Constructor for an Equation
First body participating in the equation
Second body participating in the equation
Minimum force to apply. Default: -Number.MAX_VALUE
Maximum force to apply. Default: Number.MAX_VALUE
The Jacobian entry of this equation. 6 numbers, 3 per body (x,y,angle).
First body participating in the constraint
Second body participating in the constraint
Whether this equation is enabled or not. If true, it will be added to the solver.
Cap the constraint violation (G*q) to this value.
Max force to apply when solving.
Minimum force to apply when solving.
The resulting constraint multiplier from the last solve. This is mostly equivalent to the force produced by the constraint.
Indicates if stiffness or relaxation was changed.
Relative velocity.
The number of time steps needed to stabilize the constraint equation. Typically between 3 and 5 time steps.
The stiffness of this equation. Typically chosen to a large number (~1e7), but can be chosen somewhat freely to get a stable simulation.
The default relaxation when creating a new Equation.
The default stiffness when creating a new Equation.
Add constraint velocity to the bodies.
Computes the RHS of the SPOOK equation
Computes G*W, where W are the body velocities
Computes G*Wlambda, where W are the body velocities
Computes G*inv(M)*G'
Computes G*inv(M)*f, where M is the mass matrix with diagonal blocks for each body, and f are the forces on the bodies.
Computes G*q, where q are the generalized body coordinates
Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
Base class for constraint equations.