artisynth.core.mfreemodels
Class MFreeContactConstraint
java.lang.Object
artisynth.core.mechmodels.DeformableContactConstraintBase
artisynth.core.mechmodels.DeformableContactConstraintGeneric
artisynth.core.mfreemodels.MFreeContactConstraint
- All Implemented Interfaces:
- DeformableContactConstraint
public class MFreeContactConstraint
- extends DeformableContactConstraintGeneric
Method Summary |
void |
setEdgeEdge(EdgeEdgeContact eec,
double mu,
DeformableCollisionData thisData,
DeformableCollisionData otherData)
Assigns an edge-edge collision |
void |
setEdgeRigidBody(EdgeEdgeContact eec,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData)
Assigns an edge-rigidBody collision |
double |
setFaceRigidBody(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData)
Assigns a Face->RigidBody collision, returning the perpendicular
distance to the face |
double |
setVertexDeformable(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
DeformableCollisionData otherData)
Assigns a Vertex->Deformable collision, returning the perpendicular
distance to the face |
double |
setVertexRigidBody(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData,
boolean useSignedDistanceCollider)
Assigns a Vertex->Rigid body collision, returning the perpendicular
distance to the face |
Methods inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase |
addConstraintBlocks, addFrame, addFrictionConstraints, addPoint, beginSet, componentsChanged, endSet, getAuxState, getDerivative, getDistance, getFriction, getImpulse, getNormal, getSolveIndex, isActive, isAdded, isControllable, numFrames, numPoints, printConstraintInfo, setActive, setAdded, setAuxState, setBodyFace, setDistance, setEdgeBody, setEdgeEdge, setFriction, setImpulse, setSolveIndex, setVertexBody, setVertexFace, skipAuxState, updateFriction |
Methods inherited from class java.lang.Object |
getClass, notify, notifyAll, wait, wait, wait |
MFreeContactConstraint
public MFreeContactConstraint(Vertex3d... vtxs)
- Creates a new contact constraint identified by three vertices.
setVertexRigidBody
public double setVertexRigidBody(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData,
boolean useSignedDistanceCollider)
- Description copied from interface:
DeformableContactConstraint
- Assigns a Vertex->Rigid body collision, returning the perpendicular
distance to the face
- Specified by:
setVertexRigidBody
in interface DeformableContactConstraint
- Overrides:
setVertexRigidBody
in class DeformableContactConstraintGeneric
- Parameters:
cpp
- contact penetrating pointmu
- friction coefficientthisData
- the primary deformable collision inforbData
- the other object's collision infouseSignedDistanceCollider
- flag for determining normal
and collision location information
- Returns:
- perpendicular distance to face
setFaceRigidBody
public double setFaceRigidBody(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData)
- Description copied from interface:
DeformableContactConstraint
- Assigns a Face->RigidBody collision, returning the perpendicular
distance to the face
- Specified by:
setFaceRigidBody
in interface DeformableContactConstraint
- Overrides:
setFaceRigidBody
in class DeformableContactConstraintGeneric
- Parameters:
cpp
- contact penetrating pointmu
- friction coefficientthisData
- the primary deformable inforbData
- the other object's collision info
- Returns:
- perpendicular distance to face
setEdgeRigidBody
public void setEdgeRigidBody(EdgeEdgeContact eec,
double mu,
DeformableCollisionData thisData,
RigidBodyCollisionData rbData)
- Description copied from interface:
DeformableContactConstraint
- Assigns an edge-rigidBody collision
- Specified by:
setEdgeRigidBody
in interface DeformableContactConstraint
- Overrides:
setEdgeRigidBody
in class DeformableContactConstraintGeneric
- Parameters:
eec
- edge-edge contactmu
- friction coefficientthisData
- the primary deformable collision inforbData
- the other object's collision info
setEdgeEdge
public void setEdgeEdge(EdgeEdgeContact eec,
double mu,
DeformableCollisionData thisData,
DeformableCollisionData otherData)
- Description copied from interface:
DeformableContactConstraint
- Assigns an edge-edge collision
- Specified by:
setEdgeEdge
in interface DeformableContactConstraint
- Overrides:
setEdgeEdge
in class DeformableContactConstraintGeneric
- Parameters:
eec
- edge-edge contactmu
- friction coefficientthisData
- the primary deformable collision infootherData
- the other object's collision info
setVertexDeformable
public double setVertexDeformable(ContactPenetratingPoint cpp,
double mu,
DeformableCollisionData thisData,
DeformableCollisionData otherData)
- Description copied from interface:
DeformableContactConstraint
- Assigns a Vertex->Deformable collision, returning the perpendicular
distance to the face
- Specified by:
setVertexDeformable
in interface DeformableContactConstraint
- Overrides:
setVertexDeformable
in class DeformableContactConstraintGeneric
- Parameters:
cpp
- contact penetrating pointmu
- friction coefficientthisData
- the primary deformable collision infootherData
- the other object's collision info
- Returns:
- perpendicular distance to face