artisynth.core.mechmodels
Interface Constrainer
- All Known Implementing Classes:
- CollisionHandler, CollisionHandlerGeneric, CollisionHandlerOld, ConstrainerBase, FemModel, FemModel3d, FemMuscleModel, FullPlanarJoint, HydrostatModel, JointBase, MarkerPlanarConnector, MFreeModel3d, MFreeMuscleModel, ParticleMeshConstraint, ParticlePlaneConstraint, PlanarConnector, PointToPointMuscle, RevoluteJoint, RigidBodyConnector, RigidBodyContact, RollPitchJoint, SegmentedPlanarConnector, SolidJoint, SphericalJoint, SphericalJointBase, SphericalRpyJoint, SpongeModel
public interface Constrainer
Method Summary |
int |
addBilateralConstraints(SparseBlockMatrix GT,
VectorNd dg,
int numb,
IntHolder changeCnt)
|
int |
addFrictionConstraints(SparseBlockMatrix DT,
MechSystem.FrictionInfo[] finfo,
int idx)
|
int |
addUnilateralConstraints(SparseBlockMatrix NT,
VectorNd dn,
int numu,
IntHolder changeCnt)
|
int |
getBilateralImpulses(VectorNd lam,
int idx)
|
int |
getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
int idx)
|
void |
getBilateralSizes(VectorNi sizes)
|
int |
getUnilateralImpulses(VectorNd the,
int idx)
|
int |
getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
int idx)
|
void |
getUnilateralSizes(VectorNi sizes)
|
int |
maxFrictionConstraintSets()
|
int |
setBilateralImpulses(VectorNd lam,
double h,
int idx)
|
int |
setUnilateralImpulses(VectorNd the,
double h,
int idx)
|
double |
updateConstraints(double t,
int flags)
|
void |
zeroImpulses()
|
getBilateralSizes
void getBilateralSizes(VectorNi sizes)
addBilateralConstraints
int addBilateralConstraints(SparseBlockMatrix GT,
VectorNd dg,
int numb,
IntHolder changeCnt)
getBilateralInfo
int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
int idx)
setBilateralImpulses
int setBilateralImpulses(VectorNd lam,
double h,
int idx)
getBilateralImpulses
int getBilateralImpulses(VectorNd lam,
int idx)
zeroImpulses
void zeroImpulses()
getUnilateralSizes
void getUnilateralSizes(VectorNi sizes)
addUnilateralConstraints
int addUnilateralConstraints(SparseBlockMatrix NT,
VectorNd dn,
int numu,
IntHolder changeCnt)
getUnilateralInfo
int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
int idx)
setUnilateralImpulses
int setUnilateralImpulses(VectorNd the,
double h,
int idx)
maxFrictionConstraintSets
int maxFrictionConstraintSets()
addFrictionConstraints
int addFrictionConstraints(SparseBlockMatrix DT,
MechSystem.FrictionInfo[] finfo,
int idx)
getUnilateralImpulses
int getUnilateralImpulses(VectorNd the,
int idx)
updateConstraints
double updateConstraints(double t,
int flags)