API Docs for: 0.6.1
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RotationalEquation Class

Extends Equation

Rotational constraint. Works to keep the local vectors orthogonal to each other in world space.

Constructor

`RotationalEquation`

(
• `bodyA`
• `bodyB`
• `[options.axisA]`
• `[options.axisB]`
• `[options.maxForce]`
)

Parameters:

• `bodyA` Body
• `bodyB` Body
• `[options.axisA]` Vec3 optional
• `[options.axisB]` Vec3 optional
• `[options.maxForce]` Number optional

Methods

`addToWlambda`

(
• `deltalambda`
)

Add constraint velocity to the bodies.

Parameters:

• `deltalambda` Number

`computeB`

() Number

Computes the RHS of the SPOOK equation

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.

Number:

`computeGiMGt`

() Number

Computes Ginv(M)G'

Number:

`computeGq`

() Number

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

Number:

`computeGW`

() Number

Computes G*W, where W are the body velocities

Number:

`computeGWlambda`

() Number

Computes G*Wlambda, where W are the body velocities

Number:

`computeInvC`

(
• `eps`
)
Number

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

Parameters:

• `eps` Number

Number:

`setSpookParams`

()

Recalculates a,b,eps.

Number

SPOOK parameter

Number

SPOOK parameter

Body

Body

Boolean

Default: true

Number

SPOOK parameter

JacobianElement

JacobianElement

Number

Number