Examples with ConstraintInfo artisynth.core.mechmodels.MechSystem.ConstraintInfo used on opensource projects

Example 11 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class ParticleConstraintBase method getUnilateralInfo.

public int getUnilateralInfo(ConstraintInfo[] ninfo, int idx) {
    if (myUnilateralP) {
        for (int i = 0; i < myParticleInfo.size(); i++) {
            ParticleInfo pi = myParticleInfo.get(i);
            if (pi.myEngagedP && pi.myPart.getSolveIndex() != -1) {
                ConstraintInfo gi = ninfo[idx++];
                gi.dist = pi.myDist;
                gi.compliance = myCompliance;
                gi.damping = myDamping;
                gi.force = 0;
            }
        }
    }
    return idx;
}

Example 12 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class BodyConnector method getBilateralInfo.

public int getBilateralInfo(ConstraintInfo[] ginfo, int idx) {
    int nc = numBilateralConstraints();
    if (nc > 0) {
        if (nc != myBilaterals.size()) {
            throw new InternalErrorException("nc=" + nc + " bilaterals.size()=" + myBilaterals.size());
        }
        for (int j = 0; j < nc; j++) {
            RigidBodyConstraint bc = myBilaterals.get(j);
            ConstraintInfo gi = ginfo[idx++];
            gi.dist = bc.getDistance();
            gi.compliance = bc.getCompliance();
            gi.damping = bc.getDamping();
            gi.force = 0;
        }
    }
    return idx;
}