public class FrameFem3dConstraint extends ConstrainerBase
HasAuxState.StateContext
ModelComponent.NavpanelVisibility
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames
TRANSLUCENT, TWO_DIMENSIONAL
Constructor and Description |
---|
FrameFem3dConstraint() |
FrameFem3dConstraint(Frame frame,
FemElement3d elem) |
Modifier and Type | Method and Description |
---|---|
int |
addBilateralConstraints(SparseBlockMatrix GT,
VectorNd dg,
int numb) |
void |
computeFrame(RigidTransform3d T) |
void |
computeFrameRelativeVelocity(Twist vel)
Computes the current frame velocity, in frame coordinates.
|
void |
computeVelocity(Twist vel)
Computes the current frame velocity, in world coordinates.
|
int |
getBilateralImpulses(VectorNd lam,
int idx) |
int |
getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
int idx) |
void |
getBilateralSizes(VectorNi sizes) |
FemElement3d |
getElement() |
void |
render(GLRenderer renderer,
int flags)
Render this object using Open GL via the JOGL.
|
int |
setBilateralImpulses(VectorNd lam,
double h,
int idx) |
void |
setFromElement(RigidTransform3d T,
FemElement3d elem) |
double |
updateConstraints(double t,
int flags) |
void |
updateFramePose(boolean frameRelative) |
void |
zeroImpulses() |
addFrictionConstraints, addUnilateralConstraints, advanceAuxState, getAuxState, getInitialAuxState, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, maxFrictionConstraintSets, setAuxState, setUnilateralImpulses, skipAuxState
copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps, updateBounds, updateRenderProps
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences
getAllPropertyInfo, getProperty
getChildren, hasChildren
isWritable, write
public FrameFem3dConstraint()
public FrameFem3dConstraint(Frame frame, FemElement3d elem)
public void getBilateralSizes(VectorNi sizes)
getBilateralSizes
in interface Constrainer
getBilateralSizes
in class ConstrainerBase
public int addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)
addBilateralConstraints
in interface Constrainer
addBilateralConstraints
in class ConstrainerBase
public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
getBilateralInfo
in interface Constrainer
getBilateralInfo
in class ConstrainerBase
public int setBilateralImpulses(VectorNd lam, double h, int idx)
setBilateralImpulses
in interface Constrainer
setBilateralImpulses
in class ConstrainerBase
public int getBilateralImpulses(VectorNd lam, int idx)
getBilateralImpulses
in interface Constrainer
getBilateralImpulses
in class ConstrainerBase
public void zeroImpulses()
zeroImpulses
in interface Constrainer
zeroImpulses
in class ConstrainerBase
public double updateConstraints(double t, int flags)
updateConstraints
in interface Constrainer
updateConstraints
in class ConstrainerBase
public FemElement3d getElement()
public void setFromElement(RigidTransform3d T, FemElement3d elem)
public void computeFrame(RigidTransform3d T)
public void computeVelocity(Twist vel)
public void computeFrameRelativeVelocity(Twist vel)
public void updateFramePose(boolean frameRelative)
public void render(GLRenderer renderer, int flags)
GLRenderable
render
in interface GLRenderable
render
in class RenderableComponentBase
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
.