artisynth.core.mechmodels
Class DeformableContactConstraintBase.CompInfo

java.lang.Object
  extended by artisynth.core.mechmodels.DeformableContactConstraintBase.CompInfo
Direct Known Subclasses:
DeformableContactConstraintBase.FrameInfo, DeformableContactConstraintBase.PointInfo
Enclosing class:
DeformableContactConstraintBase

public abstract class DeformableContactConstraintBase.CompInfo
extends java.lang.Object

Provides matrix block information and computational function for a single dynamic component associated with a contact constraint.


Constructor Summary
DeformableContactConstraintBase.CompInfo()
           
 
Method Summary
abstract  void addFrictionBlock(SparseBlockMatrix DT, Vector3d dir, int bj)
           
abstract  void addRelativeVelocity(Vector3d vrel, Twist tmpT)
          Uses the component's current velocity to compute its contribution to the current relative velocity.
abstract  double computeDirectionalVelocity(Vector3d dir, Twist tmpT)
           
abstract  MatrixBlock getBlock()
          Returns the matrix block associated with this constraint.
abstract  DynamicMechComponent getComp()
          Returns the dynamic component
 DeformableContactConstraintBase.CompInfo getNext()
           
abstract  int getSolveIndex()
          Returns the solve index of the dynamic component
abstract  boolean isParametric()
          Returns true if the dynamic component is parametric
 void setNext(DeformableContactConstraintBase.CompInfo next)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

DeformableContactConstraintBase.CompInfo

public DeformableContactConstraintBase.CompInfo()
Method Detail

getComp

public abstract DynamicMechComponent getComp()
Returns the dynamic component


getSolveIndex

public abstract int getSolveIndex()
Returns the solve index of the dynamic component


isParametric

public abstract boolean isParametric()
Returns true if the dynamic component is parametric


computeDirectionalVelocity

public abstract double computeDirectionalVelocity(Vector3d dir,
                                                  Twist tmpT)

addFrictionBlock

public abstract void addFrictionBlock(SparseBlockMatrix DT,
                                      Vector3d dir,
                                      int bj)

addRelativeVelocity

public abstract void addRelativeVelocity(Vector3d vrel,
                                         Twist tmpT)
Uses the component's current velocity to compute its contribution to the current relative velocity.


getBlock

public abstract MatrixBlock getBlock()
Returns the matrix block associated with this constraint. This block will be added to the transposed constraint matrix GT.


getNext

public DeformableContactConstraintBase.CompInfo getNext()

setNext

public void setNext(DeformableContactConstraintBase.CompInfo next)