maspack.solvers

Class LemkeContactSolver

java.lang.Object

maspack.solvers.LemkeSolverBase

maspack.solvers.LemkeContactSolver

public class LemkeContactSolver
extends LemkeSolverBase

Field Summary

Fields inherited from class maspack.solvers.LemkeSolverBase

AUTO_EPSILON, AUTOMATIC_PIVOT_LIMIT, BASIC, NEW, PIVOT_LIMIT_EXCEEDED, SHOW_BASIS, SHOW_COLS, SHOW_LEXICO_COLS, SHOW_STATS, SOLVED, UNBOUNDED_RAY, W_VAR, Z_VAR, Z0

Constructor Summary

Constructors

Constructor and Description
LemkeContactSolver()

Method Summary

Modifier and Type	Method and Description
boolean	checkQv(double[] qv)
void	computeMvCol(double[] y, maspack.solvers.LemkeContactSolver.ContactVariable var)
void	computePivotKernel()
void	computeQv(double[] qv)
java.lang.String	getConfigString()
int	getNumFrictionDirections()
boolean	getReducibleSize()
boolean	getSmartDirections()
boolean	getVariableSize()
boolean	isFrictionEnabled()
void	setEpsilon(double eps)
void	setFrictionEnabled(boolean enable)
void	setNumFrictionDirections(int num)
void	setReducibleSize(boolean enable)
void	setSmartDirections(boolean enable)
void	setVariableSize(boolean enable)
int	solve(Twist tr, ContactInfo[] contacts, int ncontacts, SpatialInertia inertia, Twist tw, double restitution) Applies an impulse to a rigid body velocity to adjust for normal and frictional contact forces.
int	solve(Twist tr, ContactInfo[] contacts, int ncontacts, SpatialInertia inertia, Wrench wapplied, double restitution)
void	solveColumn(double[] y, Wrench vc, double[] b, Wrench bstar)

Methods inherited from class maspack.solvers.LemkeSolverBase

cycleCheckingEnabled, getEpsilon, getPivotCount, getPivotLimit, lexicoMinRatioTest, resetPivotCount, setCycleChecking, setDebug, setPivotCount, setPivotLimit

Methods inherited from class java.lang.Object

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

Constructor Detail

LemkeContactSolver

public LemkeContactSolver()

Method Detail

isFrictionEnabled

public boolean isFrictionEnabled()

setFrictionEnabled

public void setFrictionEnabled(boolean enable)

getNumFrictionDirections

public int getNumFrictionDirections()

setNumFrictionDirections

public void setNumFrictionDirections(int num)

setEpsilon

public void setEpsilon(double eps)

setVariableSize

public void setVariableSize(boolean enable)

getVariableSize

public boolean getVariableSize()

setReducibleSize

public void setReducibleSize(boolean enable)

getReducibleSize

public boolean getReducibleSize()

setSmartDirections

public void setSmartDirections(boolean enable)

getSmartDirections

public boolean getSmartDirections()

computePivotKernel

public void computePivotKernel()

solveColumn

public void solveColumn(double[] y,
                        Wrench vc,
                        double[] b,
                        Wrench bstar)

computeMvCol

public void computeMvCol(double[] y,
                         maspack.solvers.LemkeContactSolver.ContactVariable var)

checkQv

public boolean checkQv(double[] qv)

computeQv

public void computeQv(double[] qv)

solve

public int solve(Twist tr,
                 ContactInfo[] contacts,
                 int ncontacts,
                 SpatialInertia inertia,
                 Twist tw,
                 double restitution)

Applies an impulse to a rigid body velocity to adjust for normal and frictional contact forces.

Parameters:

tr - velocity with contact impulse added

contacts - provides information about the each contact

ncontacts - number of contacts

inertia - spatial inertia of the rigid body

tw - initial velocity of the rigid body

restitution - coefficent of restitution

solve

public int solve(Twist tr,
                 ContactInfo[] contacts,
                 int ncontacts,
                 SpatialInertia inertia,
                 Wrench wapplied,
                 double restitution)

getConfigString

public java.lang.String getConfigString()