object
  extended by artisynth.core.mechmodels.RigidBodySolver

public class RigidBodySolver
extends java.lang.Object

Solves a sub-set of a MechSystem defined by rigid bodies


Constructor Summary
RigidBodySolver(MechSystem sys)
           
 
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
 

Constructor Detail

RigidBodySolver

public RigidBodySolver(MechSystem sys)
Method Detail

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