artisynth.core.mechmodels

Class MechSystem.FrictionInfo

java.lang.Object

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

Fields

Modifier and Type	Field and Description
static int	BILATERAL
int	contactIdx0
int	contactIdx1
int	flags
double	mu

Constructor Summary

Constructors

Constructor and Description
FrictionInfo()

Method Summary

Modifier and Type	Method and Description
double	getMaxFriction(VectorNd lam) Returns the maximum friction value based on the most recent contact force and the coefficient of friction.

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

contactIdx0

public int contactIdx0

contactIdx1

public int contactIdx1

flags

public int flags

Constructor Detail

FrictionInfo

public FrictionInfo()

Method Detail

getMaxFriction

public double getMaxFriction(VectorNd lam)

Returns the maximum friction value based on the most recent contact force and the coefficient of friction. Contacts forces are stored in the supplied vector lam, at the location(s) indexed by contactIdx0 and (possibly) contactIdx1.