MechSystem (Artisynth API documentation)

All Known Subinterfaces:

MechSystemModel

All Known Implementing Classes:

FemModel, FemModel3d, FemModelDeformer, FemMuscleModel, HydrostatModel, LaymanModel, MechModel, MechSystemBase, MFreeModel3d, MFreeMuscleModel, PointToPointMuscle, SpongeModel
```
public interface MechSystem
```
Interface to a second order mechanical system that can be integrated by a variety of integrators.

Nested Class Summary

Nested Classes
Modifier and Type	Interface and Description
`static class`	`MechSystem.ConstraintInfo` Contains information for a single constraint direction
`static class`	`MechSystem.FrictionInfo` Contains information for a single friction constraint set.

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`COMPUTE_CONTACTS` Flag passed to `updateConstraints()` indicating that contact information should be computed.
`static int`	`UPDATE_CONTACTS` Flag passed to `updateConstraints()` indicating that contact information should be updated.

Method Summary

All Methods Instance Methods Abstract Methods
Modifier and Type	Method and Description
`void`	`addActivePosImpulse(VectorNd q, double h, VectorNd u)` Computes an adjustment to the active positions of the system (stored in the vector `q`) by applying a velocity `u` for time `h`.
`void`	`addPosJacobian(SparseNumberedBlockMatrix S, VectorNd f, double h)` Adds the current force-position Jacobian, scaled by `h`, to the matrix `S`, which should have been previously created with a call to `buildSolveMatrix()`.
`void`	`addVelJacobian(SparseNumberedBlockMatrix S, VectorNd f, double h)` Adds the current force-velocity Jacobian, scaled by `h`, to the matrix `S`, which should have been previously created with a call to `buildSolveMatrix()`.
`boolean`	`buildMassMatrix(SparseBlockMatrix M)` Builds a mass matrix for this system.
`void`	`buildSolveMatrix(SparseNumberedBlockMatrix S)` Builds a solve matrix for this system.
`void`	`getActiveForces(VectorNd f)` Returns the generalized forces acting on all the active components in this system.
`void`	`getActivePosDerivative(VectorNd dxdt, double t)` Gets the current value of the position derivative for all active components.
`void`	`getActivePosState(VectorNd q)` Gets the current position state for all active components.
`int`	`getActivePosStateSize()` Returns the size of the position state for all active components.
`void`	`getActiveVelState(VectorNd u)` Gets the current velocity state for all active components.
`int`	`getActiveVelStateSize()` Returns the size of the velocity state for all active components.
`int`	`getBilateralConstraints(SparseBlockMatrix GT, VectorNd dg)` Obtains the transpose of the current bilateral constraint matrix G for this system.
`void`	`getBilateralImpulses(VectorNd lam)` Returns from the system the most recently computed bilateral constraint impulses.
`void`	`getBilateralInfo(MechSystem.ConstraintInfo[] ginfo)` Obtains information for all the constraint directions returned by the most recent call to `getBilateralConstraints()`.
`void`	`getFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo)` Obtains the transpose of the current friction constraint matrix D for this system.
`void`	`getInverseMassMatrix(SparseBlockMatrix Minv, SparseBlockMatrix M)` Sets `Minv` to the inverse of the mass matrix `M`.
`void`	`getMassMatrix(SparseBlockMatrix M, VectorNd f, double t)` Sets `M` to the current value of the mass matrix for this system, evaluated at time `t`.
`void`	`getParametricForces(VectorNd f)` Gets the forces associated with parametric components.
`void`	`getParametricPosState(VectorNd q)` Gets the current position state for all parametric components.
`int`	`getParametricPosStateSize()` Returns the size of the position state for all parametric components.
`void`	`getParametricPosTarget(VectorNd q, double s, double h)` Obtains the desired target position for all parametric components at a particular time.
`void`	`getParametricVelState(VectorNd u)` Gets the current velocity state for all parametric components.
`int`	`getParametricVelStateSize()` Returns the size of the velocity state for all parametric components.
`void`	`getParametricVelTarget(VectorNd u, double s, double h)` Obtains the desired target velocity for all parametric components at a particular time.
`int`	`getSolveMatrixType()` Returns information about the solve matrix for this system.
`int`	`getStructureVersion()` Returns the current structure version of this system.
`void`	`getUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn)` Obtains the transpose of the current unilateral constraint matrix N for this system.
`void`	`getUnilateralImpulses(VectorNd the)` Returns from the system the most recently computed unilateral constraint impulses.
`void`	`getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo)` Obtains information for all the constraint directions returned by the most recent call to `getUnilateralConstraints()`.
`int`	`maxFrictionConstraintSets()` Returns that maximum number of friction constraint set that may be added by the method `getFrictionConstraints()`.
`void`	`mulInverseMass(SparseBlockMatrix M, VectorNd a, VectorNd f)`
`int`	`numActiveComponents()` Returns the current number of active components in this system.
`int`	`numParametricComponents()` Returns the current number of parametric components in this system.
`void`	`setActiveForces(VectorNd f)` Sets the generalized forces acting on all the active components in this system.
`void`	`setActivePosState(VectorNd q)` Sets the current position state for all active components.
`void`	`setActiveVelState(VectorNd u)` Sets the current velocity state for all active components.
`void`	`setBilateralImpulses(VectorNd lam, double h)` Supplies to the system the most recently computed bilateral constraint impulses.
`void`	`setParametricForces(VectorNd f)` Sets the forces associated with parametric components.
`void`	`setParametricPosState(VectorNd q)` Sets the current position state for all parametric components.
`void`	`setParametricVelState(VectorNd u)` Sets the current velocity state for all parametric components.
`void`	`setUnilateralImpulses(VectorNd the, double h)` Supplies to the system the most recently computed unilateral constraint impulses.
`void`	`updateConstraints(double t, StepAdjustment stepAdjust, int flags)` Updates the constraints associated with this system to be consistent with the current position and indicated time.
`void`	`updateForces(double t)` Updates all internal forces associated with this system to be consistent with the current position and velocity and the indicated time `t`.

