public abstract class MechSystemBase extends RenderableModelBase implements MechSystemModel
ModelComponent.NavpanelVisibility
MechSystem.ConstraintInfo, MechSystem.FrictionInfo
CompositeComponent.NavpanelDisplay
Modifier and Type | Field and Description |
---|---|
static boolean |
myParametricsInSystemMatrix |
static PropertyList |
myProps |
DEFAULT_NAVPANEL_DISPLAY
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
COMPUTE_CONTACTS, UPDATE_CONTACTS
TRANSPARENT, TWO_DIMENSIONAL
Constructor and Description |
---|
MechSystemBase(java.lang.String name) |
Modifier and Type | Method and Description |
---|---|
void |
addActivePosImpulse(VectorNd x,
double h,
VectorNd v)
Computes an adjustment to the active positions of the system (stored
in the vector
q ) by applying
a velocity u for time
h . |
void |
addAttachmentJacobian(SparseNumberedBlockMatrix S,
VectorNd f) |
void |
addAttachmentSolveBlocks(SparseNumberedBlockMatrix S) |
void |
addGeneralMassBlocks(SparseBlockMatrix M) |
void |
addGeneralSolveBlocks(SparseNumberedBlockMatrix M) |
void |
addPosJacobian(SparseNumberedBlockMatrix S,
VectorNd f,
double s)
Adds the current force-position Jacobian, scaled by
h , to
the matrix S , which should have been previously created with
a call to buildSolveMatrix() . |
void |
addVelJacobian(SparseNumberedBlockMatrix S,
VectorNd f,
double s)
Adds the current force-velocity Jacobian, scaled by
h , to
the matrix S , which should have been previously created with
a call to buildSolveMatrix() . |
StepAdjustment |
advance(double t0,
double t1,
int flags)
Advances this object from time t0 to time t1.
|
void |
applyAttachmentForces() |
boolean |
buildMassMatrix(SparseBlockMatrix M)
Builds a mass matrix for this system.
|
void |
buildSolveMatrix(SparseNumberedBlockMatrix S)
Builds a solve matrix for this system.
|
void |
closePrintStateFile() |
void |
collectInitialForces() |
MechSystemBase |
copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap) |
ComponentState |
createState(ComponentState prevState)
Factory routine to create a state object for this component, which can
then be used as an argument for
HasState.setState(artisynth.core.modelbase.ComponentState) and HasState.getState(artisynth.core.modelbase.ComponentState) . |
SparseBlockMatrix |
createVelocityJacobian() |
void |
getActiveForces(VectorNd f)
Returns the generalized forces acting on all the active components in this
system.
|
double |
getActiveMass() |
void |
getActivePosDerivative(VectorNd dxdt,
double t)
Gets the current value of the position derivative for all active
components.
|
void |
getActivePosState(VectorNd q)
Gets the current position state for all active components.
|
int |
getActivePosStateSize()
Returns the size of the position state for all active components.
|
SparseBlockMatrix |
getActiveStiffness() |
void |
getActiveVelState(VectorNd u)
Gets the current velocity state for all active components.
|
int |
getActiveVelState(VectorNd u,
int idx,
boolean bodyCoords) |
int |
getActiveVelStateSize()
Returns the size of the velocity state for all active components.
|
SparseBlockMatrix |
getAttachmentConstraints()
Returns the transpose of the attachment constraint matrix.
|
VectorNd |
getAttachmentDerivatives() |
void |
getAuxState(DataBuffer data) |
int |
getBilateralConstraints(SparseBlockMatrix GT,
VectorNd dg)
Obtains the transpose of the current bilateral constraint matrix G for this
system.
|
void |
getBilateralConstraintSizes(VectorNi sizes) |
void |
getBilateralForces(VectorNd lam) |
void |
getBilateralImpulses(VectorNd lam)
Returns from the system the most recently computed bilateral constraint
impulses.
