class compliantContactForce

an influence that simulates frictionless contact forces as a damped spring

Inheritance:

Public Fields

link* l

the link acted on by the influence

link* l2

the second link acted on by the influence (or null)

part* p

the part on the link to which the force is applied

double kp

stiffness

double kv

damping

double muS

static friction

double muD

dynamic friction

double vtol

velocity at which friction switches between static & dynamic

triple bodyPt

the body-space location of the original point of contact of the link

triple worldPt

the world location of the point of contact

triple n

surface normal of the fixed object at the point of contact

Public Methods

compliantContactForce(link* L, link* L2, const triple &bodyPoint, const triple &WorldPt, const triple &Nworld, double Kp, double Kv, part* P = NULL)

constructor

Inherited from dynoInfluence:

Public Methods

virtual int apply(void)

Inherited from dynoObject:

Public Fields

dynamicSystem* ds

int active

int stateSize

Public Methods

inline virtual int getState(double* state)

inline virtual int setState(const double* state)

inline virtual int reset(void)

Inherited from synObject:

Public Fields

static int staticClassID

int objectID

int verboseLevel

Public Methods

virtual const char* className(void) const

virtual synObject* copy(void) const

virtual int isOfType(int typeNum, int derivedOk)

static int setStaticClassID(void)

virtual int classID(void) const

Documentation

an influence that simulates frictionless contact forces as a damped spring

link* l

the link acted on by the influence

link* l2

the second link acted on by the influence (or null)

part* p

the part on the link to which the force is applied

double kp

stiffness

double kv

damping

double muS

static friction

double muD

dynamic friction

double vtol

velocity at which friction switches between static & dynamic

triple bodyPt

the body-space location of the original point of contact of the link

triple worldPt

the world location of the point of contact

triple n

surface normal of the fixed object at the point of contact

compliantContactForce(link* L, link* L2, const triple &bodyPoint, const triple &WorldPt, const triple &Nworld, double Kp, double Kv, part* P = NULL)

constructor

This class has no child classes.

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