- Field Detail
  - COMPUTE_CONTACTS
```
static final int COMPUTE_CONTACTS
```
    Flag passed to updateConstraints() indicating that contact information should be computed.
    
    See Also:
    
    Constant Field Values
  - UPDATE_CONTACTS
```
static final int UPDATE_CONTACTS
```
    Flag passed to updateConstraints() indicating that contact information should be updated. This means that there has only been an adjustment in position and existing contacts between bodies should be maintained, though possibly with a modified set of constraints.
    
    See Also:
    
    Constant Field Values
- Method Detail
  - getStructureVersion
```
int getStructureVersion()
```
    Returns the current structure version of this system. The structure version should be incremented whenever the number and arrangement of active and parametric components changes, implying that any mass and solve matrices should be be rebuilt.
    
    Returns:
    
    current structure version number for this system
  - getActivePosStateSize
```
int getActivePosStateSize()
```
    Returns the size of the position state for all active components. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    size of the active position state
  - getActivePosState
```
void getActivePosState(VectorNd q)
```
    Gets the current position state for all active components. This is stored in the vector q (which will be sized appropriately by the system).
    
    Parameters:
    
    q - vector in which the state is stored
  - setActivePosState
```
void setActivePosState(VectorNd q)
```
    Sets the current position state for all active components. This is supplied in the vector q, whose size should be greater than or equal to the value returned by getActivePosStateSize().
    
    Parameters:
    
    q - vector supplying the state information
  - getActiveVelStateSize
```
int getActiveVelStateSize()
```
    Returns the size of the velocity state for all active components. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    size of the velocity state
  - getActiveVelState
```
void getActiveVelState(VectorNd u)
```
    Gets the current velocity state for all active components. This is stored in the vector u (which will be sized appropriately by the system).
    
    Parameters:
    
    u - vector in which the state is stored
  - setActiveVelState
```
void setActiveVelState(VectorNd u)
```
    Sets the current velocity state for all active components. This is supplied in the vector u, whose size should be greater than or equal to the value returned by getActiveVelStateSize().
    