|
int |
getBilateralImpulses(VectorNd lam,
int idx) |
void |
getBilateralInfo(MechSystem.ConstraintInfo[] ginfo)
Obtains information for all the constraint directions returned
by the most recent call to
getBilateralConstraints() . |
static MechSystemSolver.PosStabilization |
getDefaultStabilization() |
void |
getDynamicDOFs(int[] dofs)
Returns in
sizes the number of (velocity) degrees of freedom
for the dynamic components in the system. |
boolean |
getDynamicsEnabled() |
void |
getForces(VectorNd f) |
void |
getFrictionConstraints(SparseBlockMatrix DT,
MechSystem.FrictionInfo[] finfo)
Obtains the transpose of the current friction constraint matrix D for
this system.
|
void |
getInitialState(ComponentState newstate,
ComponentState oldstate)
Gets an initial state for this component and returns the value in
state . |
void |
getInverseMassMatrix(SparseBlockMatrix Minv,
SparseBlockMatrix M)
Sets
Minv to the inverse of the mass matrix M . |
void |
getMassMatrix(SparseBlockMatrix M,
VectorNd f,
double t)
Sets
M to the current value of the mass matrix for this
system, evaluated at time t . |
int |
getNumBilateralImpulses() |
int |
getNumUnilateralImpulses() |
void |
getParametricForces(VectorNd f)
Gets the forces associated with parametric components.
|
void |
getParametricPosState(VectorNd q)
Gets the current position state for all parametric components.
|
int |
getParametricPosStateSize()
Returns the size of the position state for all parametric components.
|
void |
getParametricPosTarget(VectorNd q,
double s,
double h)
Obtains the desired target position for all parametric components at a
particular time.
|
void |
getParametricVelState(VectorNd u)
Gets the current velocity state for all parametric components.
|
int |
getParametricVelStateSize()
Returns the size of the velocity state for all parametric components.
|
void |
getParametricVelTarget(VectorNd u,
double s,
double h)
Obtains the desired target velocity for all parametric components at a
particular time.
|
double |
getPenetrationLimit() |
java.lang.String |
getPrintState() |
boolean |
getProfiling() |
void |
getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps,
int level)
Should be overridden in subclasses to return all the HasSlaveObjects '
components within this model.
|
int |
getSolveMatrixType()
Returns information about the solve matrix for this system.
|
MechSystemSolver |
getSolver() |
MechSystemSolver.PosStabilization |
getStabilization() |
void |
getState(ComponentState pstate)
Get the current state of this component.
|
int |
getStructureVersion()
Returns the current structure version of this system.
|
void |
getUnilateralConstraints(SparseBlockMatrix NT,
VectorNd dn)
Obtains the transpose of the current unilateral constraint matrix N for this
system.
|
void |
getUnilateralConstraintSizes(VectorNi sizes) |
void |
getUnilateralForces(VectorNd the) |
void |
getUnilateralImpulses(VectorNd the)
Returns from the system the most recently computed unilateral constraint
impulses.
|
int |
getUnilateralImpulses(VectorNd the,
int idx) |
void |
getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo)
Obtains information for all the constraint directions returned
by the most recent call to
getUnilateralConstraints() . |
boolean |
getUpdateForcesAtStepEnd() |
PropertyMode |
getUpdateForcesAtStepEndMode() |
boolean |
hasParameterizedType()
Queries whether this class explicitly utilizes a parameterized type.
|
void |
initialize(double t)
Causes this model to initialize itself at time t.
|
int |
maxFrictionConstraintSets()
Returns that maximum number of friction constraint set that may be added by
the method
getFrictionConstraints() . |
int |
numActiveComponents()
Returns the current number of active components in this system.
|
int |
numAttachedComponents() |
int |
numParametricComponents()
Returns the current number of parametric components in this system.
|
java.io.PrintWriter |
openPrintStateFile(java.lang.String name) |
StepAdjustment |
preadvance(double t0,
double t1,
int flags)
Prepares this object for advance from time t0 to time t1.
|
void |
printActiveStiffness() |
void |
recursivelyFinalizeAdvance(StepAdjustment stepAdjust,
double t0,
double t1,
int flags,
int level) |
void |
recursivelyInitialize(double t,
int level) |
void |
reduceVelocityJacobian(SparseBlockMatrix J) |
java.io.PrintWriter |
reopenPrintStateFile(java.lang.String name) |
void |
setActiveForces(VectorNd f)
Sets the generalized forces acting on all the active components in this
system.
