API Docs for: 0.6.1
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FrictionEquation Class

Constrains the slipping in a contact along a tangent

Constructor

FrictionEquation

(
  • bi
  • bj
  • slipForce
)

Parameters:

  • bi Body
  • bj Body
  • slipForce Number

    should be +-F_friction = +-mu F_normal = +-mu m * g

Methods

addToWlambda

(
  • deltalambda
)

Add constraint velocity to the bodies.

Parameters:

  • deltalambda Number

computeB

() Number

Computes the RHS of the SPOOK equation

Returns:

Number:

computeGiMf

() Number

Computes Ginv(M)f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.

Returns:

Number:

computeGiMGt

() Number

Computes Ginv(M)G'

Returns:

Number:

computeGq

() Number

Computes G*q, where q are the generalized body coordinates

Returns:

Number:

computeGW

() Number

Computes G*W, where W are the body velocities

Returns:

Number:

computeGWlambda

() Number

Computes G*Wlambda, where W are the body velocities

Returns:

Number:

computeInvC

(
  • eps
)
Number

Compute the denominator part of the SPOOK equation: C = Ginv(M)G' + eps

Parameters:

  • eps Number

Returns:

Number:

setSpookParams

()

Recalculates a,b,eps.

Properties

a

Number

SPOOK parameter

b

Number

SPOOK parameter

eps

Number

SPOOK parameter

jacobianElementA

JacobianElement

Inherited from Equation but overwritten in src/equations/Equation.js:59

maxForce

Number

minForce

Number