artisynth.core.mechmodels

Class DynamicAttachmentBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

All Implemented Interfaces:

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

Direct Known Subclasses:

DirectorFem3dAttachment, DirectorFrameAttachment, FrameAttachment, PointAttachment

public abstract class DynamicAttachmentBase
extends ModelComponentBase
implements DynamicAttachmentComp, AttachingComponent

Component that implements attachment between dynamic components. A component 'a' can be attached to one or more "master" components 'b' if it's position q_a can be made an explicit differentiable function of the positions q_m of the masters:

 q_a = f (q_m)
 

Differentiating means that the attached component velocity u_a is a linear function of the master velocities u_m:

 u_a = -G (u_m)
 

where G = -(d f)/(d q_m) is the "constraint matrix".

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
DynamicAttachmentBase()

Method Summary

Modifier and Type	Method and Description
void	addBackRefs() Every master component should contain a back reference to each attachment that references it.
static void	addBackRefs(DynamicAttachment at)
static void	addConnectedMasterRefs(AttachingComponent ac, CompositeComponent hcomp)
abstract void	addMassToMasters()
abstract void	applyForces()
java.lang.Object	clone()
void	connectAttachment(DynamicComponent dcomp)
void	connectToHierarchy(CompositeComponent hcomp) Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).
DynamicAttachmentBase	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
void	disconnectFromHierarchy(CompositeComponent hcomp) Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).
DynamicAttachment	getAttachment()
abstract boolean	getDerivative(double[] buf, int idx)
abstract 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) Appends all hard references for this component to a list.
abstract DynamicComponent[]	getMasters()
abstract DynamicComponent	getSlave() Returns the slave DynamicMechComponent associated with this attachment.
abstract void	invalidateMasters()
abstract void	mulSubGT(double[] ybuf, int yoff, double[] xbuf, int xoff, int idx) Computes
abstract void	mulSubGTM(MatrixBlock D, MatrixBlock M, int idx) Computes
abstract void	mulSubMG(MatrixBlock D, MatrixBlock M, int idx) Computes
int	numMasters()
boolean	oneMasterActive()
boolean	oneMasterNotAttached()
void	removeBackRefs() Removes the back reference to this attachment's slave component from each of the master component.
static void	removeBackRefs(DynamicAttachment at)
static void	removeConnectedMasterRefs(AttachingComponent ac, CompositeComponent hcomp)
void	setSlaveAffectsStiffness(boolean affects)
boolean	slaveAffectsStiffness()
abstract void	updateAttachment() Update attachment to reflect changes in the slave state.
abstract void	updatePosStates()
abstract void	updateVelStates()

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

DynamicAttachmentBase

public DynamicAttachmentBase()

Method Detail

slaveAffectsStiffness

public boolean slaveAffectsStiffness()

Specified by:

slaveAffectsStiffness in interface DynamicAttachment

setSlaveAffectsStiffness

public void setSlaveAffectsStiffness(boolean affects)

Specified by:

setSlaveAffectsStiffness in interface DynamicAttachment

getMasters

public abstract DynamicComponent[] getMasters()

Specified by:

getMasters in interface DynamicAttachment

numMasters

public int numMasters()

Specified by:

numMasters in interface DynamicAttachment

invalidateMasters

public abstract void invalidateMasters()

Specified by:

invalidateMasters in interface DynamicAttachment

oneMasterActive

public boolean oneMasterActive()

oneMasterNotAttached

public boolean oneMasterNotAttached()

addBackRefs

public static void addBackRefs(DynamicAttachment at)

removeBackRefs

public static void removeBackRefs(DynamicAttachment at)

addBackRefs

public void addBackRefs()

Every master component should contain a back reference to each attachment that references it. This method adds the back reference for this attachment to each of the masters.

Specified by:

addBackRefs in interface DynamicAttachment

removeBackRefs

public void removeBackRefs()

Removes the back reference to this attachment's slave component from each of the master component.

Specified by:

removeBackRefs in interface DynamicAttachment

getSlave

public abstract DynamicComponent getSlave()

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

Returns:

slave DynamicMechComponent, if any

updatePosStates

public abstract void updatePosStates()

Specified by:

updatePosStates in interface DynamicAttachment

updateVelStates

public abstract void updateVelStates()

Specified by:

updateVelStates in interface DynamicAttachment

updateAttachment

public abstract void updateAttachment()

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in interface DynamicAttachment

applyForces

public abstract void applyForces()

Specified by:

applyForces in interface DynamicAttachment

addMassToMasters

public abstract void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

getDerivative

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

Specified by:

getDerivative in interface DynamicAttachment

mulSubGTM

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

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

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

mulSubMG

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

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

Parameters:

D - dependent matrix associated with a master component

M - matrix associated with a slave component

getGT

public abstract MatrixBlock getGT(int idx)

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

Specified by:

getGT in interface DynamicAttachment

Parameters:

idx - index of the master component

Returns:

transpose of G associated with idx

mulSubGT

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

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

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

getHardReferences

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

Description copied from class: ModelComponentBase

Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class ModelComponentBase

Parameters:

refs - list to which hard references are appended

addConnectedMasterRefs

public static void addConnectedMasterRefs(AttachingComponent ac,
                                          CompositeComponent hcomp)

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

removeConnectedMasterRefs

public static void removeConnectedMasterRefs(AttachingComponent ac,
                                             CompositeComponent hcomp)

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached

connectAttachment

public void connectAttachment(DynamicComponent dcomp)

Specified by:

connectAttachment in interface AttachingComponent

getAttachment

public DynamicAttachment getAttachment()

Specified by:

getAttachment in interface AttachingComponent

clone

public java.lang.Object clone()
                       throws java.lang.CloneNotSupportedException

Overrides:

clone in class ModelComponentBase

Throws:

java.lang.CloneNotSupportedException

copy

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

Specified by:

copy in interface DynamicAttachmentComp

Overrides:

copy in class ModelComponentBase