|
void |
setActivePosState(VectorNd q)
Sets the current position state for all active components.
|
void |
setActiveVelState(VectorNd u)
Sets the current velocity state for all active components.
|
void |
setAuxState(DataBuffer data) |
void |
setBilateralImpulses(VectorNd lam,
double h)
Supplies to the system the most recently computed bilateral constraint
impulses.
|
int |
setBilateralImpulses(VectorNd lam,
double h,
int idx) |
static void |
setDefaultStabilization(MechSystemSolver.PosStabilization stablizer) |
void |
setDynamicsEnabled(boolean enable) |
void |
setForces(VectorNd f) |
void |
setParametricForces(VectorNd f)
Sets the forces associated with parametric components.
|
void |
setParametricPosState(VectorNd q)
Sets the current position state for all parametric components.
|
void |
setParametricVelState(VectorNd q)
Sets the current velocity state for all parametric components.
|
void |
setPenetrationLimit(double lim) |
void |
setPrintState(java.lang.String fmt) |
void |
setPrintState(java.lang.String fmt,
double interval) |
void |
setProfiling(boolean enable) |
void |
setStabilization(MechSystemSolver.PosStabilization stablizer) |
void |
setState(ComponentState pstate)
Set the state of this component.
|
void |
setUnilateralImpulses(VectorNd the,
double h)
Supplies to the system the most recently computed unilateral constraint
impulses.
|
int |
setUnilateralImpulses(VectorNd the,
double h,
int idx) |
void |
setUpdateForcesAtStepEnd(boolean enable) |
void |
setUpdateForcesAtStepEndMode(PropertyMode mode) |
static MechSystem |
topMechSystem(ModelComponent comp)
Returns the topmost MechSystem, if any, that is associated with
a specific component.
|
void |
updateAttachmentPos() |
void |
updateAttachmentVel() |
void |
updateConstraints(double t,
StepAdjustment stepAdjust,
int flags)
Updates the constraints associated with this system to be consistent with
the current position and indicated time.
|
void |
updateForces(double t)
Updates all internal forces associated with this system to be
consistent with the current position and velocity and the indicated time
t . |
void |
updatePosState() |
void |
updateVelState() |
void |
writeBilateralConstraintMatrix(java.lang.String fileName) |
void |
writeBilateralConstraintMatrix(java.lang.String fileName,
Matrix.WriteFormat matfmt) |
void |
writeMassMatrix(java.lang.String fileName) |
void |
writeMassMatrix(java.lang.String fileName,
Matrix.WriteFormat matfmt) |
void |
writeStiffnessMatrix(java.lang.String fileName,
double h) |
void |
writeStiffnessMatrix(java.lang.String fileName,
double h,
Matrix.WriteFormat matfmt) |
createRenderProps, getAllPropertyInfo, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, render, setRenderProps, updateBounds
actionPerformed, copy, dispose, getInitialState, getMaxStepSize, getMenuItems, hierarchyContainsReferences, setInitialState, setMaxStepSize
add, add, addAll, addComponents, addFixed, addNumbered, clear, clone, componentChanged, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, invalidateNumbers, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, retainAll, scan, set, setNavpanelDisplay, setNumbered, setNumberingStartAtOne, setShortName, size, toArray, toArray, updateNameMap
checkFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasState, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
checkVelocityStability, getAttachments, getAuxStateComponents, getCollidables, getConstrainers, getDynamicComponents, getForceEffectors, getMassMatrixValues, mulInverseMass
dispose, getMaxStepSize
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences
getAllPropertyInfo, getProperty
getChildren, hasChildren
isWritable, write
getName
public static boolean myParametricsInSystemMatrix
public static PropertyList myProps
public void setPenetrationLimit(double lim)
public double getPenetrationLimit()
public boolean getDynamicsEnabled()
public void setDynamicsEnabled(boolean enable)
public static MechSystem topMechSystem(ModelComponent comp)
comp
- component to start withcomp
, or
null
if there is none.public boolean hasParameterizedType()
ParameterizedClass
hasParameterizedType
in interface ParameterizedClass
hasParameterizedType
in class ComponentList<ModelComponent>
true
if this class utilizes a parameterized type.public MechSystemSolver getSolver()
public SparseBlockMatrix createVelocityJacobian()
public void reduceVelocityJacobian(SparseBlockMatrix J)
public int getNumUnilateralImpulses()
public void getUnilateralConstraintSizes(VectorNi sizes)
public void getUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn)
MechSystem
NT
. On input,
NT
should be empty with zero size; it will be sized
appropriately by the system. The derivative term is returned
in dn
; this is given by
dn/dt uwhere
u
is the current system velocity.