    Parameters:
    
    u - vector supplying the state information
  - getParametricPosStateSize
```
int getParametricPosStateSize()
```
    Returns the size of the position state for all parametric components. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    size of the parametric position state
  - getParametricPosTarget
```
void getParametricPosTarget(VectorNd q,
                            double s,
                            double h)
```
    Obtains the desired target position for all parametric components at a particular time. This is stored in the vector q (which will be sized appropriately by the system). The system interpolates between the current parametric position values and those desired for the end of the time step, using a parameter s defined on the interval [0,1]. In particular, specifying s = 0 yields the current parametric positions, and s = 1 yields the positions desired for the end of the step. The actual time step size h is also provided, as this may be needed by some interpolation methods.
    The interpolation uses the current parametric positions, and possibly the current parametric velocities as well. Hence this method should be called before either of these are changed using setParametricPosState() or setParametricVelState().
    
    Parameters:
    
    q - vector returning the state information
    
    s - specifies time relative to the current time step
    
    h - time step size
  - getParametricPosState
```
void getParametricPosState(VectorNd q)
```
    Gets the current position state for all parametric components. This is stored in the vector q (which will be sized appropriately by the system).
    
    Parameters:
    
    q - vector in which the state is stored
  - setParametricPosState
```
void setParametricPosState(VectorNd q)
```
    Sets the current position state for all parametric components. This is supplied in the vector q, whose size should be greater than or equal to the value returned by getParametricPosStateSize().
    
    Parameters:
    
    q - vector supplying the state information
  - getParametricVelStateSize
```
int getParametricVelStateSize()
```
    Returns the size of the velocity state for all parametric components. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    size of the parametric velocity state
  - getParametricVelTarget
```
void getParametricVelTarget(VectorNd u,
                            double s,
                            double h)
```
    Obtains the desired target velocity for all parametric components at a particular time. This is stored in the vector u (which will be sized appropriately by the system). The system interpolates between the current parametric velocity values and those desired for the end of the time step, using a parameter s defined on the interval [0,1]. In particular, specifying s = 0 yields the current parametric velocities, and s = 1 yields the velocities desired for the end of the step. The actual time step size h is also provided, as this may be needed by some interpolation methods.
    The interpolation uses the current parametric velocities, and possibly the current parametric positions as well. Hence this method should be called before either of these are changed using setParametricPosState() or setParametricVelState().
    
    Parameters:
    
    u - vector returning the parametric target velocites
    
    s - specifies time relative to the current time step
    
    h - time step size
  - getParametricVelState
```
void getParametricVelState(VectorNd u)
```
    Gets the current velocity state for all parametric components. This is stored in the vector u (which will be sized appropriately by the system).
    
    Parameters:
    
    u - vector in which state is stored
  - setParametricVelState
```
void setParametricVelState(VectorNd u)
```
    Sets the current velocity state for all parametric components. This is supplied in the vector u, whose size should be greater than or equal to the value returned by getParametricVelStateSize().
    
    Parameters:
    
    u - vector supplying the state information
  - setParametricForces
```
void setParametricForces(VectorNd f)
```
    Sets the forces associated with parametric components. This is supplied in the vector f, whose size should be greater or equal to the value returned by getParametricVelStateSize().
    
    Parameters:
    
    f - vector supplying the force information
  - getParametricForces
```
void getParametricForces(VectorNd f)
```
    Gets the forces associated with parametric components. This is returned in the vector f (which will be sized appropriately by the system).
    
    Parameters:
    
    f - vector in which to return the force information
  - getActivePosDerivative
```
void getActivePosDerivative(VectorNd dxdt,
                            double t)
```
    Gets the current value of the position derivative for all active components. This is stored in the vector dxdt (which will be sized appropriately by the system).
    
    Parameters:
    
    dxdt - vector in which the derivative is stored
    
    t - current time value
  - getActiveForces
```
void getActiveForces(VectorNd f)
```
    Returns the generalized forces acting on all the active components in this system. This is stored in the vector f (which will be sized appropriately by the system).
    
    Parameters:
    
    f - vector in which the forces are stored
  - setActiveForces
```
void setActiveForces(VectorNd f)
```
    Sets the generalized forces acting on all the active components in this system. The values are specifies in the vector f, whose size should be greater or equal to the value returned by getActiveVelStateSize().
    
