SimTK::Constraint::Ball Class Reference

Three constraint equations. More...

#include <Constraint.h>

Inheritance diagram for SimTK::Constraint::Ball:

List of all members.

Public Member Functions
	Ball (MobilizedBody &body1, MobilizedBody &body2)
	Ball (MobilizedBody &body1, const Vec3 &defaultPoint1, MobilizedBody &body2, const Vec3 &defaultPoint2)
Ball &	setDefaultPointOnBody1 (const Vec3 &)
Ball &	setDefaultPointOnBody2 (const Vec3 &)
Ball &	setDefaultRadius (Real r)
Real	getDefaultRadius () const
MobilizedBodyIndex	getBody1MobilizedBodyIndex () const
MobilizedBodyIndex	getBody2MobilizedBodyIndex () const
const Vec3 &	getDefaultPointOnBody1 () const
const Vec3 &	getDefaultPointOnBody2 () const
const Vec3 &	getPointOnBody1 (const State &) const
const Vec3 &	getPointOnBody2 (const State &) const
Vec3	getPositionErrors (const State &) const
Vec3	getVelocityErrors (const State &) const
Vec3	getAccelerationErrors (const State &) const
Vec3	getMultipliers (const State &) const
const Vec3 &	getBallReactionForceOnBody1 (const State &) const
const Vec3 &	getBallReactionForceOnBody2 (const State &) const
	SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS (Ball, BallImpl, Constraint)

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Detailed Description

Three constraint equations.

This constraint enforces coincident location between a point on one body and a point on another body.

The constraint is enforced by an internal (non-working) force applied at the spatial location of the point on body 2, on material points of each body that are coincident with that spatial location. Note that this is somewhat asymmetric when the ball is not properly assembled -- it acts as though the contact occurs at the point on body 2, *not* at the point on body 1.

The assembly condition is the same as the runtime constraint -- the two points can be brought together by driving the perr to zero.

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Constructor & Destructor Documentation

SimTK::Constraint::Ball::Ball	(	MobilizedBody &	body1,
		MobilizedBody &	body2
	)

SimTK::Constraint::Ball::Ball	(	MobilizedBody &	body1,
		const Vec3 &	defaultPoint1,
		MobilizedBody &	body2,
		const Vec3 &	defaultPoint2
	)

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Member Function Documentation

Ball& SimTK::Constraint::Ball::setDefaultPointOnBody1

(

const Vec3 &

)

Ball& SimTK::Constraint::Ball::setDefaultPointOnBody2

(

const Vec3 &

)

Ball& SimTK::Constraint::Ball::setDefaultRadius

(

Real

r

)

Real SimTK::Constraint::Ball::getDefaultRadius

(

)

const

MobilizedBodyIndex SimTK::Constraint::Ball::getBody1MobilizedBodyIndex

(

)

const

MobilizedBodyIndex SimTK::Constraint::Ball::getBody2MobilizedBodyIndex

(

)

const

const Vec3& SimTK::Constraint::Ball::getDefaultPointOnBody1

(

)

const

const Vec3& SimTK::Constraint::Ball::getDefaultPointOnBody2

(

)

const

const Vec3& SimTK::Constraint::Ball::getPointOnBody1

(

const State &

)

const

const Vec3& SimTK::Constraint::Ball::getPointOnBody2

(

const State &

)

const

Vec3 SimTK::Constraint::Ball::getPositionErrors

(

const State &

)

const

Vec3 SimTK::Constraint::Ball::getVelocityErrors

(

const State &

)

const

Vec3 SimTK::Constraint::Ball::getAccelerationErrors

(

const State &

)

const

Vec3 SimTK::Constraint::Ball::getMultipliers

(

const State &

)

const

const Vec3& SimTK::Constraint::Ball::getBallReactionForceOnBody1

(

const State &

)

const

const Vec3& SimTK::Constraint::Ball::getBallReactionForceOnBody2

(

const State &

)

const

SimTK::Constraint::Ball::SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS	(	Ball	,
		BallImpl	,
		Constraint
	)

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

• Constraint.h