artisynth.core.mechmodels
Class DeformableContactConstraintBase.FrameInfo

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

public class DeformableContactConstraintBase.FrameInfo
extends DeformableContactConstraintBase.CompInfo


Constructor Summary
DeformableContactConstraintBase.FrameInfo(Frame frame)
           
 
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)
           
 Matrix6x1Block getBlock()
          Returns the matrix block associated with this constraint.
 DynamicMechComponent getComp()
          Returns the dynamic component
 Frame getFrame()
           
 Point3d getLoc()
           
 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, Point3d loc)
           
 void setFrame(Frame myFrame)
           
 void setLoc(Point3d myLoc)
           
 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.FrameInfo

public DeformableContactConstraintBase.FrameInfo(Frame frame)
Method Detail

getBlock

public Matrix6x1Block 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,
                          Point3d loc)

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

getFrame

public Frame getFrame()

setFrame

public void setFrame(Frame myFrame)

getWeight

public double getWeight()

setWeight

public void setWeight(double myWeight)

getLoc

public Point3d getLoc()

setLoc

public void setLoc(Point3d myLoc)