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java.lang.Objectartisynth.core.mechmodels.DeformableContactConstraintBase
artisynth.core.mechmodels.DeformableContactConstraintGeneric
public class DeformableContactConstraintGeneric
Nested Class Summary |
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Nested classes/interfaces inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase |
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DeformableContactConstraintBase.CompInfo, DeformableContactConstraintBase.FrameInfo, DeformableContactConstraintBase.PointInfo |
Field Summary |
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Fields inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase |
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BODY_FACE, EDGE_BODY, EDGE_EDGE, VERTEX_BODY, VERTEX_FACE |
Constructor Summary | |
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DeformableContactConstraintGeneric()
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DeformableContactConstraintGeneric(Vertex3d... vtxs)
Creates a new contact constraint identified by a set of vertices |
Method Summary | |
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void |
clearVertices()
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boolean |
equals(java.lang.Object obj)
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Vertex3d[] |
getVertices()
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int |
hashCode()
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void |
print(java.io.PrintStream os)
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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 |
void |
setVertexFace(Vector3d nrml,
double mu,
Vertex3d v0,
Vertex3d v1,
Vertex3d v2,
Vertex3d v3,
double w0,
double w1,
double w2,
DeformableCollisionData thisData,
DeformableCollisionData otherData)
Set the constraint for a deformable-deformable node-face contact. |
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 |
void |
setVertices(Vertex3d... vtxs)
For creating a "stub" to quickly retrieve an existing constraint |
java.lang.String |
toString()
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Methods inherited from class artisynth.core.mechmodels.DeformableContactConstraintBase |
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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 |
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getClass, notify, notifyAll, wait, wait, wait |
Constructor Detail |
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public DeformableContactConstraintGeneric()
public DeformableContactConstraintGeneric(Vertex3d... vtxs)
Method Detail |
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public void setVertices(Vertex3d... vtxs)
DeformableContactConstraint
public Vertex3d[] getVertices()
public void clearVertices()
public int hashCode()
hashCode
in interface DeformableContactConstraint
hashCode
in class DeformableContactConstraintBase
public boolean equals(java.lang.Object obj)
equals
in interface DeformableContactConstraint
equals
in class DeformableContactConstraintBase
public void print(java.io.PrintStream os)
public void setVertexFace(Vector3d nrml, double mu, Vertex3d v0, Vertex3d v1, Vertex3d v2, Vertex3d v3, double w0, double w1, double w2, DeformableCollisionData thisData, DeformableCollisionData otherData)
public java.lang.String toString()
toString
in class java.lang.Object
public double setVertexRigidBody(ContactPenetratingPoint cpp, double mu, DeformableCollisionData thisData, RigidBodyCollisionData rbData, boolean useSignedDistanceCollider)
DeformableContactConstraint
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
public double setFaceRigidBody(ContactPenetratingPoint cpp, double mu, DeformableCollisionData thisData, RigidBodyCollisionData rbData)
DeformableContactConstraint
cpp
- contact penetrating pointmu
- friction coefficientthisData
- the primary deformable inforbData
- the other object's collision info
public void setEdgeRigidBody(EdgeEdgeContact eec, double mu, DeformableCollisionData thisData, RigidBodyCollisionData rbData)
DeformableContactConstraint
eec
- edge-edge contactmu
- friction coefficientthisData
- the primary deformable collision inforbData
- the other object's collision infopublic void setEdgeEdge(EdgeEdgeContact eec, double mu, DeformableCollisionData thisData, DeformableCollisionData otherData)
DeformableContactConstraint
eec
- edge-edge contactmu
- friction coefficientthisData
- the primary deformable collision infootherData
- the other object's collision infopublic double setVertexDeformable(ContactPenetratingPoint cpp, double mu, DeformableCollisionData thisData, DeformableCollisionData otherData)
DeformableContactConstraint
cpp
- contact penetrating pointmu
- friction coefficientthisData
- the primary deformable collision infootherData
- the other object's collision info
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