RigidBodyConstraint (Artisynth API documentation)

java.lang.Object
- maspack.spatialmotion.RigidBodyConstraint

```
public class RigidBodyConstraint
extends java.lang.Object
```
Contains information about individual constraints between rigid bodies which are used to enforce the couplings implemented by subclasses of RigidBodyCoupling.

Nested Class Summary

Nested Classes
Modifier and Type Class and Description

static class RigidBodyConstraint.MotionType
Describes the type of motion restricted by this constraint.

Nested Classes
Modifier and Type	Class and Description
`static class`	`RigidBodyConstraint.MotionType` Describes the type of motion restricted by this constraint.

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`BILATERAL` Constraint is bilateral.
`static int`	`CONSTANT` Constraint in frame G is constant.
`static int`	`COUPLED` Constraint restricts both rotation and translation
`static int`	`LIMIT` Constraint enforces a coordinate limit.
`static int`	`LINEAR` Constraint primarily restricts translational motion.
`static int`	`ROTARY` Constraint primarily restricts rotary motion.

Constructor Summary

Constructors
Constructor and Description

RigidBodyConstraint()

Constructors
Constructor and Description
`RigidBodyConstraint()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`clearFlag(int flag)`
`double`	`computeContactSpeed(Twist velCD)`
`double`	`getCompliance()`
`double`	`getDamping()`
`double`	`getDistance()`
`Wrench`	`getDotWrenchG()`
`int`	`getEngaged()`
`int`	`getEngagedCnt()`
`double`	`getFriction()`
`int`	`getIndex()`
`RigidBodyConstraint.MotionType`	`getMotionType()`
`double`	`getMultiplier()`
`int`	`getSolveIndex()`
`int`	`getState()`
`Wrench`	`getWrenchG()`
`boolean`	`isBilateral()`
`boolean`	`isConstant()`
`boolean`	`isLinear()`
`boolean`	`isRotary()`
`boolean`	`isUnilateral()`
`void`	`negateDotWrenchG()`
`void`	`negateWrenchG()`
`void`	`setCompliance(double c)`
`void`	`setDamping(double c)`
`void`	`setDistance(double d)`
`void`	`setDotWrenchG(double fx, double fy, double fz, double mx, double my, double mz)`
`void`	`setDotWrenchG(Vector3d f, Vector3d m)`
`void`	`setDotWrenchG(Wrench wr)`
`void`	`setEnaged(int eng)`
`void`	`setFlag(int flag)`
`void`	`setFlags(int flags)`
`void`	`setFriction(double f)`
`void`	`setMultiplier(double lam)`
`void`	`setSolveIndex(int idx)`
`void`	`setState(int s)`
`void`	`setUnilateral(boolean enabled)`
`void`	`setWrenchG(double fx, double fy, double fz, double mx, double my, double mz)`
`void`	`setWrenchG(Vector3d f, Vector3d m)`
`void`	`setWrenchG(Wrench wr)`
`void`	`zeroDotWrenchG()`
`void`	`zeroWrenchG()`

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

Field Detail
- BILATERAL
```
public static final int BILATERAL
```
  Constraint is bilateral.
  
  See Also:
  
  Constant Field Values
- LINEAR
```
public static final int LINEAR
```
  Constraint primarily restricts translational motion.
  
  See Also:
  
  Constant Field Values
- ROTARY
```
public static final int ROTARY
```
  Constraint primarily restricts rotary motion.
  
  See Also:
  
  Constant Field Values
- COUPLED
```
public static final int COUPLED
```
  Constraint restricts both rotation and translation
  
  See Also:
  
  Constant Field Values
- CONSTANT
```
public static final int CONSTANT
```
  Constraint in frame G is constant.
  
  See Also:
  
  Constant Field Values
- LIMIT
```
public static final int LIMIT
```
  Constraint enforces a coordinate limit.
  
  See Also:
  
  Constant Field Values

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

Method Detail

getWrenchG
```
public Wrench getWrenchG()
```

setWrenchG

public void setWrenchG(double fx,
                       double fy,
                       double fz,
                       double mx,
                       double my,
                       double mz)

setWrenchG

public void setWrenchG(Vector3d f,
                       Vector3d m)

setWrenchG
```
public void setWrenchG(Wrench wr)
```

zeroWrenchG
```
public void zeroWrenchG()
```

negateWrenchG
```
public void negateWrenchG()
```

getDotWrenchG
```
public Wrench getDotWrenchG()
```

setDotWrenchG

public void setDotWrenchG(double fx,
                          double fy,
                          double fz,
                          double mx,
                          double my,
                          double mz)

setDotWrenchG

public void setDotWrenchG(Vector3d f,
                          Vector3d m)

setDotWrenchG
```
public void setDotWrenchG(Wrench wr)
```

zeroDotWrenchG
```
public void zeroDotWrenchG()
```

negateDotWrenchG
```
public void negateDotWrenchG()
```

setFlags
```
public void setFlags(int flags)
```

setFlag
```
public void setFlag(int flag)
```

clearFlag
```
public void clearFlag(int flag)
```

setUnilateral

public void setUnilateral(boolean enabled)

isBilateral
```
public boolean isBilateral()
```

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

isConstant
```
public boolean isConstant()
```

isRotary
```
public boolean isRotary()
```

isLinear
```
public boolean isLinear()
```

getMotionType

public RigidBodyConstraint.MotionType getMotionType()

getSolveIndex
```
public int getSolveIndex()
```

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

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()
```

computeContactSpeed

public double computeContactSpeed(Twist velCD)

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

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

getIndex
```
public int getIndex()
```

getEngaged
```
public int getEngaged()
```

setEnaged
```
public void setEnaged(int eng)
```

getEngagedCnt
```
public int getEngagedCnt()
```

setState
```
public void setState(int s)
```

getState
```
public int getState()
```

Class RigidBodyConstraint

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

BILATERAL

LINEAR

ROTARY

COUPLED

CONSTANT

LIMIT

Constructor Detail

RigidBodyConstraint

Method Detail

getWrenchG

setWrenchG

setWrenchG

setWrenchG

zeroWrenchG

negateWrenchG

getDotWrenchG

setDotWrenchG

setDotWrenchG

setDotWrenchG

zeroDotWrenchG

negateDotWrenchG

setFlags

setFlag

clearFlag

setUnilateral

isBilateral

isUnilateral

isConstant

isRotary

isLinear

getMotionType

getSolveIndex

setSolveIndex

setMultiplier

getMultiplier

setDistance

getDistance

setCompliance

getCompliance

setDamping

getDamping

computeContactSpeed

setFriction

getFriction

getIndex

getEngaged

setEnaged

getEngagedCnt

setState

getState