API Docs for: 0.6.1
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ConeEquation Class

Cone equation. Works to keep the given body world vectors aligned, or tilted within a given angle from each other.

Constructor

ConeEquation

(
  • bodyA
  • bodyB
  • [options.axisA]
  • [options.axisB]
  • [options.angle]
  • [options.maxForce=1e6]
)

Parameters:

  • bodyA Body
  • bodyB Body
  • [options.axisA] Vec3 optional

    Local axis in A

  • [options.axisB] Vec3 optional

    Local axis in B

  • [options.angle] Vec3 optional

    The "cone angle" to keep

  • [options.maxForce=1e6] Number optional

Methods

addToWlambda

(
  • deltalambda
)

Add constraint velocity to the bodies.

Parameters:

  • deltalambda Number

computeB

() Number

Computes the RHS of the SPOOK equation

Returns:

Number:

computeGiMf

() Number

Computes Ginv(M)f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.

Returns:

Number:

computeGiMGt

() Number

Computes Ginv(M)G'

Returns:

Number:

computeGq

() Number

Computes G*q, where q are the generalized body coordinates

Returns:

Number:

computeGW

() Number

Computes G*W, where W are the body velocities

Returns:

Number:

computeGWlambda

() Number

Computes G*Wlambda, where W are the body velocities

Returns:

Number:

computeInvC

(
  • eps
)
Number

Compute the denominator part of the SPOOK equation: C = Ginv(M)G' + eps

Parameters:

  • eps Number

Returns:

Number:

setSpookParams

()

Recalculates a,b,eps.

Properties

a

Number

SPOOK parameter

angle

Number

The cone angle to keep

b

Number

SPOOK parameter

enabled

Boolean

Default: true

eps

Number

SPOOK parameter

jacobianElementA

JacobianElement

jacobianElementB

JacobianElement

maxForce

Number

minForce

Number

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