artisynth.core.mechmodels
Class MechSystem.FrictionInfo

java.lang.Object
  extended by artisynth.core.mechmodels.MechSystem.FrictionInfo
Enclosing interface:
MechSystem

public static class MechSystem.FrictionInfo
extends java.lang.Object

Contains information for a single friction constraint set. This is associated with one bilateral or unilateral constraint, and corresponds to a single column block entry in the transposed friction constraint matrix DT produced by getFrictionConstraints(). The constraint set contains either one or two friction directions (corresponding to a column block size of either 1 or 2).


Field Summary
static int BILATERAL
           
 int contactIdx
           
 int flags
           
 double mu
           
 
Constructor Summary
MechSystem.FrictionInfo()
           
 
Method Summary
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Field Detail

BILATERAL

public static final int BILATERAL
See Also:
Constant Field Values

mu

public double mu

contactIdx

public int contactIdx

flags

public int flags
Constructor Detail

MechSystem.FrictionInfo

public MechSystem.FrictionInfo()