artisynth.core.mechmodels

Class ContactMaster

java.lang.Object

artisynth.core.mechmodels.ContactMaster

public class ContactMaster
extends java.lang.Object

Stores information about a master component associated with a contact constraint, including the identity of the component itself, its contribution weight, and the associated contact point.

Constructor Summary

Constructors

Constructor and Description
ContactMaster(CollidableDynamicComponent comp, double wgt)
ContactMaster(CollidableDynamicComponent comp, double wgt, ContactPoint cpnt)

Method Summary

Modifier and Type	Method and Description
void	addRelativeVelocity(Vector3d vel)
MatrixBlock	get1DFrictionBlock(Vector3d dir)
MatrixBlock	get2DFrictionBlock(Vector3d dir1, Vector3d dir2)
MatrixBlock	getBlock(Vector3d dir)
int	getSolveIndex()

Methods inherited from class java.lang.Object

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

Constructor Detail

ContactMaster

public ContactMaster(CollidableDynamicComponent comp,
                     double wgt,
                     ContactPoint cpnt)

ContactMaster

public ContactMaster(CollidableDynamicComponent comp,
                     double wgt)

Method Detail

getSolveIndex

public int getSolveIndex()

getBlock

public MatrixBlock getBlock(Vector3d dir)

get1DFrictionBlock

public MatrixBlock get1DFrictionBlock(Vector3d dir)

get2DFrictionBlock

public MatrixBlock get2DFrictionBlock(Vector3d dir1,
                                      Vector3d dir2)

addRelativeVelocity

public void addRelativeVelocity(Vector3d vel)