API Docs for: 0.6.1
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RotationalMotorEquation Class

Rotational motor constraint. Tries to keep the relative angular velocity of the bodies to a given value.

Constructor

RotationalMotorEquation

(
  • bodyA
  • bodyB
  • maxForce
)

Parameters:

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

axisA

Vec3

World oriented rotational axis

axisB

Vec3

World oriented rotational axis

b

Number

SPOOK parameter

enabled

Boolean

Default: true

eps

Number

SPOOK parameter

jacobianElementA

JacobianElement

jacobianElementB

JacobianElement

maxForce

Number

minForce

Number

targetVelocity

Number

Motor velocity

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