File mechanics/src/joints/JointFrictionR.hpp

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class JointFrictionR : public NewtonEulerR
#include <JointFrictionR.hpp>

This class implements a friction on a DoF for any NewtonEulerJointR.

Public Functions

JointFrictionR(SP::NewtonEulerJointR joint, unsigned int axis)

Initialize a joint friction for a common case: a single axis with a single friction, either positive or negative.

For use with NewtonImpactNSL.

JointFrictionR(SP::NewtonEulerJointR joint, SP::UnsignedIntVector axes = SP::UnsignedIntVector())

Initialize a multidimensional joint friction, e.g.

the cone friction on a ball joint. For use with NewtonImpactFrictionNSL size 2 or 3.

virtual ~JointFrictionR()


unsigned int axis(unsigned int _index)
virtual void computeh(double time, BlockVector &q0, SiconosVector &y)
virtual void computeJachq(double time, Interaction &inter, SP::BlockVector q0)
SP::NewtonEulerJointR joint()
unsigned int numberOfAxes()
virtual unsigned int numberOfConstraints()

Protected Functions


serialization hooks

Protected Attributes

SP::UnsignedIntVector _axis
unsigned int _axisMax
unsigned int _axisMin
SP::SimpleMatrix _jachqTmp
SP::NewtonEulerJointR _joint