dn
will also be sized appropriately by the system.getUnilateralConstraints
in interface MechSystem
NT
- returns the transpose of Ndn
- returns the derivative term for Npublic int getNumBilateralImpulses()
public void getBilateralConstraintSizes(VectorNi sizes)
public int getBilateralConstraints(SparseBlockMatrix GT, VectorNd dg)
MechSystem
GT
. On input,
GT
should be empty with zero size; it will be sized
appropriately by the system. The derivative term is returned
in dg
; this is given by
dG/dt uwhere
u
is the current system velocity.
dg
will also be sized appropriately by the system.
The method returns a version number for the constraint structure. This number should be incremented whenever the block structure of the constraint matrix changes.
getBilateralConstraints
in interface MechSystem
GT
- returns the transpose of Gdg
- returns the derivative term for Gpublic void getBilateralInfo(MechSystem.ConstraintInfo[] ginfo)
MechSystem
getBilateralConstraints()
.
The information is returned in the array ginfo
,
which should contain preallocated
ConstraintInfo
structures and should have a length greater or equal to
the column size of GT
returned by
getBilateralConstraints()
.getBilateralInfo
in interface MechSystem
ginfo
- Array of
ConstraintInfo
objects used to return the constraint information.public void setBilateralImpulses(VectorNd lam, double h)
MechSystem
lam
, which
should have a size greater or equal to the column size of
GT
returned by getBilateralConstraints()
.setBilateralImpulses
in interface MechSystem
lam
- Bilateral constraint impulses being supplied to the system.h
- Time interval associated with the impulses. Dividing by this
should give the average constraint forces.public int setBilateralImpulses(VectorNd lam, double h, int idx)
public void getBilateralImpulses(VectorNd lam)
MechSystem
lam
, which should
have a size greater or equal to the column size of GT
returned by getBilateralConstraints()
.
For constraints which
where present in the previous solve step, the impulse values should equal
those which were set by the prevous call to setBilateralImpulses()
.
Otherwise, values can be estimated from
previous impulse values (where appropriate), or supplied as 0.getBilateralImpulses
in interface MechSystem
lam
- Bilateral constraint impulses being returned from the system.public void getBilateralForces(VectorNd lam)
public int getBilateralImpulses(VectorNd lam, int idx)
public void getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo)
MechSystem
getUnilateralConstraints()
.
The information is returned in the array ninfo
,
which should contain preallocated
ConstraintInfo
structures and should have a length greater or equal to
the column size of NT
returned by
getUnilateralConstraints()
.getUnilateralInfo
in interface MechSystem
ninfo
- Array of
ConstraintInfo
objects used to return the constraint information.public void setUnilateralImpulses(VectorNd the, double h)
MechSystem
the
, which
should have a size greater or equal to the column size of
NT
returned by getUnilateralConstraints()
.setUnilateralImpulses
in interface MechSystem
the
- Unilateral constraint impulses being supplied to the system.h
- Time interval associated with the impulses. Dividing by this
should give the average constraint forces.public int setUnilateralImpulses(VectorNd the, double h, int idx)
public void getUnilateralImpulses(VectorNd the)
MechSystem
the
, which should
have a size greater or equal to the column size of NT
returned by getUnilateralConstraints()
.
For constraints which where present in the previous solve step, the
impulse values should equal those which were set by the prevous call to
setUnilateralImpulses()
. Otherwise,
values can be estimated from previous impulse values (where appropriate),
or supplied as 0.getUnilateralImpulses
in interface MechSystem
the
- Unilateral constraint impulses being returned from the system.public void getUnilateralForces(VectorNd the)
public int getUnilateralImpulses(VectorNd the, int idx)
public int maxFrictionConstraintSets()
MechSystem
getFrictionConstraints()
.
