Constrains the body center of mass to a fixed axes. More...
#include <RbdAxesLockingConstraint.h>
Inheritance diagram for RbdAxesLockingConstraint:
Collaboration diagram for RbdAxesLockingConstraint:
Public Member Functions | |
| RbdAxesLockingConstraint (std::shared_ptr< RigidBody > obj, const Vec3d &axesPt, const Vec3d &axesDir, 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 the body center of mass to a fixed axes.
Constraints the line p, q to the fixedPt by rotating p and q.
Definition at line 18 of file RbdAxesLockingConstraint.h.
The documentation for this class was generated from the following file:
- Examples/PBD/PBDTissueSurfaceNeedleContact/RbdAxesLockingConstraint.h