    Parameters:
    
    f - vector specifying the forces to be set
  - buildMassMatrix
```
boolean buildMassMatrix(SparseBlockMatrix M)
```
    Builds a mass matrix for this system. This is done by adding blocks of an appropriate type to the sparse block matrix M. On input, M should be empty with zero size; it will be sized appropriately by the system.
    This method returns true if the mass matrix is constant; i.e., does not vary with time. It does not place actual values in the matrix; that must be done by calling getMassMatrix().
    A new mass matrix should be built whenever the system's structure version (as returned by getStructureVersion()) changes.
    
    Parameters:
    
    M - matrix in which the mass matrix will be built
    
    Returns:
    
    true if the mass matrix is constant.
  - getMassMatrix
```
void getMassMatrix(SparseBlockMatrix M,
                   VectorNd f,
                   double t)
```
    Sets M to the current value of the mass matrix for this system, evaluated at time t. M should have been previously created with a call to buildMassMatrix(). The current mass forces are returned in the vector f, which should have a size greater or equal to the size of M. The mass forces (also known as the fictitious forces) are given by
```
 - dM/dt u
 
```
    where u is the current system velocity. f will be sized appropriately by the system.
    Parameters:
    
    M - returns the mass matrix
    
    f - returns the mass forces
    
    t - current time
  - getInverseMassMatrix
```
void getInverseMassMatrix(SparseBlockMatrix Minv,
                          SparseBlockMatrix M)
```
    Sets Minv to the inverse of the mass matrix M. Minv should have been previously created with a call to buildMassMatrix().
    This method assumes that M is block diagonal and hence Minv has the same block structure. Although it is possible to compute Minv by simply inverting each block of M, the special structure of each mass block may permit the system to do this in a highly optimized way.
    
    Parameters:
    
    Minv - returns the inverted mass matrix
    
    M - mass matrix to invert
  - mulInverseMass
```
void mulInverseMass(SparseBlockMatrix M,
                    VectorNd a,
                    VectorNd f)
```
  - buildSolveMatrix
```
void buildSolveMatrix(SparseNumberedBlockMatrix S)
```
    Builds a solve matrix for this system. This is done by adding blocks of an appropriate type to the sparse block matrix S. On input, S should be empty with zero size; it will be sized appropriately by the system. The resulting matrix should have all the blocks required to store any combination of the mass matrix, the force-position Jacobian, and the force-velocity Jacobian. This method does not place actual values in the matrix; that must be done by adding a mass matrix to it, or by calling addVelJacobian() or addPosJacobian().
    A new solve matrix should be built whenever the system's structure version (as returned by getStructureVersion()) changes.
    
    Parameters:
    
    S - matrix in which the solve matrix will be built
  - getSolveMatrixType
```
int getSolveMatrixType()
```
    Returns information about the solve matrix for this system. This consists of an or-ed set of flags, including SYMMETRIC or POSITIVE_DEFINITE, which aid in determining the best way to solve the matrix.
    
    Returns:
    
    type information for the solve matrix
  - numActiveComponents
```
int numActiveComponents()
```
    Returns the current number of active components in this system. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    number of active components
  - numParametricComponents
```
int numParametricComponents()
```
    Returns the current number of parametric components in this system. This should remain unchanged as long as the current structure version (returned by getStructureVersion() remains unchanged.
    
    Returns:
    
    number of parametric components
  - addVelJacobian
```
void addVelJacobian(SparseNumberedBlockMatrix S,
                    VectorNd f,
                    double h)
```
    Adds the current force-velocity Jacobian, scaled by h, to the matrix S, which should have been previously created with a call to buildSolveMatrix(). Addition fictitious forces associated with the Jacobian can be optionally returned in the vector f, which will be sized appropriately by the system.
    
    Parameters:
    
    S - matrix to which scaled Jacobian is to be added
    
    f - if non-null, returns fictitious forces associated with the Jacobian
    
    h - scale factor for the Jacobian
  - addPosJacobian
```
void addPosJacobian(SparseNumberedBlockMatrix S,
                    VectorNd f,
                    double h)
```
    Adds the current force-position Jacobian, scaled by h, to the matrix S, which should have been previously created with a call to buildSolveMatrix(). Addition fictitious forces associated with the Jacobian can be optionally returned in the vector f, which will be sized appropriately by the system.
    
    Parameters:
    
    S - matrix to which scaled Jacobian is to be added
    
    f - if non-null, returns fictitious forces associated with the Jacobian
    
    h - scale factor for the Jacobian
  - getBilateralConstraints
```
int getBilateralConstraints(SparseBlockMatrix GT,
                            VectorNd dg)
```
    Obtains the transpose of the current bilateral constraint matrix G for this system. This is built and stored in GT. On input, GT should be empty with zero size; it will be sized appropriately by the system. The derivative term is returned in dg; this is given by
```
 dG/dt u
 
```
    where u is the current system velocity. dg will also be sized appropriately by the system.
    The method returns a version number for the constraint structure. This number should be incremented whenever the block structure of the constraint matrix changes.
    Parameters:
    
    GT - returns the transpose of G
    
    dg - returns the derivative term for G
    
    Returns:
    
    constraint structure version number
  - getBilateralInfo
```
void getBilateralInfo(MechSystem.ConstraintInfo[] ginfo)
```
    Obtains information for all the constraint directions returned by the most recent call to getBilateralConstraints(). The information is returned in the array ginfo, which should contain preallocated ConstraintInfo structures and should have a length greater or equal to the column size of GT returned by getBilateralConstraints().
    
    Parameters:
    
    ginfo - Array of ConstraintInfo objects used to return the constraint information.
  - setBilateralImpulses
```
void setBilateralImpulses(VectorNd lam,
                          double h)
```
    Supplies to the system the most recently computed bilateral constraint impulses. These are supplied by the vector lam, which should have a size greater or equal to the column size of GT returned by getBilateralConstraints().
    
    Parameters:
    
    lam - Bilateral constraint impulses being supplied to the system.
    
    h - Time interval associated with the impulses. Dividing by this should give the average constraint forces.
  - getBilateralImpulses
```
void getBilateralImpulses(VectorNd lam)
```
    Returns from the system the most recently computed bilateral constraint impulses. These are stored in the vector lam, which should have a size greater or equal to the column size of GT returned by getBilateralConstraints(). For constraints which where present in the previous solve step, the impulse values should equal those which were set by the prevous call to setBilateralImpulses(). Otherwise, values can be estimated from previous impulse values (where appropriate), or supplied as 0.
    
    Parameters:
    
    lam - Bilateral constraint impulses being returned from the system.
  - getUnilateralConstraints
```
void getUnilateralConstraints(SparseBlockMatrix NT,
                              VectorNd dn)
```
    Obtains the transpose of the current unilateral constraint matrix N for this system. This is built and stored in NT. On input, NT should be empty with zero size; it will be sized appropriately by the system. The derivative term is returned in dn; this is given by
```
 dn/dt u
 
```
    where u is the current system velocity. dn will also be sized appropriately by the system.
    Parameters:
    
    NT - returns the transpose of N
    
    dn - returns the derivative term for N
  - getUnilateralInfo
```
void getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo)
```
    Obtains information for all the constraint directions returned by the most recent call to getUnilateralConstraints(). The information is returned in the array ninfo, which should contain preallocated ConstraintInfo structures and should have a length greater or equal to the column size of NT returned by getUnilateralConstraints().
    
    Parameters:
    
    ninfo - Array of ConstraintInfo objects used to return the constraint information.
  - setUnilateralImpulses
```
void setUnilateralImpulses(VectorNd the,
                           double h)
```
    Supplies to the system the most recently computed unilateral constraint impulses. These are supplied by the vector the, which should have a size greater or equal to the column size of NT returned by getUnilateralConstraints().
    
    Parameters:
    
    the - Unilateral constraint impulses being supplied to the system.
    
    h - Time interval associated with the impulses. Dividing by this should give the average constraint forces.
  - getUnilateralImpulses
```
void getUnilateralImpulses(VectorNd the)
```
    Returns from the system the most recently computed unilateral constraint impulses. These are stored in the vector the, which should have a size greater or equal to the column size of NT returned by getUnilateralConstraints(). For constraints which where present in the previous solve step, the impulse values should equal those which were set by the prevous call to setUnilateralImpulses(). Otherwise, values can be estimated from previous impulse values (where appropriate), or supplied as 0.
    