This is used to size the finfo
array supplied to that
method.maxFrictionConstraintSets
in interface MechSystem
public void getFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo)
MechSystem
DT
. On input,
DT
should be empty with zero size; it will be sized
appropriately by the system.
Each column block in DT
describes a friction constraint
set associated with one unilateral or bilateral constraint. Information
about each friction constraint set is returned in the array
finfo
, which should contain preallocated
FrictionInfo
structures and should have a length greater or
equal to the value returned by
FrictionConstraintSets()
.
getFrictionConstraints
in interface MechSystem
DT
- returns the transpose of Dfinfo
- returns information for each friction constraint setpublic void updateConstraints(double t, StepAdjustment stepAdjust, int flags)
MechSystem
getBilateralConstraints()
.
Because contact computations are expensive, the constraints associated
with contact should only be computed if the flags MechSystem.COMPUTE_CONTACTS
or MechSystem.UPDATE_CONTACTS
are specified. The former
calls for contact information to be computed from scratch, while the
latter calls for contact information to be modified to reflect changes in
body positions, while preserving the general contact state between
bodies.
In the process of updating the constraints, the system may determine
that a smaller step size is needed. This is particulary true when
contact calculations show an unacceptable level of interpenetration.
A smaller step size can be recommended If so, it can indicate this through
the optional argument stepAdjust
, if present.
updateConstraints
in interface MechSystem
t
- current timestepAdjust
- (optional) can be used to indicate whether the current advance
should be redone with a smaller step size.flags
- information flagspublic int getStructureVersion()
MechSystem
getStructureVersion
in interface MechSystem
public void getDynamicDOFs(int[] dofs)
sizes
the number of (velocity) degrees of freedom
for the dynamic components in the system. The results are arranged
according to each component's solveIndex. If the length of
sizes
is less than the number of dynamic components, the
results are truncated.dofs
- returns the number of DOFs for each dynamic componentpublic void getSlaveObjectComponents(java.util.List<HasSlaveObjects> comps, int level)
getSlaveObjectComponents
in interface MechSystemModel
comps
- HasSlaveObjects components should be added to this listpublic void getActivePosState(VectorNd q)
q
(which will be sized appropriately by the
system).getActivePosState
in interface MechSystem
q
- vector in which the state is storedpublic void getActiveVelState(VectorNd u)
u
(which will be sized appropriately by the
system).getActiveVelState
in interface MechSystem
u
- vector in which the state is storedpublic int getActiveVelState(VectorNd u, int idx, boolean bodyCoords)
public void setActivePosState(VectorNd q)
q
, whose size should be greater than
or equal to the value returned by getActivePosStateSize()
.setActivePosState
in interface MechSystem
q
- vector supplying the state informationpublic void addActivePosImpulse(VectorNd x, double h, VectorNd v)
MechSystem
q
) by applying
a velocity u
for time
h
. Where velocity equals position derivative,
this corresponds to computing
q += h u.In other situations, such as where position is orientation expressed as a quaternion and velocity is angular velocity, the system should perform the analagous computation.
