artisynth.core.femmodels

Class FrameFem3dConstraint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.femmodels.FrameFem3dConstraint

All Implemented Interfaces:

Constrainer, HasAuxState, ModelComponent, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class FrameFem3dConstraint
extends ConstrainerBase

Class to manage the constraint between an FEM and it's coordinate frame.

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 maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
FrameFem3dConstraint()
FrameFem3dConstraint(Frame frame, FemElement3d elem)

Method Summary

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)
void	getConstrainedComponents(java.util.List<DynamicComponent> list)
FemElement3d	getElement()
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
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()

Methods inherited from class artisynth.core.mechmodels.ConstrainerBase

addFrictionConstraints, addUnilateralConstraints, advanceAuxState, getAuxState, getInitialAuxState, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, maxFrictionConstraintSets, setAuxState, setUnilateralImpulses, 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, 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

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, getHardReferences, 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

FrameFem3dConstraint

public FrameFem3dConstraint()

FrameFem3dConstraint

public FrameFem3dConstraint(Frame frame,
                            FemElement3d elem)

Method Detail

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)

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

updateConstraints

public double updateConstraints(double t,
                                int flags)

Specified by:

updateConstraints in interface Constrainer

Specified by:

updateConstraints in class ConstrainerBase

getConstrainedComponents

public void getConstrainedComponents(java.util.List<DynamicComponent> list)

Specified by:

getConstrainedComponents in interface Constrainer

Specified by:

getConstrainedComponents in class ConstrainerBase

getElement

public FemElement3d getElement()

setFromElement

public void setFromElement(RigidTransform3d T,
                           FemElement3d elem)

computeFrame

public void computeFrame(RigidTransform3d T)

computeVelocity

public void computeVelocity(Twist vel)

Computes the current frame velocity, in world coordinates.

computeFrameRelativeVelocity

public void computeFrameRelativeVelocity(Twist vel)

Computes the current frame velocity, in frame coordinates.

updateFramePose

public void updateFramePose(boolean frameRelative)

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Specified by:

render in class RenderableComponentBase

Parameters:

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.