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<!DOCTYPE html> <html lang="en"> <head> <meta charset="utf-8"> <title>FrictionEquation - p2.js</title> <link rel="stylesheet" href="http://yui.yahooapis.com/3.9.1/build/cssgrids/cssgrids-min.css"> <link rel="stylesheet" href="../assets/vendor/prettify/prettify-min.css"> <link rel="stylesheet" href="../assets/css/main.css" id="site_styles"> <link rel="icon" href="../assets/favicon.ico"> <script src="http://yui.yahooapis.com/combo?3.9.1/build/yui/yui-min.js"></script> </head> <body class="yui3-skin-sam"> <div id="doc"> <div id="hd" class="yui3-g header"> <div class="yui3-u-3-4"> <h1><img src="../assets/css/logo.png" title="p2.js" width="117" height="52"></h1> </div> <div class="yui3-u-1-4 version"> <em>API Docs for: 0.7.1</em> </div> </div> <div id="bd" class="yui3-g"> <div class="yui3-u-1-4"> <div id="docs-sidebar" class="sidebar apidocs"> <div id="api-list"> <h2 class="off-left">APIs</h2> <div id="api-tabview" class="tabview"> <ul class="tabs"> <li><a 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</label> </div> <div class="apidocs"> <div id="docs-main"> <div class="content"> <h1>FrictionEquation Class</h1> <div class="box meta"> <div class="extends"> Extends <a href="../classes/Equation.html" class="crosslink">Equation</a> </div> <div class="foundat"> Defined in: <a href="../files/src_equations_FrictionEquation.js.html#l7"><code>src/equations/FrictionEquation.js:7</code></a> </div> </div> <div class="box intro"> <p>Constrains the slipping in a contact along a tangent</p> </div> <div class="constructor"> <h2>Constructor</h2> <div id="method_FrictionEquation" class="method item"> <h3 class="name"><code>FrictionEquation</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>bodyA</code> </li> <li class="arg"> <code>bodyB</code> </li> <li class="arg"> <code>slipForce</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l7"><code>src/equations/FrictionEquation.js:7</code></a> </p> </div> <div class="description"> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">bodyA</code> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">bodyB</code> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="param-description"> </div> </li> <li class="param"> <code class="param-name">slipForce</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> </div> <div id="classdocs" class="tabview"> <ul class="api-class-tabs"> <li class="api-class-tab index"><a href="#index">Index</a></li> <li class="api-class-tab methods"><a href="#methods">Methods</a></li> <li class="api-class-tab properties"><a href="#properties">Properties</a></li> </ul> <div> <div id="index" class="api-class-tabpanel index"> <h2 class="off-left">Item Index</h2> <div class="index-section methods"> <h3>Methods</h3> <ul class="index-list methods extends"> <li class="index-item method inherited"> <a href="#method_addToWlambda">addToWlambda</a> </li> <li class="index-item method inherited"> <a href="#method_computeB">computeB</a> </li> <li class="index-item method inherited"> <a href="#method_computeGiMf">computeGiMf</a> </li> <li class="index-item method inherited"> <a href="#method_computeGiMGt">computeGiMGt</a> </li> <li class="index-item method inherited"> <a href="#method_computeGq">computeGq</a> </li> <li class="index-item method inherited"> <a href="#method_computeGW">computeGW</a> </li> <li class="index-item method inherited"> <a href="#method_computeGWlambda">computeGWlambda</a> </li> <li class="index-item method inherited"> <a href="#method_computeInvC">computeInvC</a> </li> <li class="index-item method"> <a href="#method_getSlipForce">getSlipForce</a> </li> <li class="index-item method inherited"> <a href="#method_gmult">gmult</a> </li> <li class="index-item method"> <a href="#method_setSlipForce">setSlipForce</a> </li> <li class="index-item method inherited"> <a href="#method_update">update</a> </li> </ul> </div> <div class="index-section properties"> <h3>Properties</h3> <ul class="index-list properties extends"> <li class="index-item property inherited"> <a href="#property_bodyA">bodyA</a> </li> <li class="index-item property inherited"> <a href="#property_bodyB">bodyB</a> </li> <li class="index-item property"> <a href="#property_contactEquations">contactEquations</a> </li> <li class="index-item property"> <a href="#property_contactPointA">contactPointA</a> </li> <li class="index-item property"> <a href="#property_contactPointB">contactPointB</a> </li> <li class="index-item property inherited"> <a href="#property_enabled">enabled</a> </li> <li class="index-item property"> <a href="#property_frictionCoefficient">frictionCoefficient</a> </li> <li class="index-item property inherited"> <a href="#property_G">G</a> </li> <li class="index-item property inherited"> <a href="#property_maxForce">maxForce</a> </li> <li