q
should have a size greater or equal to the value
returned by getActivePosStateSize()
, and
u
should have a size greater or equal to the value
returned by getActiveVelStateSize()
.addActivePosImpulse
in interface MechSystem
x
- positions to be adjustedh
- length of time to apply velocityv
- velocity to be appliedpublic void setActiveVelState(VectorNd u)
u
, whose size should be greater than
or equal to the value returned by getActiveVelStateSize()
.setActiveVelState
in interface MechSystem
u
- vector supplying the state informationpublic int getActivePosStateSize()
getStructureVersion()
remains unchanged.getActivePosStateSize
in interface MechSystem
public int getActiveVelStateSize()
getStructureVersion()
remains unchanged.getActiveVelStateSize
in interface MechSystem
public void getActivePosDerivative(VectorNd dxdt, double t)
MechSystem
dxdt
(which will be
sized appropriately by the system).getActivePosDerivative
in interface MechSystem
dxdt
- vector in which the derivative is storedt
- current time valuepublic void getActiveForces(VectorNd f)
f
(which will be
sized appropriately by the system).getActiveForces
in interface MechSystem
f
- vector in which the forces are storedpublic void setActiveForces(VectorNd f)
f
, whose size
should be greater or equal to the value returned by
getActiveVelStateSize()
.setActiveForces
in interface MechSystem
f
- vector specifying the forces to be setpublic void getForces(VectorNd f)
public void setForces(VectorNd f)
public void getParametricForces(VectorNd f)
f
(which will be sized appropriately by the
system).getParametricForces
in interface MechSystem
f
- vector in which to return the force informationpublic void setParametricForces(VectorNd f)
f
, whose size should be greater or equal to
the value returned by getParametricVelStateSize()
.setParametricForces
in interface MechSystem
f
- vector supplying the force informationpublic java.lang.String getPrintState()
public void setPrintState(java.lang.String fmt, double interval)
public void setPrintState(java.lang.String fmt)
public java.io.PrintWriter openPrintStateFile(java.lang.String name) throws java.io.IOException
java.io.IOException
public java.io.PrintWriter reopenPrintStateFile(java.lang.String name) throws java.io.IOException
java.io.IOException
public void closePrintStateFile() throws java.io.IOException
java.io.IOException
public StepAdjustment preadvance(double t0, double t1, int flags)
ModelBase
If the method determines that the step size should be
reduced, it can return a StepAdjustment
object indicating
the recommended reduction. Otherwise, the method may return
null
preadvance
in interface Model
preadvance
in class ModelBase
t0
- current time (seconds)t1
- new time to advance to (seconds)flags
- reserved for future usepublic StepAdjustment advance(double t0, double t1, int flags)
ModelBase
If the method determines that the step size should be
reduced, it can return a StepAdjustment
object indicating
the recommended reduction. Otherwise, the method may return
null
public void getAuxState(DataBuffer data)
public void setAuxState(DataBuffer data)
public ComponentState createState(ComponentState prevState)
ModelBase
HasState.setState(artisynth.core.modelbase.ComponentState)
and HasState.getState(artisynth.core.modelbase.ComponentState)
. The state object does not have to be set to the component's
current state. If the component does not have any state information,
this method should return an instance of
EmptyState
.createState
in interface HasState
createState
in class ModelBase
prevState
- If non-null, supplies a previous state that
was created by this component and which can be used to provide
pre-sizing hints.public void setState(ComponentState pstate)
ModelBase
public void getState(ComponentState pstate)
ModelBase
public void getInitialState(ComponentState newstate, ComponentState oldstate)
HasState
state
. If prevstate
is non-null, then it is
assumed to contain a previous initial state value returned by this
method, and state
should be set to be as consistent with
this previous state as possible. For example, suppose that this component
currently contains subcomponents A, B, and C, while the
prevstate
contains the state from a previous time when it
had components B, C, and D. Then state
should contain
substate values for B and C that are taken from
prevstate
. To facilitate this, the information returned in
state
should contain additional information such as the
identities of all the (current) sub-components.getInitialState
in interface HasState
getInitialState
in class ModelBase
newstate
- receives the state informationoldstate
- previous state information; may be null
.public void initialize(double t)
ModelBase
HasState.setState(artisynth.core.modelbase.ComponentState)
, in which case t
may have an arbitrary value.initialize
in interface Model
initialize
in class ModelBase
t
- initialization time (seconds)public void recursivelyInitialize(double t, int level)
recursivelyInitialize
in interface MechSystemModel
public void recursivelyFinalizeAdvance(StepAdjustment stepAdjust, double t0, double t1, int flags, int level)
recursivelyFinalizeAdvance
in interface MechSystemModel
public void setProfiling(boolean enable)
public boolean getProfiling()
public int numActiveComponents()
MechSystem
getStructureVersion()
remains unchanged.numActiveComponents
in interface MechSystem
public int numParametricComponents()
MechSystem
getStructureVersion()
remains unchanged.numParametricComponents
in interface MechSystem
public int numAttachedComponents()
public SparseBlockMatrix getAttachmentConstraints()
public VectorNd getAttachmentDerivatives()
public void addAttachmentJacobian(SparseNumberedBlockMatrix S, VectorNd f)
public void addAttachmentSolveBlocks(SparseNumberedBlockMatrix S)
public void updateAttachmentPos()
public void updatePosState()
public void updateVelState()
public void updateAttachmentVel()
public void applyAttachmentForces()
public boolean buildMassMatrix(SparseBlockMatrix M)
MechSystem
M
. On input,
M
should be empty with zero size; it will be sized
appropriately by the system.
