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java.lang.Objectartisynth.core.mechmodels.DeformableContactConstraintBase.CompInfo
artisynth.core.mechmodels.DeformableContactConstraintBase.FrameInfo
public class DeformableContactConstraintBase.FrameInfo
Constructor Summary | |
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DeformableContactConstraintBase.FrameInfo(Frame frame)
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Method Summary | |
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void |
addFrictionBlock(SparseBlockMatrix DT,
Vector3d dir,
int bj)
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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)
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Matrix6x1Block |
getBlock()
Returns the matrix block associated with this constraint. |
DynamicMechComponent |
getComp()
Returns the dynamic component |
Frame |
getFrame()
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Point3d |
getLoc()
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int |
getSolveIndex()
Returns the solve index of the dynamic component |
double |
getWeight()
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boolean |
isParametric()
Returns true if the dynamic component is parametric |
void |
setConstraint(Vector3d nrml,
double weight,
Point3d loc)
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void |
setFrame(Frame myFrame)
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void |
setLoc(Point3d myLoc)
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void |
setWeight(double myWeight)
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Methods inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase.CompInfo |
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getNext, setNext |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public DeformableContactConstraintBase.FrameInfo(Frame frame)
Method Detail |
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public Matrix6x1Block getBlock()
DeformableContactConstraintBase.CompInfo
getBlock
in class DeformableContactConstraintBase.CompInfo
public DynamicMechComponent getComp()
DeformableContactConstraintBase.CompInfo
getComp
in class DeformableContactConstraintBase.CompInfo
public int getSolveIndex()
DeformableContactConstraintBase.CompInfo
getSolveIndex
in class DeformableContactConstraintBase.CompInfo
public boolean isParametric()
DeformableContactConstraintBase.CompInfo
isParametric
in class DeformableContactConstraintBase.CompInfo
public void setConstraint(Vector3d nrml, double weight, Point3d loc)
public double computeDirectionalVelocity(Vector3d dir, Twist tmpT)
computeDirectionalVelocity
in class DeformableContactConstraintBase.CompInfo
public void addFrictionBlock(SparseBlockMatrix DT, Vector3d dir, int bj)
addFrictionBlock
in class DeformableContactConstraintBase.CompInfo
public void addRelativeVelocity(Vector3d vrel, Twist tmpT)
DeformableContactConstraintBase.CompInfo
addRelativeVelocity
in class DeformableContactConstraintBase.CompInfo
public Frame getFrame()
public void setFrame(Frame myFrame)
public double getWeight()
public void setWeight(double myWeight)
public Point3d getLoc()
public void setLoc(Point3d myLoc)
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