artisynth.core.mechmodels

Class PointParticleAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.PointAttachment

artisynth.core.mechmodels.PointParticleAttachment

All Implemented Interfaces:

AttachingComponent, ContactMaster, DynamicAttachment, DynamicAttachmentComp, CopyableComponent, ModelComponent, PostScannable, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class PointParticleAttachment
extends PointAttachment
implements ContactMaster

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, REST_POSITION

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method and Description
void	add1DConstraintBlocks(SparseBlockMatrix GT, int bj, double scale, ContactPoint cpnt, Vector3d dir) Adds blocks to the constraint matrix GT to implement a 1D constraint in a specified direction.
void	add2DConstraintBlocks(SparseBlockMatrix GT, int bj, double scale, ContactPoint cpnt, Vector3d dir0, Vector3d dir1) Adds blocks to the constraint matrix GT to implement a 2D constraint in two specified directions.
void	addMassToMasters()
void	addRelativeVelocity(Vector3d vel, double scale, ContactPoint cpnt) Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.
void	applyForces()
int	collectMasterComponents(java.util.HashSet<DynamicComponent> masters, boolean activeOnly) Collects all the underlying dynamic ``master'' components.
void	computeForceOnMasters(VectorNd uvec, Vector3d fc, double scale, ContactPoint cpnt, SparseBlockMatrix S) XXX Experimental XXX Compute the forces on the masters resulting from a force fc applied at the contact point, and accumulate them in uvec, whose size should equal that of the system forces.
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.
boolean	getDerivative(double[] buf, int idx)
MatrixBlock	getGT(int idx) Returns the transpose of the constraint matrix G associated with the idx-th master component.
Particle	getParticle()
boolean	isControllable() Queries whether at least one of the underlying dynamic components is controllable.
void	mulSubGT(double[] ybuf, int yoff, double[] xbuf, int xoff, int idx) Computes
void	mulSubGTM(MatrixBlock D, MatrixBlock M, int idx) Computes
void	mulSubMG(MatrixBlock D, MatrixBlock M, 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, checkMasterBlocks, getCopyReferences, getMasters, getPoint, getSlave, invalidateMasters, isDuplicatable, notifyMastersOfPositionChange, numMasters

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, clone, connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getHardReferences, oneMasterActive, oneMasterNotAttached, removeBackRefs, removeBackRefs, removeConnectedMasterRefs, setSlaveAffectsStiffness, slaveAffectsStiffness

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, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, 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, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable

postscan

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 interface DynamicAttachment

Specified by:

updatePosStates in class DynamicAttachmentBase

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

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in interface DynamicAttachment

Specified by:

updateVelStates in class DynamicAttachmentBase

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Overrides:

applyForces in class PointAttachment

mulSubGTM

public void mulSubGTM(MatrixBlock D,
                      MatrixBlock M,
                      int idx)

Description copied from class: DynamicAttachmentBase

Computes

       T
 D -= G  M
 

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

Specified by:

mulSubGTM in interface DynamicAttachment

Specified by:

mulSubGTM in class DynamicAttachmentBase

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

mulSubMG

public void mulSubMG(MatrixBlock D,
                     MatrixBlock M,
                     int idx)

Description copied from class: DynamicAttachmentBase

Computes

 D -= M G
 

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

Specified by:

mulSubMG in interface DynamicAttachment

Specified by:

mulSubMG in class DynamicAttachmentBase

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

getGT

public MatrixBlock getGT(int idx)

Description copied from class: DynamicAttachmentBase

Returns the transpose of the constraint matrix G associated with the idx-th master component.

Specified by:

getGT in interface DynamicAttachment

Specified by:

getGT in class DynamicAttachmentBase

Parameters:

idx - index of the master component

Returns:

transpose of G associated with idx

mulSubGT

public void mulSubGT(double[] ybuf,
                     int yoff,
                     double[] xbuf,
                     int xoff,
                     int idx)

Description copied from class: DynamicAttachmentBase

Computes

       T
 y -= G  x
 

where y and x are vectors associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Specified by:

mulSubGT in interface DynamicAttachment

Specified by:

mulSubGT in class DynamicAttachmentBase

Parameters:

ybuf - buffer into which to store result

yoff - offset into ybuf

xbuf - buffer containing right hand side vector

xoff - offset into xbuf

idx - master component index

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: DynamicAttachmentBase

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in interface DynamicAttachment

Specified by:

updateAttachment in class DynamicAttachmentBase

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

getDerivative

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

Specified by:

getDerivative in interface DynamicAttachment

Specified by:

getDerivative in class DynamicAttachmentBase

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 DynamicAttachmentComp

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

add1DConstraintBlocks

public void add1DConstraintBlocks(SparseBlockMatrix GT,
                                  int bj,
                                  double scale,
                                  ContactPoint cpnt,
                                  Vector3d dir)

Description copied from interface: ContactMaster

Adds blocks to the constraint matrix GT to implement a 1D constraint in a specified direction. These are used to implement both normal constraints and 1D friction constraints. The block column is specified by bj, while the block row(s) are determined internally by the solve indices of the underlying dynamic components.

Specified by:

add1DConstraintBlocks in interface ContactMaster

Parameters:

GT - constraint matrix

bj - block column index

scale - TODO

cpnt - contact point

dir - friction direction

add2DConstraintBlocks

public void add2DConstraintBlocks(SparseBlockMatrix GT,
                                  int bj,
                                  double scale,
                                  ContactPoint cpnt,
                                  Vector3d dir0,
                                  Vector3d dir1)

Description copied from interface: ContactMaster

Adds blocks to the constraint matrix GT to implement a 2D constraint in two specified directions. These are used to implement 2D friction constraints in a plane perpendicular to the normal. The block column is specified by bj, while the block row(s) are determined internally by the solve indices of the underlying dynamic components.

Specified by:

add2DConstraintBlocks in interface ContactMaster

Parameters:

GT - constraint matrix

bj - block column index

scale - TODO

cpnt - contact point

dir0 - first friction direction

dir1 - second friction direction

addRelativeVelocity

public void addRelativeVelocity(Vector3d vel,
                                double scale,
                                ContactPoint cpnt)

Description copied from interface: ContactMaster

Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.

Specified by:

addRelativeVelocity in interface ContactMaster

Parameters:

vel - accumulates velocity

scale - TODO

cpnt - contact point

computeForceOnMasters

public void computeForceOnMasters(VectorNd uvec,
                                  Vector3d fc,
                                  double scale,
                                  ContactPoint cpnt,
                                  SparseBlockMatrix S)

Description copied from interface: ContactMaster

XXX Experimental XXX Compute the forces on the masters resulting from a force fc applied at the contact point, and accumulate them in uvec, whose size should equal that of the system forces.

Specified by:

computeForceOnMasters in interface ContactMaster

isControllable

public boolean isControllable()

Description copied from interface: ContactMaster

Queries whether at least one of the underlying dynamic components is controllable.

Specified by:

isControllable in interface ContactMaster

Returns:

true if at least one dynamic component is controllable

collectMasterComponents

public int collectMasterComponents(java.util.HashSet<DynamicComponent> masters,
                                   boolean activeOnly)

Description copied from interface: ContactMaster

Collects all the underlying dynamic ``master'' components. This method returns the number of components that were actually added to masters, i.e., the number of components that were not already present there.

Specified by:

collectMasterComponents in interface ContactMaster

Parameters:

masters - set to which the dynamic components should be added

activeOnly - restrict collected components to those which are active

Returns:

number of components added to masters