RigidBodyConstraint (Artisynth API documentation)

java.lang.Object
- maspack.spatialmotion.RigidBodyConstraint

public class RigidBodyConstraint
extends java.lang.Object

Constructor Summary

Constructors
Constructor and Description

RigidBodyConstraint()

Constructors
Constructor and Description
`RigidBodyConstraint()`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`double`	`getCompliance()`
`double`	`getContactAccel()`
`Point3d`	`getContactPoint()` Returns the contact point for point contact constraints, or null otherwise.
`double`	`getContactSpeed()`
`double`	`getDamping()`
`double`	`getDerivative()`
`double`	`getDistance()`
`Wrench`	`getDotWrenchC()`
`double`	`getFriction()`
`double`	`getFrictionLimit()`
`double`	`getMultiplier()`
`double`	`getOffset()`
`int`	`getSolveIndex()` Returns the index of this constraint within either the GT or NT matrix of the global system MLCP.
`void`	`getState(DataBuffer data)`
`static int`	`getStateSize()`
`Wrench`	`getWrenchA()`
`Wrench`	`getWrenchB()`
`Wrench`	`getWrenchC()`
`boolean`	`isUnilateral()`
`void`	`setCompliance(double c)`
`void`	`setContactAccel(double s)`
`void`	`setContactPoint(Point3d pnt)` Sets the contact point for point contact constraints.
`void`	`setContactSpeed(double s)`
`void`	`setDamping(double c)`
`void`	`setDerivative(double d)`
`void`	`setDistance(double d)`
`void`	`setDotWrenchC(Wrench wr)`
`void`	`setFriction(double f)`
`void`	`setFrictionLimit(double f)`
`void`	`setMultiplier(double lam)`
`void`	`setOffset(double b)`
`void`	`setSolveIndex(int idx)`
`void`	`setState(DataBuffer data)`
`void`	`setUnilateral(boolean unilateral)`
`void`	`setWrenchA(Wrench wr)`
`void`	`setWrenchB(Wrench wr)`
`void`	`setWrenchC(Wrench wr)`
`java.lang.String`	`toString()`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Detail
- RigidBodyConstraint
```
public RigidBodyConstraint()
```

Method Detail

setWrenchA
```
public void setWrenchA(Wrench wr)
```

getWrenchA
```
public Wrench getWrenchA()
```

setWrenchB
```
public void setWrenchB(Wrench wr)
```

getWrenchB
```
public Wrench getWrenchB()
```

setWrenchC
```
public void setWrenchC(Wrench wr)
```

getWrenchC
```
public Wrench getWrenchC()
```

setDotWrenchC
```
public void setDotWrenchC(Wrench wr)
```

getDotWrenchC
```
public Wrench getDotWrenchC()
```

isUnilateral
```
public boolean isUnilateral()
```

setUnilateral

public void setUnilateral(boolean unilateral)

getSolveIndex
```
public int getSolveIndex()
```
Returns the index of this constraint within either the GT or NT matrix of the global system MLCP.

Returns:

index within either GT or NT

setSolveIndex
```
public void setSolveIndex(int idx)
```

setDerivative
```
public void setDerivative(double d)
```

getDerivative
```
public double getDerivative()
```

setOffset
```
public void setOffset(double b)
```

getOffset
```
public double getOffset()
```

setMultiplier

public void setMultiplier(double lam)

getMultiplier
```
public double getMultiplier()
```

setDistance
```
public void setDistance(double d)
```

getDistance
```
public double getDistance()
```

setCompliance
```
public void setCompliance(double c)
```

getCompliance
```
public double getCompliance()
```

setDamping
```
public void setDamping(double c)
```

getDamping
```
public double getDamping()
```

setContactSpeed

public void setContactSpeed(double s)

getContactSpeed
```
public double getContactSpeed()
```

setContactAccel

public void setContactAccel(double s)

getContactAccel
```
public double getContactAccel()
```

setFrictionLimit

public void setFrictionLimit(double f)

getFrictionLimit
```
public double getFrictionLimit()
```

setFriction
```
public void setFriction(double f)
```

getFriction
```
public double getFriction()
```

setContactPoint
```
public void setContactPoint(Point3d pnt)
```
Sets the contact point for point contact constraints. A supplied value of null clears the contact point.

Parameters:

pnt - new contact point. The supplied value is copied internally.

getContactPoint
```
public Point3d getContactPoint()
```
Returns the contact point for point contact constraints, or null otherwise. The point is given in the coordinates of bodyA. This is intended for use by solvers in computing the friction. return contact point for point contacts. Should not be modfied.

toString
```
public java.lang.String toString()
```
Overrides:

toString in class java.lang.Object

getStateSize
```
public static int getStateSize()
```

getState

public void getState(DataBuffer data)

setState

public void setState(DataBuffer data)

Class RigidBodyConstraint

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Constructor Detail

RigidBodyConstraint

Method Detail

setWrenchA

getWrenchA

setWrenchB

getWrenchB

setWrenchC

getWrenchC

setDotWrenchC

getDotWrenchC

isUnilateral

setUnilateral

getSolveIndex

setSolveIndex

setDerivative

getDerivative

setOffset

getOffset

setMultiplier

getMultiplier

setDistance

getDistance

setCompliance

getCompliance

setDamping

getDamping

setContactSpeed

getContactSpeed

setContactAccel

getContactAccel

setFrictionLimit

getFrictionLimit

setFriction

getFriction

setContactPoint

getContactPoint

toString

getStateSize

getState

setState