class="index-item property inherited"> <a href="#property_minForce">minForce</a> </li> <li class="index-item property inherited"> <a href="#property_multiplier">multiplier</a> </li> <li class="index-item property inherited"> <a href="#property_needsUpdate">needsUpdate</a> </li> <li class="index-item property inherited"> <a href="#property_relativeVelocity">relativeVelocity</a> </li> <li class="index-item property inherited"> <a href="#property_relaxation">relaxation</a> </li> <li class="index-item property"> <a href="#property_shapeA">shapeA</a> </li> <li class="index-item property"> <a href="#property_shapeB">shapeB</a> </li> <li class="index-item property inherited"> <a href="#property_stiffness">stiffness</a> </li> <li class="index-item property"> <a href="#property_t">t</a> </li> </ul> </div> </div> <div id="methods" class="api-class-tabpanel"> <h2 class="off-left">Methods</h2> <div id="method_addToWlambda" class="method item inherited"> <h3 class="name"><code>addToWlambda</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>deltalambda</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_addToWlambda">Equation</a>: <a href="../files/src_equations_Equation.js.html#l270"><code>src/equations/Equation.js:270</code></a> </p> </div> <div class="description"> <p>Add constraint velocity to the bodies.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">deltalambda</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_computeB" class="method item inherited"> <h3 class="name"><code>computeB</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeB">Equation</a>: <a href="../files/src_equations_Equation.js.html#l150"><code>src/equations/Equation.js:150</code></a> </p> </div> <div class="description"> <p>Computes the RHS of the SPOOK equation</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGiMf" class="method item inherited"> <h3 class="name"><code>computeGiMf</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeGiMf">Equation</a>: <a href="../files/src_equations_Equation.js.html#l213"><code>src/equations/Equation.js:213</code></a> </p> </div> <div class="description"> <p>Computes G<em>inv(M)</em>f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGiMGt" class="method item inherited"> <h3 class="name"><code>computeGiMGt</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeGiMGt">Equation</a>: <a href="../files/src_equations_Equation.js.html#l241"><code>src/equations/Equation.js:241</code></a> </p> </div> <div class="description"> <p>Computes G<em>inv(M)</em>G'</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGq" class="method item inherited"> <h3 class="name"><code>computeGq</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeGq">Equation</a>: <a href="../files/src_equations_Equation.js.html#l162"><code>src/equations/Equation.js:162</code></a> </p> </div> <div class="description"> <p>Computes G*q, where q are the generalized body coordinates</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGW" class="method item inherited"> <h3 class="name"><code>computeGW</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeGW">Equation</a>: <a href="../files/src_equations_Equation.js.html#l181"><code>src/equations/Equation.js:181</code></a> </p> </div> <div class="description"> <p>Computes G*W, where W are the body velocities</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeGWlambda" class="method item inherited"> <h3 class="name"><code>computeGWlambda</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeGWlambda">Equation</a>: <a href="../files/src_equations_Equation.js.html#l197"><code>src/equations/Equation.js:197</code></a> </p> </div> <div class="description"> <p>Computes G*Wlambda, where W are the body velocities</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_computeInvC" class="method item inherited"> <h3 class="name"><code>computeInvC</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>eps</code> </li> </ul><span class="paren">)</span> </div> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_computeInvC">Equation</a>: <a href="../files/src_equations_Equation.js.html#l313"><code>src/equations/Equation.js:313</code></a> </p> </div> <div class="description"> <p>Compute the denominator part of the SPOOK equation: C = G<em>inv(M)</em>G' + eps</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">eps</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_getSlipForce" class="method item"> <h3 class="name"><code>getSlipForce</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l85"><code>src/equations/FrictionEquation.js:85</code></a> </p> </div> <div class="description"> <p>Get the max force for the constraint.