class rollingContact

unilateral constraint for rolling contact with friction.

Inheritance:

Public Fields

triple rotCenter

the axis of rotation for the wheel

triple rotOmega

angular velocity of the wheel due to rotation about the axle

Public Methods

rollingContact(void)

constructor

rollingContact(link* l, const triple &xlink, const triple &cworld, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol, part* P = NULL)

constructor.

rollingContact(link* l, link* l2, const triple &xlink, const triple &xlink2, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol, part* P = NULL, part* P2 = NULL)

constructor.

virtual int updateConstants(const triple &xlink, const triple &cworld, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol)

updates constants used in the constraint equations.

Inherited from frictionContact:

Public Methods

inline int dim(void) const

Inherited from contactConstraint:

Inherited from uconstraint:

Inherited from constraint:

Public Fields

mechanism* mech

ptrList* otherMechs

linkForceRecord* frec

matrix Jc

double cDotTol

vector C

vector Cdot

int jdirty

int* _hasPosLimit

double* maxForce

double* minForce

vector prevF

int eindex

int iindex

int fdindex

int inSystem

double kp

double kv

Public Methods

inline int index(void) const

virtual int correctDrift(int i) const

inline virtual double computeCorrection(int i, int includeVel)

inline virtual int hasPosLimit(int i) const

inline virtual int hasNegLimit(int i) const

inline virtual int hasForceLimits(void) const

inline virtual void allocatePosLimits(void)

virtual void print(int printVal = 0)

virtual int createConstraintEquations(void)

virtual int deleteConstraintEquations(void)

virtual int setDynamicValues(void)

virtual const double* getCoefficients(int whichDof) const

virtual int resize(int newSize)

virtual int setDirtyFlags(void)

virtual int updateFlags(void)

inline virtual int isBilateral(void) const

inline virtual int isFrictional(int i) const

virtual int eval(int onlyConst = 0)

inline virtual double computeFStep(vector &a, vector &da, vector &f, vector &df, int i)

inline virtual double computeAStep(vector &a, vector &da, vector &f, vector &df, int i)

virtual int satisfied(const vector &a, const vector &f, int j)

inline virtual int needsImpulse(int i)

int computeJacobian(void)

virtual int violated(void)

virtual int applyToMech(mechanism* m, int subtract = 0)

int getGeneralizedForce(vector &gf)

virtual const linkForceRecord* getForces(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

unilateral constraint for rolling contact with friction. This contact is like a frictionContact except that it subtracts off the contact point's acceleration due to the wheel's rotation about the wheel axis. This simulates a rolling contact for spherical or cylindrical surfaces.

triple rotCenter

the axis of rotation for the wheel

triple rotOmega

angular velocity of the wheel due to rotation about the axle

rollingContact(void)

constructor

rollingContact(link* l, const triple &xlink, const triple &cworld, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol, part* P = NULL)

constructor. arguments are the same as those for the frictionContact constructor with the addition of rotCenter and rotOmega, the world-space rotation center and wheel angular velocity vector

rollingContact(link* l, link* l2, const triple &xlink, const triple &xlink2, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol, part* P = NULL, part* P2 = NULL)

constructor. arguments are the same as those for the frictionContact constructor with the addition of rotCenter and rotOmega, the world-space rotation center and wheel angular velocity vector

virtual int updateConstants(const triple &xlink, const triple &cworld, const triple &n, const triple &rotCenter, const triple &rotOmega, double tol)

updates constants used in the constraint equations. This should be called when using persistent contacts to update the constraint for changing conditions. Note that this method is different from contactConstraint::updateConstants, as it has extra arguments specific for rolling contacts. It does call contactConstraint::updateContacts, though.

This class has no child classes.

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