MOMENTUM_NAMESPACE::FrictionController Class Reference

#include <FrictionController.h>

Public Member Functions
bool	getEnableNonLinearDirectSolveUpdate () const
double	getFrictionCoefficient () const
std::pair< double, double >	getMinimumStaticFrictionForceRange () const
bool	isActive () const
void	setEnableNonLinearDirectSolveUpdate (bool enable)
void	setFrictionCoefficient (double frictionCoefficient)
void	setMinimumStaticFrictionForceRange (double min, double max)
void	setMinimumStaticFrictionForceRange (std::pair< double, double > range)

Detailed Description

Translational or rotational friction controller for Hinge, Prismatic and CylindricalJoint.

Member Function Documentation

getEnableNonLinearDirectSolveUpdate()

bool MOMENTUM_NAMESPACE::FrictionController::getEnableNonLinearDirectSolveUpdate

(

)

const

Returns

true if non-linear direct solve update is enabled - otherwise false

getFrictionCoefficient()

double MOMENTUM_NAMESPACE::FrictionController::getFrictionCoefficient

(

)

const

Returns

the friction coefficient. For rotational friction controllers the axis radius is part of the friction coefficient.

getMinimumStaticFrictionForceRange()

std::pair< double, double > MOMENTUM_NAMESPACE::FrictionController::getMinimumStaticFrictionForceRange

(

)

const

Get the minimum force range that this friction controller can apply.

See setMinimumStaticFrictionForceRange

Returns

a double pair with min and max range. First element is min range and last element is max range, N for linear friction controllers and Nm for rotational friction controllers.

isActive()

bool MOMENTUM_NAMESPACE::FrictionController::isActive

(

)

const

Returns

true when this controller is enabled and has a friction coefficient larger than zero - otherwise false

setEnableNonLinearDirectSolveUpdate()

void MOMENTUM_NAMESPACE::FrictionController::setEnableNonLinearDirectSolveUpdate

(

bool

enable

)

Enable/disable non-linear update of the friction conditions given current normal force from the direct solver.

When enabled - this feature is similar to scale box friction models with solve type DIRECT.

Default: Disabled

Note

This feature only supports constraint solve types DIRECT and DIRECT_AND_ITERATIVE - meaning, if the constraint has solve type ITERATIVE, this feature is ignored.

Parameters

enable

- true to enable, false to disable (Disabled by default.)

setFrictionCoefficient()

void MOMENTUM_NAMESPACE::FrictionController::setFrictionCoefficient

(

double

frictionCoefficient

)

Assign friction coefficient.

Default: 0.4167.

Note

If this controller is rotational (HingeJoint or CylindricalJoint) the radius of the axle should be included in the friction coefficient for the comparisons with the normal force to be dimensionally correct. I.e., friction_torque <= friction_coefficient * axle_radius * normal_force

Parameters

frictionCoefficient

- friction coefficient

setMinimumStaticFrictionForceRange() [1/2]

void MOMENTUM_NAMESPACE::FrictionController::setMinimumStaticFrictionForceRange	(	double	min,
		double	max
	)

Set the minimum force range that this friction controller can apply.

Can be used to simulate static friction. Default: (0, 0)

Parameters

min	- the new minimum range, N for linear friction controllers and Nm for rotational friction controllers
max	- the new maximum range, N for linear friction controllers and Nm for rotational friction controllers

setMinimumStaticFrictionForceRange() [2/2]

void MOMENTUM_NAMESPACE::FrictionController::setMinimumStaticFrictionForceRange

(

std::pair< double, double >

range

)

Set the minimum force range that this friction controller can apply.

Can be used to simulate static friction. Default: (0, 0)

Parameters

range

- a double pair with min and max range, N for linear friction controllers and Nm for rotational friction controllers