Ball Class Reference
Three constraint equations.
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#include <Constraint.h>
List of all members.
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.
Constructor & Destructor Documentation
Member Function Documentation
| Vec3 getAccelerationErrors |
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const State & |
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const |
| const Vec3& getBallReactionForceOnBody1 |
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const State & |
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const |
| const Vec3& getBallReactionForceOnBody2 |
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const State & |
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const |
| MobilizedBodyIndex getBody1MobilizedBodyIndex |
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const |
| MobilizedBodyIndex getBody2MobilizedBodyIndex |
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const |
| const Vec3& getDefaultPointOnBody1 |
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const |
| const Vec3& getDefaultPointOnBody2 |
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const |
| Real getDefaultRadius |
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const |
| const Vec3& getPointOnBody1 |
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const State & |
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const |
| const Vec3& getPointOnBody2 |
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const State & |
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const |
| Vec3 getPositionErrors |
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const State & |
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const |
| Vec3 getVelocityErrors |
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const State & |
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const |
| Ball& setDefaultPointOnBody1 |
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const Vec3 & |
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| Ball& setDefaultPointOnBody2 |
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const Vec3 & |
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| Ball& setDefaultRadius |
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Real |
r |
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| SimTK_INSERT_DERIVED_HANDLE_DECLARATIONS |
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Ball |
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BallImpl |
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Constraint |
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The documentation for this class was generated from the following file:
