iMSTK: RbdPointToArcConstraint Class Reference

Constrains an rigid body arc geometry to a point by computing the linear force and angular torque to get the arc to the point. More...

Inheritance diagram for RbdPointToArcConstraint:

Collaboration diagram for RbdPointToArcConstraint:

Public Member Functions
	RbdPointToArcConstraint (std::shared_ptr< RigidBody > obj, const Vec3d arcCenter, const double beginRadian, const double endRadian, const double arcCircleRadius, const Mat3d arcBasis, const Vec3d fixedPoint, const double beta=0.05)

void	compute (double dt) override
	Compute constraint jacobian.

Public Member Functions inherited from imstk::RbdConstraint
virtual const std::string	getTypeName () const =0

Additional Inherited Members
Public Types inherited from imstk::RbdConstraint
enum	Side { A, B, AB }

Public Attributes inherited from imstk::RbdConstraint
Eigen::Matrix< double, 3, 4 >	J = Eigen::Matrix<double, 3, 4>::Zero()
	Jacobian, "vanish" to zero.

double	vu = 0.0
	Bauhmgarte stabilization term.

double	range [2] = { 0.0, std::numeric_limits<double>::max() }

std::shared_ptr< RigidBody >	m_obj1 = nullptr

std::shared_ptr< RigidBody >	m_obj2 = nullptr

Side	m_side = Side::AB

Protected Member Functions inherited from imstk::RbdConstraint
	RbdConstraint (std::shared_ptr< RigidBody > rbd1, std::shared_ptr< RigidBody > rbd2, const Side side)

Detailed Description

Constrains an rigid body arc geometry to a point by computing the linear force and angular torque to get the arc to the point.

Definition at line 19 of file RbdPointToArcConstraint.h.

RbdPointToArcConstraint::RbdPointToArcConstraint	(	std::shared_ptr< RigidBody >	obj,
		const Vec3d	arcCenter,
		const double	beginRadian,
		const double	endRadian,
		const double	arcCircleRadius,
		const Mat3d	arcBasis,
		const Vec3d	fixedPoint,
		const double	beta = `0.05`
	)

inline

Parameters

the	Rigid body
the	center of the circle arc is defined with
the	radians/range of the arc, with relation to the arcBasis
the	radians/range of the arc, with relation to the arcBasis
the	radius of the circle the arc is defined with
the	basis of the arc. Where any point on the plane has a radian with relation to x,y columns. and the z column gives the normal of the plane the circle+arc lie on
the	fixed point
baumgarte	stabilization, varies step length

Definition at line 33 of file RbdPointToArcConstraint.h.

The documentation for this class was generated from the following file: