API Docs for: 0.7.1
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AngleLockEquation Class

Extends Equation
Defined in: src/equations/AngleLockEquation.js:6

锁定两个刚体之间的相对角度，这一约束试图将两个向量之间的点积保持为0（点积定义）。

构造器

AngleLockEquation

(
  • bodyA
  • bodyB
  • [options]
)

Defined in src/equations/AngleLockEquation.js:6

参数:

  • bodyA Body
    将要参与约束的第一个刚体
  • bodyB Body
    将要参与约束的第二个刚体
  • [options] Object 可选
    • [angle] Number 可选

      赋予bodyA 的角度

    • [ratio] Number 可选

      变速比

Methods

addToWlambda

(
  • deltalambda
)

Inherited from Equation: src/equations/Equation.js:270

添加约束速度到刚体中

参数:

  • deltalambda Number
    △λ

computeB

() Number

Inherited from Equation: src/equations/Equation.js:150

Computes the RHS of the SPOOK equation

Returns:

Number:

computeGiMf

() Number

Inherited from Equation: src/equations/Equation.js:213

计算G值乘以 inv(M)(M 为每个物体对角线块的质量矩阵) 乘以f (刚体的作用力)

Returns:

Number:

computeGiMGt

() Number

Inherited from Equation: src/equations/Equation.js:241

计算G值乘以 inv(M)(M 为每个物体对角线块的质量矩阵) 乘以G的导数 G'

Returns:

Number:

computeGq

() Number

Inherited from Equation: src/equations/Equation.js:162

计算G值乘以q(q 为广义刚体坐标)

Returns:

Number:

computeGW

() Number

Inherited from Equation: src/equations/Equation.js:181

计算G值乘以W(W 为刚体的速度)

Returns:

Number:

computeGWlambda

() Number

Inherited from Equation: src/equations/Equation.js:197

计算G值乘以W lambda (W 为刚体的速度)

Returns:

Number:

computeInvC

(
  • eps
)
Number

Inherited from Equation: src/equations/Equation.js:313

计算SPOOK等式的分母部分：C = G * inv(M)* G'+ eps

参数:

  • eps Number
    一个极小的正数，用于控制迭代精度；

Returns:

Number:

gmult

() Number

Inherited from Equation: src/equations/Equation.js:136

将雅可比项乘以相应的位置或速度

Returns:

Number:

setMaxTorque

(
  • torque
)

Defined in src/equations/AngleLockEquation.js:52

设置方程的最大作用力

参数:

  • torque Number
    扭矩

setRatio

(
  • ratio
)

Defined in src/equations/AngleLockEquation.js:40

设置方程的变速比

参数:

  • ratio Number
    变速比

update

()

Inherited from Equation: src/equations/Equation.js:120

根据当前参数计算SPOOK参数.a，.b和.epsilon。 参见SPOOK笔记中的等式9,10和11。.

Properties

bodyA

Body

Inherited from Equation: src/equations/Equation.js:32

将要参与约束的第一个刚体

bodyB

Body

Inherited from Equation: src/equations/Equation.js:39

将要参与约束的第二个刚体

enabled

Boolean

Inherited from Equation: src/equations/Equation.js:96

设置或获取当前方程式的可用状态，如果为true， 它将被添加到求解中

G

Array

Inherited from Equation: src/equations/Equation.js:60

两个连接对象的雅克布矩阵，包含了6个数字，分别是两个对象的x, y 和 angle

maxForce

Number

Inherited from Equation: src/equations/Equation.js:25

求解时施加的最大作用力

minForce

Number

Inherited from Equation: src/equations/Equation.js:18

求解时施加的最小作用力

multiplier

Number

Inherited from Equation: src/equations/Equation.js:83

由上一次求解得到的约束乘数，大致相当于约束所产生的作用力

needsUpdate

Boolean

Inherited from Equation: src/equations/Equation.js:77

标志刚度或弛豫是否改变

ratio

Number private

Defined in src/equations/AngleLockEquation.js:23

变速比

relativeVelocity

Number

Inherited from Equation: src/equations/Equation.js:90

相对速度

relaxation

Number

Inherited from Equation: src/equations/Equation.js:53

稳定约束方程所需的步进， 通常为3到5个步进

stiffness

Number

Inherited from Equation: src/equations/Equation.js:46

约束方程的刚度，通常使用一个较大的数字（〜1e7），但也可以自由设置一个数字以获得比较稳定的模拟