    Parameters:
    
    the - Unilateral constraint impulses being returned from the system.
  - maxFrictionConstraintSets
```
int maxFrictionConstraintSets()
```
    Returns that maximum number of friction constraint set that may be added by the method getFrictionConstraints(). This is used to size the finfo array supplied to that method.
    
    Returns:
    
    maximum friction constraint sets
  - getFrictionConstraints
```
void getFrictionConstraints(SparseBlockMatrix DT,
                            MechSystem.FrictionInfo[] finfo)
```
    Obtains the transpose of the current friction constraint matrix D for this system. This is built and stored in DT. On input, DT should be empty with zero size; it will be sized appropriately by the system.
    Each column block in DT describes a friction constraint set associated with one unilateral or bilateral constraint. Information about each friction constraint set is returned in the array finfo, which should contain preallocated FrictionInfo structures and should have a length greater or equal to the value returned by FrictionConstraintSets().
    
    Parameters:
    
    DT - returns the transpose of D
    
    finfo - returns information for each friction constraint set
  - addActivePosImpulse
```
void addActivePosImpulse(VectorNd q,
                         double h,
                         VectorNd u)
```
    Computes an adjustment to the active positions of the system (stored in the vector q) by applying a velocity u for time h. Where velocity equals position derivative, this corresponds to computing
```
 q += h u.
 
```
    In other situations, such as where position is orientation expressed as a quaternion and velocity is angular velocity, the system should perform the analagous computation. q should have a size greater or equal to the value returned by getActivePosStateSize(), and u should have a size greater or equal to the value returned by getActiveVelStateSize().
    Parameters:
    
    q - positions to be adjusted
    
    h - length of time to apply velocity
    
    u - velocity to be applied
  - updateConstraints
```
void updateConstraints(double t,
                       StepAdjustment stepAdjust,
                       int flags)
```
    Updates the constraints associated with this system to be consistent with the current position and indicated time. This method should be called between any change to position values and any call that obtains constraint information (such as getBilateralConstraints().
    Because contact computations are expensive, the constraints associated with contact should only be computed if the flags COMPUTE_CONTACTS or UPDATE_CONTACTS are specified. The former calls for contact information to be computed from scratch, while the latter calls for contact information to be modified to reflect changes in body positions, while preserving the general contact state between bodies.
    In the process of updating the constraints, the system may determine that a smaller step size is needed. This is particulary true when contact calculations show an unacceptable level of interpenetration. A smaller step size can be recommended If so, it can indicate this through the optional argument stepAdjust, if present.
    
    Parameters:
    
    t - current time
    
    stepAdjust - (optional) can be used to indicate whether the current advance should be redone with a smaller step size.
    
    flags - information flags
  - updateForces
```
void updateForces(double t)
```
    Updates all internal forces associated with this system to be consistent with the current position and velocity and the indicated time t. This method should be called between any change to position or velocity values (such as through setActivePosState() or setActiveVelState(), and any call to getActiveForces().
    In the process of updating the forces, the system may determine that a smaller step size is needed. If so, it can indicate this through the argument optional stepAdjust, if present.
    
    Parameters:
    
    t - current time

Interface MechSystem

Nested Class Summary

Field Summary

Method Summary

Field Detail

COMPUTE_CONTACTS

UPDATE_CONTACTS

Method Detail

getStructureVersion

getActivePosStateSize

getActivePosState

setActivePosState

getActiveVelStateSize

getActiveVelState

setActiveVelState

getParametricPosStateSize

getParametricPosTarget

getParametricPosState

setParametricPosState

getParametricVelStateSize

getParametricVelTarget

getParametricVelState

setParametricVelState

setParametricForces

getParametricForces

getActivePosDerivative

getActiveForces

setActiveForces

buildMassMatrix

getMassMatrix

getInverseMassMatrix

mulInverseMass

buildSolveMatrix

getSolveMatrixType

numActiveComponents

numParametricComponents

addVelJacobian

addPosJacobian

getBilateralConstraints

getBilateralInfo

setBilateralImpulses

getBilateralImpulses

getUnilateralConstraints

getUnilateralInfo

setUnilateralImpulses

getUnilateralImpulses

maxFrictionConstraintSets

getFrictionConstraints

addActivePosImpulse

updateConstraints

updateForces