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java.lang.Object jass.engine.Out jass.contact.KarnoppFriction
public class KarnoppFriction
A force model based on stick slip model. Karnopp model. Model is in terms of q(t): Md^2q/dt^2 + k_d dq/dt + k_s q(t) = G(dq/dt) FOR |v-dq/dt| > vc
Field Summary |
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Fields inherited from class jass.engine.Out |
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buf, bufferSize, bufOld, lock |
Constructor Summary | |
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KarnoppFriction(float srate,
int bufferSize)
Construct force. |
Method Summary | |
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void |
computeBuffer()
Compute the next buffer. |
void |
reset()
Reset state. |
void |
setNormalForce(float val)
Set normal force magnitude. |
void |
setSpeed(float v)
Set velocity. |
void |
setStickSlipParameters(float mass,
float k_damp,
float k_spring,
float mu_static,
float mu_dynamic,
float v_crit)
Set stick-slip model parameters (all in S.I. |
Methods inherited from class jass.engine.Out |
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clearBuffer, copyToOld, getBuffer, getBuffer, getBufferSize, getTime, peekAtBuffer, resetTime, setBufferSize, setTime, setTimeAndNotify |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public KarnoppFriction(float srate, int bufferSize)
srate
- sampling rate in Hertz.bufferSize
- bufferSize of this Out.Method Detail |
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public void setStickSlipParameters(float mass, float k_damp, float k_spring, float mu_static, float mu_dynamic, float v_crit)
k_damp
- damping of spring systemmu_static
- static friction coeffmu_dynamic
- dynamic friction coeffv_crit
- critical velocity for transition from dyn. to static frictionpublic void setNormalForce(float val)
val
- normal force in Newtonpublic void setSpeed(float v)
v
- velocity in m/spublic void reset()
public void computeBuffer()
computeBuffer
in class Out
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