public class FrameFem3dConstraint extends ConstrainerBase
ModelComponent.NavpanelVisibility
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames
TRANSPARENT, TWO_DIMENSIONAL
Constructor and Description |
---|
FrameFem3dConstraint() |
FrameFem3dConstraint(Frame frame,
FemElement3dBase 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 |
getBilateralForces(VectorNd lam,
int idx) |
int |
getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
int idx) |
void |
getBilateralSizes(VectorNi sizes) |
void |
getConstrainedComponents(java.util.List<DynamicComponent> list) |
FemElement3dBase |
getElement() |
void |
render(Renderer renderer,
int flags)
Render this object using the functionality of the supplied
Renderer . |
int |
setBilateralForces(VectorNd lam,
double s,
int idx) |
void |
setFromElement(RigidTransform3d T,
FemElement3dBase elem) |
double |
updateConstraints(double t,
int flags)
Updates the current set of constraints, and returns the maximum
penetration
> 0 associated with all of them. |
void |
updateFramePose(boolean frameRelative) |
void |
zeroForces() |
addFrictionConstraints, addUnilateralConstraints, advanceState, getState, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, hasState, maxFrictionConstraintSets, setState, setUnilateralForces
copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, prerender, setRenderProps, setVisible, updateBounds, updateRenderProps
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, updateReferences, write
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
getStateVersion
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences
getAllPropertyInfo, getProperty
getChildren, hasChildren
postscan
isWritable, write
public FrameFem3dConstraint()
public FrameFem3dConstraint(Frame frame, FemElement3dBase 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 setBilateralForces(VectorNd lam, double s, int idx)
setBilateralForces
in interface Constrainer
setBilateralForces
in class ConstrainerBase
public int getBilateralForces(VectorNd lam, int idx)
getBilateralForces
in interface Constrainer
getBilateralForces
in class ConstrainerBase
public void zeroForces()
zeroForces
in interface Constrainer
zeroForces
in class ConstrainerBase
public double updateConstraints(double t, int flags)
Constrainer
>
0 associated with all of them. If no constraints are
presently active, returns -1.updateConstraints
in interface Constrainer
updateConstraints
in class ConstrainerBase
public void getConstrainedComponents(java.util.List<DynamicComponent> list)
getConstrainedComponents
in interface Constrainer
getConstrainedComponents
in class ConstrainerBase
public FemElement3dBase getElement()
public void setFromElement(RigidTransform3d T, FemElement3dBase elem)
public void computeFrame(RigidTransform3d T)
public void computeVelocity(Twist vel)
public void computeFrameRelativeVelocity(Twist vel)
public void updateFramePose(boolean frameRelative)
public void render(Renderer renderer, int flags)
IsRenderable
Renderer
.render
in interface IsRenderable
render
in class RenderableComponentBase
renderer
- provides the functionality used to perform the rendering.flags
- flags that may be used to control different
aspects of the rendering. Flags are defined in Renderer
and currently include
Renderer.HIGHLIGHT
and
Renderer.SORT_FACES
.