artisynth.core.mechmodels

Class ParticleConstraintBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.ConstrainerBase

artisynth.core.mechmodels.RenderableConstrainerBase

artisynth.core.mechmodels.ParticleConstraintBase

All Implemented Interfaces:

Constrainer, HasNumericState, ModelComponent, PostScannable, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

ParticleLineConstraint, ParticleMeshConstraint, ParticlePlaneConstraint

public abstract class ParticleConstraintBase
extends RenderableConstrainerBase
implements ScalableUnits

NOTE: This class is still under construction. scaleDistance(), transformGeometry(), and scan() and write() are unlikely to work properly.

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
ParticleConstraintBase()

Method Summary

Modifier and Type	Method and Description
int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb) Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it.
void	addParticle(Particle p)
void	addParticles(java.util.Collection<? extends Particle> parts)
int	addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dg, int numu) Appends the current unilateral force constraint matrix Nc^T to the matrix NT, by appending block columns to it.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
int	getBilateralForces(VectorNd lam, int idx) Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int).
int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx) Returns constraint information for each row of the bilateral constraint system
void	getBilateralSizes(VectorNi sizes) Returns the sizes of each block column in the bilateral force constraint matrix.
double	getCompliance()
void	getConstrainedComponents(java.util.List<DynamicComponent> list) Collected all the dynamic components constrained by this constrainer.
double	getDamping()
Particle	getParticle(int idx)
double	getPenetrationTol()
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
void	getState(DataBuffer data) Saves state information for this component by adding data to the supplied DataBuffer.
int	getUnilateralForces(VectorNd the, int idx) Returns the unilateral forces that were most recently set for this constrainer using Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int).
int	getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx) Returns constraint information for each row of the unilateral constraint system
void	getUnilateralSizes(VectorNi sizes) Returns the sizes of each block column in the unilateral force constraint matrix.
boolean	isEngaged(int idx)
boolean	isUnilateral()
int	numParticles()
boolean	removeParticle(Particle p)
int	setBilateralForces(VectorNd lam, double s, int idx) Sets the bilateral forces that were computed to enforce this constraint.
void	setCompliance(double c)
void	setDamping(double d)
void	setPenetrationTol(double tol)
void	setState(DataBuffer data) Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
void	setUnilateral(boolean unilateral)
int	setUnilateralForces(VectorNd the, double s, int idx) Sets the unilateral forces that were computed to enforce this constraint.
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.
void	zeroForces() Zeros all bilateral and unilateral constraint forces in this constraint.

Methods inherited from class artisynth.core.mechmodels.RenderableConstrainerBase

copy, createRenderProps, defaultRenderPropsAreNull, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, render, setRenderProps, updateBounds

Methods inherited from class artisynth.core.mechmodels.ConstrainerBase

addFrictionConstraints, getFrictionForces, getFrictionState, getUnilateralState, hasState, maxFrictionConstraintSets, setFrictionForces, setFrictionState, setUnilateralState, updateConstraints

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, hasChildren, 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, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.util.ScalableUnits

scaleDistance, scaleMass

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable

Methods inherited from interface maspack.properties.HasProperties

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

Methods inherited from interface artisynth.core.modelbase.HasNumericState

advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, numAuxVars, requiresAdvance, setAuxVarState

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

ParticleConstraintBase

public ParticleConstraintBase()

Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()

Description copied from interface: HasProperties

Returns a list giving static information about all properties exported by this object.

Specified by:

getAllPropertyInfo in interface HasProperties

Overrides:

getAllPropertyInfo in class RenderableConstrainerBase

Returns:

static information for all exported properties

getDamping

public double getDamping()

setDamping

public void setDamping(double d)

getCompliance

public double getCompliance()

setCompliance

public void setCompliance(double c)

getPenetrationTol

public double getPenetrationTol()

setPenetrationTol

public void setPenetrationTol(double tol)

isUnilateral

public boolean isUnilateral()

setUnilateral

public void setUnilateral(boolean unilateral)

addParticle

public void addParticle(Particle p)

addParticles

public void addParticles(java.util.Collection<? extends Particle> parts)

getParticle

public Particle getParticle(int idx)

numParticles

public int numParticles()

removeParticle

public boolean removeParticle(Particle p)

getBilateralSizes

public void getBilateralSizes(VectorNi sizes)

Description copied from interface: Constrainer

Returns the sizes of each block column in the bilateral force constraint matrix. The size for each block should be appended to the vector sizes.

Specified by:

getBilateralSizes in interface Constrainer

Specified by:

getBilateralSizes in class ConstrainerBase

Parameters:

sizes - vector to which the block column sizes are appended

addBilateralConstraints

public int addBilateralConstraints(SparseBlockMatrix GT,
                                   VectorNd dg,
                                   int numb)

Description copied from interface: Constrainer

Appends the current bilateral force constraint matrix Gc^T to the matrix GT, by appending block columns to it. If the argument dg is non-null, it should be used to return the velocity constraint time derivative, defined by

 \dot Gc vel
 

starting at the location numb. In all cases, the method must return an updated value of numb, incremented by the total row size of Gc.

Specified by:

addBilateralConstraints in interface Constrainer

Specified by:

addBilateralConstraints in class ConstrainerBase

Parameters:

GT - matrix to which the bilateral force contraint matrix is appended.

dg - if non-null, returns the velocity constraint time derivative

numb - starting index for time derivative in dg

Returns:

updated value of numb

getBilateralInfo

public int getBilateralInfo(MechSystem.ConstraintInfo[] ginfo,
                            int idx)

Description copied from interface: Constrainer

Returns constraint information for each row of the bilateral constraint system

 Gc vel = 0.
 

This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ginfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Gc.

