artisynth.core.mechmodels

Class VertexContactMaster

java.lang.Object

artisynth.core.mechmodels.VertexContactMaster

All Implemented Interfaces:

ContactMaster

public class VertexContactMaster
extends java.lang.Object
implements ContactMaster

Implements a ContactMaster that combines the weighted contact masters for a single vertex-based contact

Constructor Summary

Constructors

Constructor and Description
VertexContactMaster(CollidableBody collidable, Vertex3d[] vtxs, double[] wgts)

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	addRelativeVelocity(Vector3d vel, double scale, ContactPoint cpnt) Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.
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.
boolean	isControllable() Queries whether at least one of the underlying dynamic components is controllable.

Methods inherited from class java.lang.Object

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

Constructor Detail

VertexContactMaster

public VertexContactMaster(CollidableBody collidable,
                           Vertex3d[] vtxs,
                           double[] wgts)

Method Detail

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