FrictionInfo (Artisynth API documentation)

java.lang.Object
- maspack.spatialmotion.FrictionInfo

```
public class 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. 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`	`blockIdx`
`int`	`blockSize`
`int`	`contactIdx0`
`int`	`contactIdx1`
`int`	`flags`
`double`	`mu`
`double`	`stictionCompliance`
`double`	`stictionCreep`
`double`	`stictionDisp0`
`double`	`stictionDisp1`

Constructor Summary

Constructors
Constructor and Description

FrictionInfo()

FrictionInfo(FrictionInfo finfo)

Constructors
Constructor and Description
`FrictionInfo()`
`FrictionInfo(FrictionInfo finfo)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`boolean`	`equals(FrictionInfo fi)` Checks FrictionInfo for equality
`double`	`getMaxFriction(VectorNd lam)` Returns the maximum friction value based on the most recent contact force and the coefficient of friction.
`void`	`set(FrictionInfo finfo)`
`void`	`set2D(int bi, int ci, double mu)`

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
```

blockIdx
```
public int blockIdx
```

blockSize
```
public int blockSize
```

contactIdx0
```
public int contactIdx0
```

contactIdx1
```
public int contactIdx1
```

flags
```
public int flags
```

stictionCreep
```
public double stictionCreep
```

stictionCompliance
```
public double stictionCompliance
```

stictionDisp0
```
public double stictionDisp0
```

stictionDisp1
```
public double stictionDisp1
```

Constructor Detail

FrictionInfo
```
public FrictionInfo()
```

FrictionInfo

public FrictionInfo(FrictionInfo finfo)

Method Detail
- set
```
public void set(FrictionInfo finfo)
```
- set2D
```
public void set2D(int bi,
                  int ci,
                  double mu)
```
- 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.
- equals
```
public boolean equals(FrictionInfo fi)
```
  Checks FrictionInfo for equality

Class FrictionInfo

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

BILATERAL

mu

blockIdx

blockSize

contactIdx0

contactIdx1

flags

stictionCreep

stictionCompliance

stictionDisp0

stictionDisp1

Constructor Detail

FrictionInfo

FrictionInfo

Method Detail

set

set2D

getMaxFriction

equals