Package jinngine.physics.solver.Solver

Examples of jinngine.physics.solver.Solver.NCPConstraint.assign()

33
34
35
36
37
38
39
40
41
42
43
   
    Solver.NCPConstraint c1 = new NCPConstraint();
    Vector3 va =new Vector3(1,0,0);
    Vector3 vb =new Vector3(-1,0,0);
    Vector3 z = new Vector3(0,0,0);
    c1.assign(b1,b2,
        va,z,vb,z,
        va,z,vb,z,
        -Double.POSITIVE_INFINITY,Double.POSITIVE_INFINITY,null,1, 0);
   
    //This is the system
View Full Code Here
80
81
82
83
84
85
86
87
88
89
90
    Vector3 z = new Vector3(0,0,0);
    c1.assign(b1,b2,
        va,z,vb,z,
        va,z,vb,z,
        0,0,null,1, 0);
    c2.assign(b1,b2,
        va,z,vb,z,
        va,z,vb,z,
        0,0,null,1, 0);

   
View Full Code Here
172
173
174
175
176
177
178
179
180
181
182
   
    //correction=correction>0?0:correction;

    // the normal constraint
    final NCPConstraint c = new NCPConstraint();
    c.assign(b1,b2,
        nB1, nB2, nB3, nB4,
        nJ1, nJ2, nJ3, nJ4,
        lowerNormalLimit, Double.POSITIVE_INFINITY,
        null,
           -(unf-uni)-correction, -correction) ;
View Full Code Here
204
205
206
207
208
209
210
211
212
213
214
    double ut1i = t2J1.dot(b1.state.velocity) + t2J2.dot(b1.state.omega) + t2J3.dot(b2.state.velocity) + t2J4.dot(b2.state.omega); //relativeVelocity(b1,b2,p,t2);
    double ut1f = 0;
   
    //double t2Fext = t2B1.dot(b1.state.FCm) + t2B2.dot(b1.state.tauCm) + t2B3.dot(b2.state.FCm) + t2B4.dot(b2.state.tauCm);
    final NCPConstraint c2 = new NCPConstraint();
    c2.assign(b1,b2,
        t2B1, t2B2,  t2B3, t2B4,       
        t2J1, t2J2, t2J3, t2J4,
        -frictionBoundMagnitude, frictionBoundMagnitude,
        coupling,
        -(ut1f-ut1i),
View Full Code Here
227
228
229
230
231
232
233
234
235
236
237
    double ut2i = t3J1.dot(b1.state.velocity) + t3J2.dot(b1.state.omega) + t3J3.dot(b2.state.velocity) + t3J4.dot(b2.state.omega); //relativeVelocity(b1,b2,p,t2);
    double ut2f = 0;
   
    final NCPConstraint c3 = new NCPConstraint();
    c3.assign(b1,b2,
        t3B1, t3B2,  t3B3, t3B4,
        t3J1, t3J2, t3J3, t3J4,
        -frictionBoundMagnitude, frictionBoundMagnitude,
        coupling,
        -(ut2f-ut2i), 0 
View Full Code Here
TOP
Copyright © 2018 www.massapi.com. All rights reserved.
All source code are property of their respective owners. Java is a trademark of Sun Microsystems, Inc and owned by ORACLE Inc. Contact coftware#gmail.com.