artisynth.core.femmodels

Class DirectorFem3dAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.femmodels.DirectorFem3dAttachment

All Implemented Interfaces:

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

public class DirectorFem3dAttachment
extends DynamicAttachmentBase

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

Constructor Summary

Constructors

Constructor and Description
DirectorFem3dAttachment()
DirectorFem3dAttachment(FemNode3d node)

Method Summary

Modifier and Type	Method and Description
void	addMassToMasters()
void	applyForces()
void	computeFrame(RigidTransform3d TFM)
void	computeVelocity(Vector3d velw)
BackNode3d	getBackNode()
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.
void	getHardReferences(java.util.List<ModelComponent> refs) Redefine to use the node instead of the backNode as hard reference.
Vector3d	getLocDir()
MatrixBlock[]	getMasterBlocks()
DynamicComponent[]	getMasters()
FemNode3d	getNode()
BackNode3d	getSlave() Returns the slave DynamicMechComponent associated with this attachment.
void	invalidateMasters()
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
int	numMasters()
void	updateAttachment() Update attachment to reflect changes in the slave state.
void	updatePosStates()
void	updateVelStates()

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, clone, connectAttachment, connectToHierarchy, copy, disconnectFromHierarchy, getAttachment, 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

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

DirectorFem3dAttachment

public DirectorFem3dAttachment()

DirectorFem3dAttachment

public DirectorFem3dAttachment(FemNode3d node)

Method Detail

getSlave

public BackNode3d getSlave()

Description copied from class: DynamicAttachmentBase

Returns the slave DynamicMechComponent associated with this attachment. In some cases, the attachment may connect some other entity (such as a mesh vertex) to the master components, in which case this method should return null.

Specified by:

getSlave in interface DynamicAttachment

Specified by:

getSlave in class DynamicAttachmentBase

Returns:

slave DynamicMechComponent, if any

getBackNode

public BackNode3d getBackNode()

getNode

public FemNode3d getNode()

getLocDir

public Vector3d getLocDir()

getMasters

public DynamicComponent[] getMasters()

Specified by:

getMasters in interface DynamicAttachment

Specified by:

getMasters in class DynamicAttachmentBase

getMasterBlocks

public MatrixBlock[] getMasterBlocks()

numMasters

public int numMasters()

Specified by:

numMasters in interface DynamicAttachment

Overrides:

numMasters in class DynamicAttachmentBase

invalidateMasters

public void invalidateMasters()

Specified by:

invalidateMasters in interface DynamicAttachment

Specified by:

invalidateMasters in class DynamicAttachmentBase

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

computeFrame

public void computeFrame(RigidTransform3d TFM)

computeVelocity

public void computeVelocity(Vector3d velw)

updatePosStates

public void updatePosStates()

Specified by:

updatePosStates in interface DynamicAttachment

Specified by:

updatePosStates in class DynamicAttachmentBase

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Specified by:

applyForces in class DynamicAttachmentBase

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

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in interface DynamicAttachment

Specified by:

updateVelStates in class DynamicAttachmentBase

getDerivative

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

Specified by:

getDerivative in interface DynamicAttachment

Specified by:

getDerivative in class DynamicAttachmentBase

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

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

getHardReferences

public void getHardReferences(java.util.List<ModelComponent> refs)

Redefine to use the node instead of the backNode as hard reference.

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class DynamicAttachmentBase

Parameters:

refs - list to which hard references are appended