artisynth.core.mechmodels

Interface CollidableDynamicComponent

All Superinterfaces:

DynamicComponent, ForceEffector, HasProperties, HierarchyNode, ModelComponent, Scannable, TransformableGeometry

All Known Implementing Classes:

BeamBody, DeformableBody, FemMarker, FemModelFrame, FemNode, FemNode3d, Frame, FrameMarker, GenericMarker, Marker, MFreeNode3d, Particle, PlanarPoint, Point, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, TargetFrame, TargetPoint

public interface CollidableDynamicComponent
extends DynamicComponent

Describes a DynamicComponent that can response to collisions. One or more of these associated with a Collidable object provide the underlying collision response.

Author:

lloyd

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Method Summary

Modifier and Type	Method and Description
void	addToPointVelocity(Vector3d vel, double w, ContactPoint cpnt) Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor w, and add it to vel.
void	setContactConstraint(double[] buf, double w, Vector3d dir, ContactPoint cpnt) Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix.

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addConstrainer, addMasterAttachment, addPosImpulse, addSolveBlock, applyExternalForces, applyGravity, checkFlag, clearFlag, createMassBlock, getAttachment, getConstrainers, getEffectiveMass, getEffectiveMassForces, getForce, getInverseMass, getMass, getMass, getMasterAttachments, getPosDerivative, getPosState, getPosStateSize, getSolveIndex, getVelState, getVelStateSize, isActive, isAttached, isControllable, isDynamic, isMassConstant, isParametric, mulInverseEffectiveMass, removeConstrainer, removeMasterAttachment, resetEffectiveMass, setAttached, setFlag, setForce, setPosState, setSolveIndex, setVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, 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

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, getJacobianType

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

addTransformableDependencies, transformGeometry, transformGeometry

Method Detail

setContactConstraint

void setContactConstraint(double[] buf,
                          double w,
                          Vector3d dir,
                          ContactPoint cpnt)

Computes the values for the block matrix which defines this component's contribution to a contact constraint matrix. The matrix is 1 x n, where n is the component's velocity state size, and the contact is defined by a direction dir and a point cpnt. The computed values should be scaled by a weighting factor w.

Parameters:

buf - returns the n values for the block matrix

w - weighting factor by which the values should be scaled

dir - contact direction (world coordinates)

cpnt - contact point

addToPointVelocity

void addToPointVelocity(Vector3d vel,
                        double w,
                        ContactPoint cpnt)

Computes the velocity imparted to a contact point by this component's current velocity, multiples it by a weighting factor w, and add it to vel.

Parameters:

vel - accumulates contact point velocity (world coordinates)

w - weighting factor

cpnt - contact point