This method returns true
if the mass matrix is constant;
i.e., does not vary with time. It does not place actual values in the
matrix; that must be done by calling getMassMatrix()
.
A new mass matrix should be built whenever the system's structure
version (as returned by getStructureVersion()
) changes.
buildMassMatrix
in interface MechSystem
M
- matrix in which the mass matrix will be builtpublic void getMassMatrix(SparseBlockMatrix M, VectorNd f, double t)
MechSystem
M
to the current value of the mass matrix for this
system, evaluated at time t
. M
should
have been previously created with a call to
buildMassMatrix()
. The current mass forces
are returned in the vector f
, which should have a
size greater or equal to the size of M
.
The mass forces (also known as the fictitious forces)
are given by
- dM/dt uwhere
u
is the current system velocity.
f
will be sized appropriately by the system.getMassMatrix
in interface MechSystem
M
- returns the mass matrixf
- returns the mass forcest
- current timepublic void getInverseMassMatrix(SparseBlockMatrix Minv, SparseBlockMatrix M)
MechSystem
Minv
to the inverse of the mass matrix M
.
Minv
should have been previously created with a call to
buildMassMatrix()
.
This method assumes that M
is block diagonal and hence
Minv
has the same block structure. Although it is possible
to compute Minv
by simply inverting each block of
M
, the special structure of each mass block may permit
the system to do this in a highly optimized way.
getInverseMassMatrix
in interface MechSystem
Minv
- returns the inverted mass matrixM
- mass matrix to invertpublic void buildSolveMatrix(SparseNumberedBlockMatrix S)
MechSystem
S
. On input,
S
should be empty with zero size; it will be sized
appropriately by the system. The resulting matrix should have all the
blocks required to store any combination of the mass matrix, the
force-position Jacobian, and the force-velocity Jacobian.
This method does not place actual values in the matrix; that must be done
by adding a mass matrix to it, or by calling addVelJacobian()
or
addPosJacobian()
.
A new solve matrix should be built whenever the system's structure
version (as returned by getStructureVersion()
) changes.
buildSolveMatrix
in interface MechSystem
S
- matrix in which the solve matrix will be builtpublic static MechSystemSolver.PosStabilization getDefaultStabilization()
public static void setDefaultStabilization(MechSystemSolver.PosStabilization stablizer)
public MechSystemSolver.PosStabilization getStabilization()
public void setStabilization(MechSystemSolver.PosStabilization stablizer)
public void setUpdateForcesAtStepEnd(boolean enable)
public boolean getUpdateForcesAtStepEnd()
public void setUpdateForcesAtStepEndMode(PropertyMode mode)
public PropertyMode getUpdateForcesAtStepEndMode()
public int getParametricPosStateSize()
getStructureVersion()
remains unchanged.getParametricPosStateSize
in interface MechSystem
public void getParametricPosTarget(VectorNd q, double s, double h)
q
(which will
be sized appropriately by the system).
The system interpolates between the current parametric position values
and those desired for the end of the time step, using a parameter
s
defined on the interval [0,1]. In particular, specifying
s = 0 yields the current parametric positions, and s = 1 yields the
positions desired for the end of the step. The actual time step size
h
is also provided, as this may be needed by some
interpolation methods.
The interpolation uses the current parametric positions, and possibly
the current parametric velocities as well. Hence this method should be
called before either of these are changed using setParametricPosState()
or setParametricVelState()
.
getParametricPosTarget
in interface MechSystem
q
- vector returning the state informations
- specifies time relative to the current time steph
- time step sizepublic void getParametricPosState(VectorNd q)
q
(which will be sized appropriately by
the system).getParametricPosState
in interface MechSystem
q
- vector in which the state is storedpublic void setParametricPosState(VectorNd q)
q
, whose size should be greater than
or equal to the value returned by getParametricPosStateSize()
.setParametricPosState
in interface MechSystem
q
- vector supplying the state informationpublic int getParametricVelStateSize()
getStructureVersion()
remains unchanged.getParametricVelStateSize
in interface MechSystem
public void getParametricVelTarget(VectorNd u, double s, double h)
u
(which will
be sized appropriately by the system).
