com.yobotics.simulationconstructionset
Class CollisionIntegrator

java.lang.Object
  extended by com.yobotics.simulationconstructionset.CollisionIntegrator
All Implemented Interfaces:
java.io.Serializable

public class CollisionIntegrator
extends java.lang.Object
implements java.io.Serializable

See Also:
Serialized Form

Constructor Summary
CollisionIntegrator()
           
 
Method Summary
 void computeImpulse(javax.vecmath.Vector3d impulse)
           
 void computeMicroImpulse(javax.vecmath.Vector3d impulse)
           
 void integrate(javax.vecmath.Vector3d u_fin)
           
static void main(java.lang.String[] args)
           
 void setup(javax.vecmath.Matrix3d K, javax.vecmath.Vector3d u0, double epsilon, double mu)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

CollisionIntegrator

public CollisionIntegrator()
Method Detail

main

public static void main(java.lang.String[] args)

setup

public void setup(javax.vecmath.Matrix3d K,
                  javax.vecmath.Vector3d u0,
                  double epsilon,
                  double mu)

computeImpulse

public void computeImpulse(javax.vecmath.Vector3d impulse)

computeMicroImpulse

public void computeMicroImpulse(javax.vecmath.Vector3d impulse)

integrate

public void integrate(javax.vecmath.Vector3d u_fin)