maspack.spatialmotion
Class RigidBodyConstraint
java.lang.Object
maspack.spatialmotion.RigidBodyConstraint
public class RigidBodyConstraint
- extends java.lang.Object
Methods inherited from class java.lang.Object |
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait |
RigidBodyConstraint
public RigidBodyConstraint()
setWrenchA
public void setWrenchA(Wrench wr)
getWrenchA
public Wrench getWrenchA()
setWrenchB
public void setWrenchB(Wrench wr)
getWrenchB
public Wrench getWrenchB()
setWrenchC
public void setWrenchC(Wrench wr)
getWrenchC
public Wrench getWrenchC()
isUnilateral
public boolean isUnilateral()
setUnilateral
public void setUnilateral(boolean unilateral)
getSolveIndex
public int getSolveIndex()
- Returns the index of this constraint within either the GT or NT
matrix of the global system MLCP.
- Returns:
- index within either GT or NT
setSolveIndex
public void setSolveIndex(int idx)
setDerivative
public void setDerivative(double d)
getDerivative
public double getDerivative()
setOffset
public void setOffset(double b)
getOffset
public double getOffset()
setMultiplier
public void setMultiplier(double lam)
getMultiplier
public double getMultiplier()
setDistance
public void setDistance(double d)
getDistance
public double getDistance()
setCompliance
public void setCompliance(double c)
getCompliance
public double getCompliance()
setDamping
public void setDamping(double c)
getDamping
public double getDamping()
setContactSpeed
public void setContactSpeed(double s)
getContactSpeed
public double getContactSpeed()
setContactAccel
public void setContactAccel(double s)
getContactAccel
public double getContactAccel()
setFrictionLimit
public void setFrictionLimit(double f)
getFrictionLimit
public double getFrictionLimit()
setFriction
public void setFriction(double f)
getFriction
public double getFriction()
setContactPoint
public void setContactPoint(Point3d pnt)
- Sets the contact point for point contact constraints. A supplied value of
null clears the contact point.
- Parameters:
pnt
- new contact point. The supplied value is copied internally.
getContactPoint
public Point3d getContactPoint()
- Returns the contact point for point contact constraints, or null
otherwise. The point is given in the coordinates of bodyA. This is
intended for use by solvers in computing the friction.
return contact point for point contacts. Should not be modfied.
toString
public java.lang.String toString()
- Overrides:
toString
in class java.lang.Object
getStateSize
public static int getStateSize()
getState
public void getState(DataBuffer data)
setState
public void setState(DataBuffer data)