artisynth.core.mechmodels

Class PointParticleAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachment

artisynth.core.mechmodels.PointAttachment

artisynth.core.mechmodels.PointParticleAttachment

All Implemented Interfaces:

CopyableComponent, ModelComponent, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class PointParticleAttachment
extends PointAttachment

Nested Class Summary

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 artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES

Constructor Summary

Constructors

Constructor and Description
PointParticleAttachment()
PointParticleAttachment(Particle master, Point slave)

Method Summary

Modifier and Type	Method and Description
void	addMassToMaster(MatrixBlock mblk, MatrixBlock sblk, int idx)
void	addMassToMasters()
void	applyForces()
PointParticleAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
void	getCurrentPos(Vector3d pos) Returns the current position of the attached point, in world coordinates.
void	getCurrentVel(Vector3d vel, Vector3d dvel)
boolean	getDerivative(double[] buf, int idx)
Particle	getParticle()
void	mulSubG(MatrixBlock D, MatrixBlock B, int idx) Computes
void	mulSubGT(MatrixBlock D, MatrixBlock B, int idx) Computes
void	setParticle(Particle particle)
void	updateAttachment() Update attachment to reflect changes in the slave state.
void	updatePosStates()
void	updateVelStates()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.PointAttachment

addTargetJacobian, getCopyReferences, getMasterBlocks, getMasters, getPoint, getSlave, getSlaveSolveIndex, invalidateMasters, isDuplicatable, numMasters

Methods inherited from class artisynth.core.mechmodels.DynamicAttachment

addAttachmentJacobian, addBackRefs, addSolveBlocks, clone, connectToHierarchy, containsLoop, containsLoops, containsMaster, createOrderedList, disconnectFromHierarchy, getHardReferences, oneMasterActive, reduceConstraints, reduceMass, reduceRowMatrix, removeBackRefs

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, createTempFlag, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, 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, 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

Constructor Detail

PointParticleAttachment

public PointParticleAttachment()

PointParticleAttachment

public PointParticleAttachment(Particle master,
                               Point slave)

Method Detail

getParticle

public Particle getParticle()

setParticle

public void setParticle(Particle particle)

updatePosStates

public void updatePosStates()

Specified by:

updatePosStates in class DynamicAttachment

getCurrentPos

public void getCurrentPos(Vector3d pos)

Description copied from class: PointAttachment

Returns the current position of the attached point, in world coordinates.

Specified by:

getCurrentPos in class PointAttachment

Parameters:

pos - used to return current point position

getCurrentVel

public void getCurrentVel(Vector3d vel,
                          Vector3d dvel)

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in class DynamicAttachment

applyForces

public void applyForces()

Overrides:

applyForces in class PointAttachment

mulSubGT

public void mulSubGT(MatrixBlock D,
                     MatrixBlock B,
                     int idx)

Description copied from class: DynamicAttachment

Computes

       T
 D -= G  B
 

where D and B are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Parameters:

D - dependent matrix associated with a master component

B - matrix associated with a slave component

mulSubG

public void mulSubG(MatrixBlock D,
                    MatrixBlock B,
                    int idx)

Description copied from class: DynamicAttachment

Computes

 D -= B G
 

where D and B are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Parameters:

D - dependent matrix associated with a master component

B - matrix associated with a slave component

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Overrides:

writeItems in class PointAttachment

Throws:

java.io.IOException

updateAttachment

public void updateAttachment()

Description copied from class: DynamicAttachment

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in class DynamicAttachment

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in class DynamicAttachment

addMassToMaster

public void addMassToMaster(MatrixBlock mblk,
                            MatrixBlock sblk,
                            int idx)

getDerivative

public boolean getDerivative(double[] buf,
                             int idx)

Specified by:

getDerivative in class DynamicAttachment

copy

public PointParticleAttachment copy(int flags,
                                    java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class PointAttachment

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component