API Docs for: 0.7.1
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FrictionEquation Class

Extends Equation
Defined in: src/equations/FrictionEquation.js:7

约束沿切线方向接触的滑动。

构造器

FrictionEquation

(
  • bodyA
  • bodyB
  • slipForce
)

Defined in src/equations/FrictionEquation.js:7

参数:

  • bodyA Body
  • bodyB Body
  • slipForce Number

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

computeB

() Number

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

计算SPOOK 方程的RHS 值（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

Returns:

Number:

getSlipForce

() Number

Defined in src/equations/FrictionEquation.js:85

获取最大作用力 for the constraint.

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:

setSlipForce

(
  • slipForce
)

Defined in src/equations/FrictionEquation.js:74

设置约束的滑动条件，摩擦力不能大于这个值。

参数:

  • slipForce Number

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

contactEquations

ContactEquation

Defined in src/equations/FrictionEquation.js:41

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.

contactPointA

Array

Defined in src/equations/FrictionEquation.js:20

Relative vector from center of body A to the contact point, world oriented.

contactPointB

Array

Defined in src/equations/FrictionEquation.js:27

Relative vector from center of body B to the contact point, world oriented.

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

frictionCoefficient

Number

Defined in src/equations/FrictionEquation.js:64

The friction coefficient to use.

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

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

shapeA

Shape

Defined in src/equations/FrictionEquation.js:48

The shape in body i that triggered this friction.

shapeB

Shape

Defined in src/equations/FrictionEquation.js:56

The shape in body j that triggered this friction.

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

t

Array

Defined in src/equations/FrictionEquation.js:34

面向世界的摩擦力作用的切线矢量。