API Docs for: 0.7.1
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RotationalVelocityEquation Class

Extends Equation

Syncs rotational velocity of two bodies, or sets a relative velocity (motor).

Constructor

`RotationalVelocityEquation`

(
• `bodyA`
• `bodyB`
)

Parameters:

• `bodyA` Body
• `bodyB` Body

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:

`gmult`

() Number

Multiply a jacobian entry with corresponding positions or velocities

Number:

`update`

()

Compute SPOOK parameters .a, .b and .epsilon according to the current parameters. See equations 9, 10 and 11 in the SPOOK notes.

Properties

`bodyA`

Body

First body participating in the constraint

`bodyB`

Body

Second body participating in the constraint

`enabled`

Boolean

Whether this equation is enabled or not. If true, it will be added to the solver.

`G`

Array

The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).

`maxForce`

Number

Max force to apply when solving.

`minForce`

Number

Minimum force to apply when solving.

`multiplier`

Number

The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.

`needsUpdate`

Boolean

Indicates if stiffness or relaxation was changed.

`relativeVelocity`

Number

Relative velocity.

`relaxation`

Number

The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.

`stiffness`

Number

The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.