The constraint information to be set in ConstraintInfo includes:

   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 

Specified by:

getBilateralInfo in interface Constrainer

Specified by:

getBilateralInfo in class ConstrainerBase

Parameters:

ginfo - returns the constraint information

idx - starting location in ginfo for returning constraint info

Returns:

updated value of idx

setBilateralForces

public int setBilateralForces(VectorNd lam,
                              double s,
                              int idx)

Description copied from interface: Constrainer

Sets the bilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed bilateral constraint matrix. The forces are supplied in lam, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

setBilateralForces in interface Constrainer

Specified by:

setBilateralForces in class ConstrainerBase

Parameters:

lam - supplies the force impulses, which should be scaled by s

s - scaling factor for the force values

idx - starting index of forces in lam

Returns:

updated value of idx

getBilateralForces

public int getBilateralForces(VectorNd lam,
                              int idx)

Description copied from interface: Constrainer

Returns the bilateral forces that were most recently set for this constrainer using Constrainer.setBilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in lam, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

getBilateralForces in interface Constrainer

Specified by:

getBilateralForces in class ConstrainerBase

Parameters:

lam - returns the forces

idx - starting index for forces in lam

Returns:

updated value of idx

getUnilateralSizes

public void getUnilateralSizes(VectorNi sizes)

Description copied from interface: Constrainer

Returns the sizes of each block column in the unilateral force constraint matrix. The size for each block should be appended to the vector sizes.

Specified by:

getUnilateralSizes in interface Constrainer

Overrides:

getUnilateralSizes in class ConstrainerBase

Parameters:

sizes - vector to which the block column sizes are appended

addUnilateralConstraints

public int addUnilateralConstraints(SparseBlockMatrix NT,
                                    VectorNd dg,
                                    int numu)

Description copied from interface: Constrainer

Appends the current unilateral force constraint matrix Nc^T to the matrix NT, by appending block columns to it. If the argument dn is non-null, it should be used to return the velocity constraint time derivative, defined by

 \dot Nc vel
 

starting at the location numu. In all cases, the method must return an updated value of numu, incremented by the total row size of Nc.

Specified by:

addUnilateralConstraints in interface Constrainer

Overrides:

addUnilateralConstraints in class ConstrainerBase

Parameters:

NT - matrix to which the unilateral force contraint matrix is appended.

dg - if non-null, returns the velocity constraint time derivative

numu - starting index for time derivative in dn

Returns:

updated value of numu

getUnilateralInfo

public int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                             int idx)

Description copied from interface: Constrainer

Returns constraint information for each row of the unilateral constraint system

 Nc vel > 0.
 

This information is placed in pre-allocated MechSystem.ConstraintInfo structures in ninfo, starting at idx. The method must return an updated value of idx, incremented by the number of rows of Nc.

The constraint information to be set in ConstraintInfo includes:

   dist        // distance to the constraint surface.
   compliance  // if > 0, gives constraint compliance value
   damping     // damping; only used if compliance > 0
   force       // used for computing non-linear compliance
 

Specified by:

getUnilateralInfo in interface Constrainer

Overrides:

getUnilateralInfo in class ConstrainerBase

Parameters:

ninfo - returns the constraint information

idx - starting location in ninfo for returning constraint info

Returns:

updated value of idx

setUnilateralForces

public int setUnilateralForces(VectorNd the,
                               double s,
                               int idx)

Description copied from interface: Constrainer

Sets the unilateral forces that were computed to enforce this constraint. These are the Lagrange multipliers for the columns of the transposed unilateral constraint matrix. The forces are supplied in the, starting at the index idx, and should be scaled by s. (In practice, s is used to convert from impulses to forces.) The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

setUnilateralForces in interface Constrainer

Overrides:

setUnilateralForces in class ConstrainerBase

Parameters:

the - supplies the force impulses, which should be scaled by s

s - scaling factor for the force values

idx - starting index of forces in the

Returns:

updated value of idx

getUnilateralForces

public int getUnilateralForces(VectorNd the,
                               int idx)

Description copied from interface: Constrainer

Returns the unilateral forces that were most recently set for this constrainer using Constrainer.setUnilateralForces(maspack.matrix.VectorNd, double, int). The forces are returned in the, starting at the index idx. The method must return an updated value of idx, incremented by the number of forces associated with this constraint.

Specified by:

getUnilateralForces in interface Constrainer

Overrides:

getUnilateralForces in class ConstrainerBase

Parameters:

the - returns the forces

idx - starting index for forces in the

Returns:

updated value of idx

zeroForces

public void zeroForces()

Description copied from interface: Constrainer

Zeros all bilateral and unilateral constraint forces in this constraint.

Specified by:

zeroForces in interface Constrainer

Specified by:

zeroForces in class ConstrainerBase

isEngaged

public boolean isEngaged(int idx)

getConstrainedComponents

public void getConstrainedComponents(java.util.List<DynamicComponent> list)

Description copied from interface: Constrainer

Collected all the dynamic components constrained by this constrainer. Not currently used.

Specified by:

getConstrainedComponents in interface Constrainer

Specified by:

getConstrainedComponents in class ConstrainerBase

Parameters:

list - list to which constrained components should be appended

getSoftReferences

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

Description copied from class: ModelComponentBase

Appends all soft 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 ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

Parameters:

refs - list to which soft references are appended

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

Description copied from class: ModelComponentBase

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.areConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

getState

public void getState(DataBuffer data)

Description copied from interface: HasNumericState

Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.

Specified by:

getState in interface HasNumericState

Overrides:

getState in class ConstrainerBase

Parameters:

data - buffer for storing the state values.

setState

public void setState(DataBuffer data)

Description copied from interface: HasNumericState

Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.

Specified by:

setState in interface HasNumericState

Overrides:

setState in class ConstrainerBase

Parameters:

data - buffer containing the state information