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

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ContactConstraint.StictionState Describes the static friction state of this contact.

Constructor Summary

Constructors

Constructor and Description
ContactConstraint()
ContactConstraint(ContactPoint cpnt0, ContactPoint cpnt1, boolean pnt0OnCollidable1)

Method Summary

Modifier and Type	Method and Description
int	add1DFrictionConstraints(SparseBlockMatrix DT, java.util.ArrayList<FrictionInfo> finfo, double mu, double stictionCreep, double compliance, int numf)
int	add2DFrictionConstraints(SparseBlockMatrix DT, java.util.ArrayList<FrictionInfo> finfo, double mu, double stictionCreep, double compliance, int numf, boolean prune, boolean bilateralContact)
int	addBilateralConstraints(SparseBlockMatrix GT, double[] dbuf, int numb)
void	addConstraintBlocks(SparseBlockMatrix GT, int bj)
void	assignMasters(CollidableBody collidable0, CollidableBody collidable1)
void	clearMasters()
int	collectMasterComponents(java.util.HashSet<DynamicComponent> masters, boolean activeOnly)
void	equateContactPoints()
int	get1DFrictionForce(VectorNd phi, int idx)
int	get1DFrictionState(VectorNi state, int idx)
int	get2DFrictionForce(VectorNd phi, int idx)
int	get2DFrictionState(VectorNi state, int idx)
double	getContactForce()
double	getDerivative()
double	getDistance()
Vector3d	getFrictionForce()
Vector3d	getNormal()
int	getSolveIndex()
void	getState(DataBuffer data)
boolean	isActive()
boolean	isControllable()
boolean	isPnt0OnCollidable1()
int	set1DFrictionForce(VectorNd phi, double s, int idx)
int	set1DFrictionState(VectorNi state, int idx)
int	set2DFrictionForce(VectorNd phi, double s, int idx)
int	set2DFrictionState(VectorNi state, int idx)
void	setActive(boolean active)
void	setContactPoint0(Point3d pnt, boolean pnt0OnCollidable1)
void	setContactPoints(ContactPoint cpnt0, ContactPoint cpnt1, boolean pnt0OnCollidable1)
void	setDistance(double d)
void	setNormal(Vector3d nrm)
void	setSolveIndex(int idx)
void	setState(DataBuffer data, CollidableBody collidable0, CollidableBody collidable1)
java.lang.String	toString(java.lang.String fmtStr)
void	zeroForces()

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,
                         ContactPoint cpnt1,
                         boolean pnt0OnCollidable1)

Method Detail

getContactForce

public double getContactForce()

zeroForces

public void zeroForces()

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()

collectMasterComponents

public int collectMasterComponents(java.util.HashSet<DynamicComponent> masters,
                                   boolean activeOnly)

isControllable

public boolean isControllable()

setContactPoint0

public void setContactPoint0(Point3d pnt,
                             boolean pnt0OnCollidable1)

setContactPoints

public void setContactPoints(ContactPoint cpnt0,
                             ContactPoint cpnt1,
                             boolean pnt0OnCollidable1)

isPnt0OnCollidable1

public boolean isPnt0OnCollidable1()

equateContactPoints

public void equateContactPoints()

getDerivative

public double getDerivative()

addBilateralConstraints

public int addBilateralConstraints(SparseBlockMatrix GT,
                                   double[] dbuf,
                                   int numb)

addConstraintBlocks

public void addConstraintBlocks(SparseBlockMatrix GT,
                                int bj)

getFrictionForce

public Vector3d getFrictionForce()

add1DFrictionConstraints

public int add1DFrictionConstraints(SparseBlockMatrix DT,
                                    java.util.ArrayList<FrictionInfo> finfo,
                                    double mu,
                                    double stictionCreep,
                                    double compliance,
                                    int numf)

set1DFrictionForce

public int set1DFrictionForce(VectorNd phi,
                              double s,
                              int idx)

get1DFrictionForce

public int get1DFrictionForce(VectorNd phi,
                              int idx)

set1DFrictionState

public int set1DFrictionState(VectorNi state,
                              int idx)

get1DFrictionState

public int get1DFrictionState(VectorNi state,
                              int idx)

add2DFrictionConstraints

public int add2DFrictionConstraints(SparseBlockMatrix DT,
                                    java.util.ArrayList<FrictionInfo> finfo,
                                    double mu,
                                    double stictionCreep,
                                    double compliance,
                                    int numf,
                                    boolean prune,
                                    boolean bilateralContact)

set2DFrictionForce

public int set2DFrictionForce(VectorNd phi,
                              double s,
                              int idx)

get2DFrictionForce

public int get2DFrictionForce(VectorNd phi,
                              int idx)

set2DFrictionState

public int set2DFrictionState(VectorNi state,
                              int idx)

get2DFrictionState

public int get2DFrictionState(VectorNi state,
                              int idx)

assignMasters

public void assignMasters(CollidableBody collidable0,
                          CollidableBody collidable1)

getState

public void getState(DataBuffer data)

setState

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

toString

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