SPOOK parameter
SPOOK parameter
SPOOK parameter
Maximum (read: positive max) force to be applied by the constraint.
Minimum (read: negative max) force to be applied by the constraint.
A number, proportional to the force added to the bodies.
Contact normal, pointing out of body i.
"bounciness": u1 = -e*u0
World-oriented vector that goes from the center of bi to the contact point.
World-oriented vector that starts in body j position and goes to the contact point.
Add constraint velocity to the bodies.
Computes the right hand side of the SPOOK equation
Compute the denominator part of the SPOOK equation: C = G*inv(M)*G' + eps
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
Get the current relative velocity in the contact point.
Recalculates a, b, and eps.
The Equation constructor sets typical SPOOK parameters as such:
stiffness = 1e7relaxation = 4timeStep= 1 / 60, note the hardcoded refresh rate.
Contact/non-penetration constraint equation