artisynth.core.mechmodels

Class ContactConstraint

java.lang.Object

artisynth.core.mechmodels.ContactConstraint

public class ContactConstraint
extends java.lang.Object

Information for a contact constraint formed by a single contact point.

Author:

lloyd

Constructor Summary

Constructors

Constructor and Description
ContactConstraint()
ContactConstraint(ContactPoint cpnt0)
ContactConstraint(ContactPoint cpnt0, ContactPoint cpnt1)

Method Summary

Modifier and Type	Method and Description
int	add1DFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, double mu, int numf)
int	add2DFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, double mu, int numf)
void	addConstraintBlocks(SparseBlockMatrix GT, int bj)
void	assignMasters(CollidableBody collidable0, CollidableBody collidable1)
void	clearMasters()
void	equateContactPoints()
double	getDerivative()
double	getDistance()
double	getImpulse()
java.util.ArrayList<ContactMaster>	getMasters()
Vector3d	getNormal()
int	getSolveIndex()
void	getState(DataBuffer data)
boolean	isActive()
boolean	isControllable()
static void	putState(DataBuffer newData, DataBuffer oldData)
void	setActive(boolean active)
void	setContactPoint0(Point3d pnt)
void	setContactPoint1(Point3d pnt)
void	setContactPoints(ContactPoint cpnt0, ContactPoint cpnt1)
void	setDistance(double d)
void	setImpulse(double lam)
void	setNormal(Vector3d nrm)
void	setSolveIndex(int idx)
void	setState(DataBuffer data, CollidableBody collidable0, CollidableBody collidable1)
static void	skipState(DataBuffer data)
java.lang.String	toString(java.lang.String fmtStr)

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ContactConstraint

public ContactConstraint()

ContactConstraint

public ContactConstraint(ContactPoint cpnt0)

ContactConstraint

public ContactConstraint(ContactPoint cpnt0,
                         ContactPoint cpnt1)

Method Detail

getImpulse

public double getImpulse()

setImpulse

public void setImpulse(double lam)

getSolveIndex

public int getSolveIndex()

setSolveIndex

public void setSolveIndex(int idx)

getDistance

public double getDistance()

setDistance

public void setDistance(double d)

getNormal

public Vector3d getNormal()

setNormal

public void setNormal(Vector3d nrm)

isActive

public boolean isActive()

setActive

public void setActive(boolean active)

clearMasters

public void clearMasters()

getMasters

public java.util.ArrayList<ContactMaster> getMasters()

isControllable

public boolean isControllable()

setContactPoint0

public void setContactPoint0(Point3d pnt)

setContactPoint1

public void setContactPoint1(Point3d pnt)

setContactPoints

public void setContactPoints(ContactPoint cpnt0,
                             ContactPoint cpnt1)

equateContactPoints

public void equateContactPoints()

getDerivative

public double getDerivative()

addConstraintBlocks

public void addConstraintBlocks(SparseBlockMatrix GT,
                                int bj)

add1DFrictionConstraints

public int add1DFrictionConstraints(SparseBlockMatrix DT,
                                    MechSystem.FrictionInfo[] finfo,
                                    double mu,
                                    int numf)

add2DFrictionConstraints

public int add2DFrictionConstraints(SparseBlockMatrix DT,
                                    MechSystem.FrictionInfo[] finfo,
                                    double mu,
                                    int numf)

assignMasters

public void assignMasters(CollidableBody collidable0,
                          CollidableBody collidable1)

getState

public void getState(DataBuffer data)

setState

public void setState(DataBuffer data,
                     CollidableBody collidable0,
                     CollidableBody collidable1)

skipState

public static void skipState(DataBuffer data)

putState

public static void putState(DataBuffer newData,
                            DataBuffer oldData)

toString

public java.lang.String toString(java.lang.String fmtStr)