artisynth.core.mechmodels
Class ParticlePlaneConstraint

java.lang.Object
  extended by artisynth.core.modelbase.ModelComponentBase
      extended by artisynth.core.modelbase.RenderableComponentBase
          extended by artisynth.core.mechmodels.ConstrainerBase
              extended by artisynth.core.mechmodels.ParticlePlaneConstraint
All Implemented Interfaces:
Constrainer, HasAuxState, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable

public class ParticlePlaneConstraint
extends ConstrainerBase
implements ScalableUnits, TransformableGeometry


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
HasAuxState.StateContext
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Field Summary
 
Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames
 
Fields inherited from interface artisynth.core.util.TransformableGeometry
ARTICULATED, SIMULATING
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Constructor Summary
ParticlePlaneConstraint()
           
ParticlePlaneConstraint(Particle p, Plane plane)
           
 
Method Summary
 int addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb, IntHolder changeCnt)
           
 int addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu, double t)
           
 int getBilateralImpulses(VectorNd lam, int idx)
           
 int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
           
 void getBilateralSizes(VectorNi sizes)
           
 void getHardReferences(java.util.List<ModelComponent> refs)
          Appends all hard references for this component to a list.
 Particle getParticle()
           
 int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)
           
 void getUnilateralSizes(VectorNi sizes)
           
 void render(GLRenderer renderer, int flags)
          Render this object using Open GL via the JOGL.
 void scaleDistance(double s)
          Scales all distance coordinates.
 void scaleMass(double s)
          Scales all mass units.
 int setBilateralImpulses(VectorNd lam, double h, int idx)
           
 int setUnilateralImpulses(VectorNd the, double h, int idx)
           
 void transformGeometry(AffineTransform3dBase X)
          Applies an affine transformation to the geometry of this object.
 void transformGeometry(AffineTransform3dBase X, TransformableGeometry topObject, int flags)
          Applies an affine transformation to the geometry of this object.
 double updateConstraints(double t, int flags)
           
 void zeroImpulses()
           
 
Methods inherited from class artisynth.core.mechmodels.ConstrainerBase
addFrictionConstraints, addUnilateralConstraints, advanceAuxState, getAuxState, getInitialAuxState, getUnilateralImpulses, hasState, maxFrictionConstraintSets, setAuxState, skipAuxState
 
Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps, updateBounds, updateRenderProps
 
Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 
Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences
 
Methods inherited from interface maspack.properties.HasProperties
getAllPropertyInfo, getProperty
 
Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren
 
Methods inherited from interface maspack.util.Scannable
isWritable, write
 

Constructor Detail

ParticlePlaneConstraint

public ParticlePlaneConstraint()

ParticlePlaneConstraint

public ParticlePlaneConstraint(Particle p,
                               Plane plane)
Method Detail

getParticle

public Particle getParticle()

getBilateralSizes

public void getBilateralSizes(VectorNi sizes)
Specified by:
getBilateralSizes in interface Constrainer
Specified by:
getBilateralSizes in class ConstrainerBase

addBilateralConstraints

public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb,
                                   IntHolder changeCnt)
Specified by:
addBilateralConstraints in interface Constrainer
Specified by:
addBilateralConstraints in class ConstrainerBase

getBilateralInfo

public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)
Specified by:
getBilateralInfo in interface Constrainer
Specified by:
getBilateralInfo in class ConstrainerBase

setBilateralImpulses

public int setBilateralImpulses(VectorNd lam,
                                double h,
                                int idx)
Specified by:
setBilateralImpulses in interface Constrainer
Specified by:
setBilateralImpulses in class ConstrainerBase

getBilateralImpulses

public int getBilateralImpulses(VectorNd lam,
                                int idx)
Specified by:
getBilateralImpulses in interface Constrainer
Specified by:
getBilateralImpulses in class ConstrainerBase

zeroImpulses

public void zeroImpulses()
Specified by:
zeroImpulses in interface Constrainer
Specified by:
zeroImpulses in class ConstrainerBase

getUnilateralSizes

public void getUnilateralSizes(VectorNi sizes)
Specified by:
getUnilateralSizes in interface Constrainer
Overrides:
getUnilateralSizes in class ConstrainerBase

addUnilateralConstraints

public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dn,
                                    int numu,
                                    double t)

getUnilateralInfo

public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)
Specified by:
getUnilateralInfo in interface Constrainer
Overrides:
getUnilateralInfo in class ConstrainerBase

setUnilateralImpulses

public int setUnilateralImpulses(VectorNd the,
                                 double h,
                                 int idx)
Specified by:
setUnilateralImpulses in interface Constrainer
Overrides:
setUnilateralImpulses in class ConstrainerBase

updateConstraints

public double updateConstraints(double t,
                                int flags)
Specified by:
updateConstraints in interface Constrainer
Specified by:
updateConstraints in class ConstrainerBase

getHardReferences

public void getHardReferences(java.util.List<ModelComponent> refs)
Description copied from class: ModelComponentBase
Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:
getHardReferences in interface ModelComponent
Overrides:
getHardReferences in class ModelComponentBase
Parameters:
refs - list to which hard references are appended

render

public void render(GLRenderer renderer,
                   int flags)
Description copied from interface: GLRenderable
Render this object using Open GL via the JOGL.

Specified by:
render in interface GLRenderable
Specified by:
render in class RenderableComponentBase
Parameters:
renderer - renderer object which is used to perform the rendering. Provides pointers to GL and GLU, along with helper functions.
flags - supplies flags that may be used to control different aspects of the rendering. Flags are defined in GLRenderer and currently include GLRenderer.SELECTED, GLRenderer.VERTEX_COLORING, GLRenderer.HSV_COLOR_INTERPOLATION, GLRenderer.SORT_FACES, and GLRenderer.CLEAR_MESH_DISPLAY_LISTS.

scaleMass

public void scaleMass(double s)
Description copied from interface: ScalableUnits
Scales all mass units.

Specified by:
scaleMass in interface ScalableUnits
Parameters:
s - scaling factor

scaleDistance

public void scaleDistance(double s)
Description copied from interface: ScalableUnits
Scales all distance coordinates.

Specified by:
scaleDistance in interface ScalableUnits
Parameters:
s - scaling factor

transformGeometry

public void transformGeometry(AffineTransform3dBase X)
Description copied from interface: TransformableGeometry
Applies an affine transformation to the geometry of this object. This method should be equivalent to
 transformGeometry (X, this, 0);
 

Specified by:
transformGeometry in interface TransformableGeometry
Parameters:
X - affine transformation

transformGeometry

public void transformGeometry(AffineTransform3dBase X,
                              TransformableGeometry topObject,
                              int flags)
Description copied from interface: TransformableGeometry
Applies an affine transformation to the geometry of this object. If recursively invoked within a component hierarchy, then topComponent should be the component for which the method was initially invoked. The variable flags provides information about the context in which the transformation is being applied. At present, the available flags are TransformableGeometry.SIMULATING and TransformableGeometry.ARTICULATED.

Specified by:
transformGeometry in interface TransformableGeometry
Parameters:
X - affine transformation
topObject - component on which the method was initially invoked
flags - provides information about the context in which the transformation is being applied.