Serialized Form

Package maspack.contact

Class maspack.contact.Contact extends java.lang.Object implements Serializable

Serialized Fields

bodyIndex1

int bodyIndex1

Index identifier for first rigid body.

bodyIndex2

int bodyIndex2

Index identifier for second rigid body.

pnt1

Point3d pnt1

Contact point, in the coordinate frame of the first rigid body.

nrml

Vector3d nrml

Contact normal, in the coordinate frame of the first rigid body. This quantity should have unit length.

dist

double dist

Contact distance.

mu

double mu

Friction coefficient.

restitution

double restitution

Restitution coeffcient.

activity

int activity

fdir

int[] fdir

phi

double[] phi

fdir0

Vector3d fdir0

isNew

boolean isNew

slidingFriction

boolean slidingFriction

lambda

double lambda

fdirx

Vector3d fdirx

factive

boolean factive

Package maspack.matrix

Class maspack.matrix.AffineTransform3d extends AffineTransform3dObject implements Serializable

Serialized Fields

A

Matrix3d A

Matrix component.

p

Vector3d p

Vector component.

Class maspack.matrix.AffineTransform3dObject extends MatrixObject implements Serializable

Serialized Fields

M

Matrix3dObject M

b

Vector3d b

Mtmp

Matrix3d Mtmp

Class maspack.matrix.ImproperSizeException extends java.lang.RuntimeException implements Serializable

Class maspack.matrix.ImproperStateException extends java.lang.RuntimeException implements Serializable

Class maspack.matrix.Matrix3d extends Matrix3dObject implements Serializable

Serialized Fields

Tmp

Matrix3d Tmp

Class maspack.matrix.Matrix3dObject extends MatrixObject implements Serializable

Serialized Fields

m00

double m00

Matrix element (0,0)

m01

double m01

Matrix element (0,1)

m02

double m02

Matrix element (0,2)

m10

double m10

Matrix element (1,0)

m11

double m11

Matrix element (1,1)

m12

double m12

Matrix element (1,2)

m20

double m20

Matrix element (2,0)

m21

double m21

Matrix element (2,1)

m22

double m22

Matrix element (2,2)

Tmp

Matrix3d Tmp

Class maspack.matrix.MatrixNd extends MatrixObject implements Serializable

Serialized Fields

nrows

int nrows

ncols

int ncols

width

int width

base

int base

buf

double[] buf

tmp

double[] tmp

res

double[] res

fixedSize

boolean fixedSize

storageFilled

boolean storageFilled

explicitBuffer

boolean explicitBuffer

subMatrixRefCnt

int subMatrixRefCnt

Class maspack.matrix.NumericalException extends java.lang.RuntimeException implements Serializable

Class maspack.matrix.Point3d extends Vector3d implements Serializable

Class maspack.matrix.RigidTransform3d extends AffineTransform3dObject implements Serializable

Serialized Fields

R

RotationMatrix3d R

Rotation matrix associated with this transformation.

p

Vector3d p

Translation vector associated with this transformation.

Class maspack.matrix.RotationMatrix3d extends Matrix3dObject implements Serializable

Serialized Fields

Tmp

RotationMatrix3d Tmp

X_MAX

int X_MAX

See Also:

Constant Field Values

Y_MAX

int Y_MAX

See Also:

Constant Field Values

Z_MAX

int Z_MAX

See Also:

Constant Field Values

Class maspack.matrix.SubMatrixNd extends MatrixNd implements Serializable

Serialized Fields

Mroot

MatrixNd Mroot

rowBase

int rowBase

colBase

int colBase

Class maspack.matrix.SymmetricMatrix3d extends Matrix3dObject implements Serializable

Serialized Fields

m0

Vector3d m0

m1

Vector3d m1

m2

Vector3d m2

u0

Vector3d u0

u1

Vector3d u1

u2

Vector3d u2

vx

Vector3d vx

Class maspack.matrix.Vector3d extends VectorObject implements Serializable

Serialized Fields

x

double x

First element

y

double y

Second element

z

double z

Third element

Class maspack.matrix.VectorNd extends VectorObject implements Serializable

Serialized Fields

buf

double[] buf

size

int size

explicitBuffer

boolean explicitBuffer

Package maspack.spatialmotion

Class maspack.spatialmotion.SpatialInertia extends MatrixObject implements Serializable

Serialized Fields

com

Point3d com

mass

double mass

J

SymmetricMatrix3d J

L

Matrix3d L

sqrtMass

double sqrtMass

JmassComCom

SymmetricMatrix3d JmassComCom

massCom

Point3d massCom

componentUpdateNeeded

boolean componentUpdateNeeded

Class maspack.spatialmotion.SpatialVector extends VectorObject implements Serializable

Serialized Fields

contravariant

boolean contravariant

lv

Vector3d lv

fv

Vector3d fv

a

Vector3d a

b

Vector3d b

Class maspack.spatialmotion.Twist extends SpatialVector implements Serializable

Serialized Fields

v

Vector3d v

Translational velocity

w

Vector3d w

Rotational (angular) velocity

Class maspack.spatialmotion.Wrench extends SpatialVector implements Serializable

Serialized Fields

f

Vector3d f

Translational force

m

Vector3d m

Moment (rotational force)

Package maspack.util

Class maspack.util.InternalErrorException extends java.lang.RuntimeException implements Serializable

Class maspack.util.TestException extends java.lang.RuntimeException implements Serializable