</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_gmult" class="method item inherited"> <h3 class="name"><code>gmult</code></h3> <span class="paren">()</span> <span class="returns-inline"> <span class="type">Number</span> </span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_gmult">Equation</a>: <a href="../files/src_equations_Equation.js.html#l136"><code>src/equations/Equation.js:136</code></a> </p> </div> <div class="description"> <p>Multiply a jacobian entry with corresponding positions or velocities</p> </div> <div class="returns"> <h4>Returns:</h4> <div class="returns-description"> <span class="type">Number</span>: </div> </div> </div> <div id="method_setSlipForce" class="method item"> <h3 class="name"><code>setSlipForce</code></h3> <div class="args"> <span class="paren">(</span><ul class="args-list inline commas"> <li class="arg"> <code>slipForce</code> </li> </ul><span class="paren">)</span> </div> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l74"><code>src/equations/FrictionEquation.js:74</code></a> </p> </div> <div class="description"> <p>Set the slipping condition for the constraint. The friction force cannot be larger than this value.</p> </div> <div class="params"> <h4>Parameters:</h4> <ul class="params-list"> <li class="param"> <code class="param-name">slipForce</code> <span class="type">Number</span> <div class="param-description"> </div> </li> </ul> </div> </div> <div id="method_update" class="method item inherited"> <h3 class="name"><code>update</code></h3> <span class="paren">()</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#method_update">Equation</a>: <a href="../files/src_equations_Equation.js.html#l120"><code>src/equations/Equation.js:120</code></a> </p> </div> <div class="description"> <p>Compute SPOOK parameters .a, .b and .epsilon according to the current parameters. See equations 9, 10 and 11 in the <a href="http://www8.cs.umu.se/kurser/5DV058/VT09/lectures/spooknotes.pdf">SPOOK notes</a>.</p> </div> </div> </div> <div id="properties" class="api-class-tabpanel"> <h2 class="off-left">Properties</h2> <div id="property_bodyA" class="property item inherited"> <h3 class="name"><code>bodyA</code></h3> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_bodyA">Equation</a>: <a href="../files/src_equations_Equation.js.html#l32"><code>src/equations/Equation.js:32</code></a> </p> </div> <div class="description"> <p>First body participating in the constraint</p> </div> </div> <div id="property_bodyB" class="property item inherited"> <h3 class="name"><code>bodyB</code></h3> <span class="type"><a href="../classes/Body.html" class="crosslink">Body</a></span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_bodyB">Equation</a>: <a href="../files/src_equations_Equation.js.html#l39"><code>src/equations/Equation.js:39</code></a> </p> </div> <div class="description"> <p>Second body participating in the constraint</p> </div> </div> <div id="property_contactEquations" class="property item"> <h3 class="name"><code>contactEquations</code></h3> <span class="type"><a href="../classes/ContactEquation.html" class="crosslink">ContactEquation</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l41"><code>src/equations/FrictionEquation.js:41</code></a> </p> </div> <div class="description"> <p>ContactEquations connected to this friction equation. The contact equations can be used to rescale the max force for the friction. If more than one contact equation is given, then the max force can be set to the average.</p> </div> </div> <div id="property_contactPointA" class="property item"> <h3 class="name"><code>contactPointA</code></h3> <span class="type">Array</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l20"><code>src/equations/FrictionEquation.js:20</code></a> </p> </div> <div class="description"> <p>Relative vector from center of body A to the contact point, world oriented.</p> </div> </div> <div id="property_contactPointB" class="property item"> <h3 class="name"><code>contactPointB</code></h3> <span class="type">Array</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l27"><code>src/equations/FrictionEquation.js:27</code></a> </p> </div> <div class="description"> <p>Relative vector from center of body B to the contact point, world oriented.</p> </div> </div> <div id="property_enabled" class="property item inherited"> <h3 class="name"><code>enabled</code></h3> <span class="type">Boolean</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_enabled">Equation</a>: <a href="../files/src_equations_Equation.js.html#l96"><code>src/equations/Equation.js:96</code></a> </p> </div> <div class="description"> <p>Whether this equation is enabled or not. If true, it will be added to the solver.</p> </div> </div> <div id="property_frictionCoefficient" class="property item"> <h3 class="name"><code>frictionCoefficient</code></h3> <span class="type">Number</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l64"><code>src/equations/FrictionEquation.js:64</code></a> </p> </div> <div class="description"> <p>The friction coefficient to use.