artisynth.core.mechmodels

Class RigidBodySolver

java.lang.Object

artisynth.core.mechmodels.RigidBodySolver

public class RigidBodySolver
extends java.lang.Object

Solves a sub-set of a MechSystem defined by rigid bodies

Constructor Summary

Constructors

Constructor and Description
RigidBodySolver(MechSystem sys)

Method Summary

Modifier and Type	Method and Description
void	dispose()
void	finalize()
int[]	getDTMap()
VectorNi	getLcpState()
boolean	projectFriction(SparseBlockMatrix M, SparseBlockMatrix GT, SparseBlockMatrix NT, SparseBlockMatrix DT, VectorNd Rg, VectorNd bg, VectorNd Rn, VectorNd bn, VectorNd Rd, VectorNd bd, java.util.ArrayList<FrictionInfo> finfo, VectorNi state, VectorNd vel, VectorNd lam, VectorNd the, VectorNd phi)
boolean	projectPosition(SparseBlockMatrix M, SparseBlockMatrix GT, SparseBlockMatrix NT, VectorNd bg, VectorNd bn, VectorNd vel, VectorNd lam, VectorNd the)
boolean	projectVelocity(SparseBlockMatrix M, SparseBlockMatrix GT, SparseBlockMatrix NT, VectorNd bg, VectorNd bn, VectorNd vel, VectorNd lam, VectorNd the)
void	resetBilateralVersion() Called to ensure that structure will be updated the next time updateStructure is called.
boolean	updateStructure(SparseBlockMatrix M, SparseBlockMatrix GT, int GTversion)

Methods inherited from class java.lang.Object

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

Constructor Detail

RigidBodySolver

public RigidBodySolver(MechSystem sys)

Method Detail

getDTMap

public int[] getDTMap()

updateStructure

public boolean updateStructure(SparseBlockMatrix M,
                               SparseBlockMatrix GT,
                               int GTversion)

resetBilateralVersion

public void resetBilateralVersion()

Called to ensure that structure will be updated the next time updateStructure is called.

projectVelocity

public boolean projectVelocity(SparseBlockMatrix M,
                               SparseBlockMatrix GT,
                               SparseBlockMatrix NT,
                               VectorNd bg,
                               VectorNd bn,
                               VectorNd vel,
                               VectorNd lam,
                               VectorNd the)

projectPosition

public boolean projectPosition(SparseBlockMatrix M,
                               SparseBlockMatrix GT,
                               SparseBlockMatrix NT,
                               VectorNd bg,
                               VectorNd bn,
                               VectorNd vel,
                               VectorNd lam,
                               VectorNd the)

projectFriction

public boolean projectFriction(SparseBlockMatrix M,
                               SparseBlockMatrix GT,
                               SparseBlockMatrix NT,
                               SparseBlockMatrix DT,
                               VectorNd Rg,
                               VectorNd bg,
                               VectorNd Rn,
                               VectorNd bn,
                               VectorNd Rd,
                               VectorNd bd,
                               java.util.ArrayList<FrictionInfo> finfo,
                               VectorNi state,
                               VectorNd vel,
                               VectorNd lam,
                               VectorNd the,
                               VectorNd phi)

getLcpState

public VectorNi getLcpState()

dispose

public void dispose()

finalize

public void finalize()

Overrides:

finalize in class java.lang.Object