Constrainer (Artisynth API documentation)

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`int`	`addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)`
`int`	`addFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, int idx)`
`int`	`addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)`
`int`	`getBilateralImpulses(VectorNd lam, int idx)`
`int`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)`
`void`	`getBilateralSizes(VectorNi sizes)`
`void`	`getConstrainedComponents(java.util.List<DynamicComponent> list)`
`int`	`getUnilateralImpulses(VectorNd the, int idx)`
`int`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)`
`void`	`getUnilateralSizes(VectorNi sizes)`
`int`	`maxFrictionConstraintSets()`
`int`	`setBilateralImpulses(VectorNd lam, double h, int idx)`
`int`	`setUnilateralImpulses(VectorNd the, double h, int idx)`
`double`	`updateConstraints(double t, int flags)`
`void`	`zeroImpulses()`

void getBilateralSizes(VectorNi sizes)

int addBilateralConstraints(SparseBlockMatrix GT,
                            VectorNd dg,
                            int numb)

int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                     int idx)

int setBilateralImpulses(VectorNd lam,
                         double h,
                         int idx)

int getBilateralImpulses(VectorNd lam,
                         int idx)

void getUnilateralSizes(VectorNi sizes)

int addUnilateralConstraints(SparseBlockMatrix NT,
                             VectorNd dn,
                             int numu)

int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                      int idx)

int setUnilateralImpulses(VectorNd the,
                          double h,
                          int idx)

int getUnilateralImpulses(VectorNd the,
                          int idx)

int addFrictionConstraints(SparseBlockMatrix DT,
                           MechSystem.FrictionInfo[] finfo,
                           int idx)

double updateConstraints(double t,
                         int flags)

void getConstrainedComponents(java.util.List<DynamicComponent> list)

Interface Constrainer