The system interpolates between the current parametric velocity values
and those desired for the end of the time step, using a parameter
s
defined on the interval [0,1]. In particular, specifying
s = 0 yields the current parametric velocities, and s = 1 yields the
velocities desired for the end of the step. The actual time step size
h
is also provided, as this may be needed by some
interpolation methods.
The interpolation uses the current parametric velocities, and possibly
the current parametric positions as well. Hence this method should be
called before either of these are changed using setParametricPosState()
or setParametricVelState()
.
getParametricVelTarget
in interface MechSystem
u
- vector returning the parametric target velocitess
- specifies time relative to the current time steph
- time step sizepublic void getParametricVelState(VectorNd u)
u
(which will be sized appropriately by
the system).getParametricVelState
in interface MechSystem
u
- vector in which state is storedpublic void setParametricVelState(VectorNd q)
u
, whose size should be greater than
or equal to the value returned by getParametricVelStateSize()
.setParametricVelState
in interface MechSystem
q
- vector supplying the state informationpublic MechSystemBase copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
copy
in class ComponentList<ModelComponent>
public void printActiveStiffness() throws java.io.IOException
java.io.IOException
public SparseBlockMatrix getActiveStiffness()
public void writeStiffnessMatrix(java.lang.String fileName, double h, Matrix.WriteFormat matfmt) throws java.io.IOException
java.io.IOException
public void writeStiffnessMatrix(java.lang.String fileName, double h) throws java.io.IOException
java.io.IOException
public void writeMassMatrix(java.lang.String fileName, Matrix.WriteFormat matfmt) throws java.io.IOException
java.io.IOException
public void writeMassMatrix(java.lang.String fileName) throws java.io.IOException
java.io.IOException
public void writeBilateralConstraintMatrix(java.lang.String fileName, Matrix.WriteFormat matfmt) throws java.io.IOException
java.io.IOException
public void writeBilateralConstraintMatrix(java.lang.String fileName) throws java.io.IOException
java.io.IOException
public void collectInitialForces()
public void updateForces(double t)
MechSystem
t
. This method should be called between any change to
position or velocity values (such as through
setActivePosState()
or
setActiveVelState()
,
and any call to getActiveForces()
.
In the process of updating the forces, the system may determine that a
smaller step size is needed. If so, it can indicate this through the
argument optional stepAdjust
, if present.
updateForces
in interface MechSystem
t
- current timepublic void addPosJacobian(SparseNumberedBlockMatrix S, VectorNd f, double s)
MechSystem
h
, to
the matrix S
, which should have been previously created with
a call to buildSolveMatrix()
. Addition
fictitious forces associated with the Jacobian can be optionally returned
in the vector f
, which will be sized appropriately by the
system.addPosJacobian
in interface MechSystem
S
- matrix to which scaled Jacobian is to be addedf
- if non-null, returns fictitious forces associated with the Jacobians
- scale factor for the Jacobianpublic void addVelJacobian(SparseNumberedBlockMatrix S, VectorNd f, double s)
MechSystem
h
, to
the matrix S
, which should have been previously created with
a call to buildSolveMatrix()
.
Addition fictitious forces associated
with the Jacobian can be optionally returned in the vector
f
, which will be sized appropriately by the system.addVelJacobian
in interface MechSystem
S
- matrix to which scaled Jacobian is to be addedf
- if non-null, returns fictitious forces associated with the Jacobians
- scale factor for the Jacobianpublic void addGeneralMassBlocks(SparseBlockMatrix M)
addGeneralMassBlocks
in interface MechSystemModel
public void addGeneralSolveBlocks(SparseNumberedBlockMatrix M)
public double getActiveMass()
public int getSolveMatrixType()
MechSystem
SYMMETRIC
or POSITIVE_DEFINITE
,
which aid in determining the best way to solve the matrix.getSolveMatrixType
in interface MechSystem