</p> </div> </div> <div id="property_G" class="property item inherited"> <h3 class="name"><code>G</code></h3> <span class="type">Array</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_G">Equation</a>: <a href="../files/src_equations_Equation.js.html#l60"><code>src/equations/Equation.js:60</code></a> </p> </div> <div class="description"> <p>The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).</p> </div> </div> <div id="property_maxForce" class="property item inherited"> <h3 class="name"><code>maxForce</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_maxForce">Equation</a>: <a href="../files/src_equations_Equation.js.html#l25"><code>src/equations/Equation.js:25</code></a> </p> </div> <div class="description"> <p>Max force to apply when solving.</p> </div> </div> <div id="property_minForce" class="property item inherited"> <h3 class="name"><code>minForce</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_minForce">Equation</a>: <a href="../files/src_equations_Equation.js.html#l18"><code>src/equations/Equation.js:18</code></a> </p> </div> <div class="description"> <p>Minimum force to apply when solving.</p> </div> </div> <div id="property_multiplier" class="property item inherited"> <h3 class="name"><code>multiplier</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_multiplier">Equation</a>: <a href="../files/src_equations_Equation.js.html#l83"><code>src/equations/Equation.js:83</code></a> </p> </div> <div class="description"> <p>The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.</p> </div> </div> <div id="property_needsUpdate" class="property item inherited"> <h3 class="name"><code>needsUpdate</code></h3> <span class="type">Boolean</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_needsUpdate">Equation</a>: <a href="../files/src_equations_Equation.js.html#l77"><code>src/equations/Equation.js:77</code></a> </p> </div> <div class="description"> <p>Indicates if stiffness or relaxation was changed.</p> </div> </div> <div id="property_relativeVelocity" class="property item inherited"> <h3 class="name"><code>relativeVelocity</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_relativeVelocity">Equation</a>: <a href="../files/src_equations_Equation.js.html#l90"><code>src/equations/Equation.js:90</code></a> </p> </div> <div class="description"> <p>Relative velocity.</p> </div> </div> <div id="property_relaxation" class="property item inherited"> <h3 class="name"><code>relaxation</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_relaxation">Equation</a>: <a href="../files/src_equations_Equation.js.html#l53"><code>src/equations/Equation.js:53</code></a> </p> </div> <div class="description"> <p>The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.</p> </div> </div> <div id="property_shapeA" class="property item"> <h3 class="name"><code>shapeA</code></h3> <span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l48"><code>src/equations/FrictionEquation.js:48</code></a> </p> </div> <div class="description"> <p>The shape in body i that triggered this friction.</p> </div> </div> <div id="property_shapeB" class="property item"> <h3 class="name"><code>shapeB</code></h3> <span class="type"><a href="../classes/Shape.html" class="crosslink">Shape</a></span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l56"><code>src/equations/FrictionEquation.js:56</code></a> </p> </div> <div class="description"> <p>The shape in body j that triggered this friction.</p> </div> </div> <div id="property_stiffness" class="property item inherited"> <h3 class="name"><code>stiffness</code></h3> <span class="type">Number</span> <div class="meta"> <p>Inherited from <a href="../classes/Equation.html#property_stiffness">Equation</a>: <a href="../files/src_equations_Equation.js.html#l46"><code>src/equations/Equation.js:46</code></a> </p> </div> <div class="description"> <p>The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.</p> </div> </div> <div id="property_t" class="property item"> <h3 class="name"><code>t</code></h3> <span class="type">Array</span> <div class="meta"> <p> Defined in <a href="../files/src_equations_FrictionEquation.js.html#l34"><code>src/equations/FrictionEquation.js:34</code></a> </p> </div> <div class="description"> <p>Tangent vector that the friction force will act along. World oriented.</p> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> </div> <script src="../assets/vendor/prettify/prettify-min.js"></script> <script>prettyPrint();</script> <script src="../assets/js/yui-prettify.js"></script> <script src="../assets/../api.js"></script> <script src="../assets/js/api-filter.js"></script> <script src="../assets/js/api-list.js"></script> <script src="../assets/js/api-search.js"></script> <script src="../assets/js/apidocs.js"></script> </body> </html>