artisynth.core.mechmodels

Interface BodyConstrainer

All Superinterfaces:

HasAuxState

All Known Implementing Classes:

BodyConnector, FullPlanarJoint, JointBase, PlanarConnector, RevoluteJoint, RollPitchJoint, SegmentedPlanarConnector, SlottedRevoluteJoint, SolidJoint, SphericalJoint, SphericalJointBase, SphericalRpyJoint

public interface BodyConstrainer
extends HasAuxState

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState

HasAuxState.StateContext

Method Summary

Modifier and Type	Method and Description
int	getBilateralConstraints(java.util.ArrayList<RigidBodyConstraint> bilaterals) Gets the bilateral constraints associated with this constrainer.
int	getBilateralImpulses(VectorNd lam, int idx)
void	getBilateralSizes(VectorNi sizes)
ConnectableBody	getBodyA() Returns the first body associated with this constrainer.
ConnectableBody	getBodyB() Returns the second body associated with this constrainer, or null if there is no such body.
double	getPenetrationTol()
double	getUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals, boolean setEngaged) Gets the unilateral constraints associated with this constrainer.
int	getUnilateralImpulses(VectorNd the, int idx)
void	getUnilateralSizes(VectorNi sizes)
boolean	hasUnilateralConstraints() Returns true if this constrainer has unilateral constraints.
int	numBilateralConstraints() Returns the number of bilateral constraints associated with this constrainer.
int	numUnilateralConstraints() Returns the number of unilateral constraints which are currently engaged.
int	setBilateralImpulses(VectorNd lam, double h, int idx)
void	setPenetrationTol(double tol)
int	setUnilateralImpulses(VectorNd the, double h, int idx)
void	updateBodyStates(double t, boolean setEngaged) Updates internal information needed for computing constraints.
double	updateConstraints(double t, int flags)
void	updateUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals, int offset, int num) Updates the unilateral constraints associated with this constrainer.
void	zeroImpulses()

Methods inherited from interface artisynth.core.mechmodels.HasAuxState

advanceAuxState, getAuxState, getInitialAuxState, setAuxState, skipAuxState

Method Detail

updateBodyStates

void updateBodyStates(double t,
                      boolean setEngaged)

Updates internal information needed for computing constraints.

Parameters:

t - current time (seconds)

setEngaged - if true, then the method should determine which unilateral constraints are engaged

getBodyA

ConnectableBody getBodyA()

Returns the first body associated with this constrainer.

Returns:

first body associated with this constrainer

getBodyB

ConnectableBody getBodyB()

Returns the second body associated with this constrainer, or null if there is no such body.

Returns:

second body associated with this constrainer

numBilateralConstraints

int numBilateralConstraints()

Returns the number of bilateral constraints associated with this constrainer.

Returns:

number of bilateral constraints

numUnilateralConstraints

int numUnilateralConstraints()

Returns the number of unilateral constraints which are currently engaged. This should be the same as the number of constraints that would be returned by getUnilateralConstraints with setEngaged set to false.

Returns:

number of currently engaged unilateral constraints

getBilateralConstraints

int getBilateralConstraints(java.util.ArrayList<RigidBodyConstraint> bilaterals)

Gets the bilateral constraints associated with this constrainer. They are supplied by the constrainer and appended to an array list.

Parameters:

bilaterals - array list into which the constrainer places the constraints

setBilateralImpulses

int setBilateralImpulses(VectorNd lam,
                         double h,
                         int idx)

getBilateralImpulses

int getBilateralImpulses(VectorNd lam,
                         int idx)

getBilateralSizes

void getBilateralSizes(VectorNi sizes)

getUnilateralSizes

void getUnilateralSizes(VectorNi sizes)

updateConstraints

double updateConstraints(double t,
                         int flags)

getUnilateralConstraints

double getUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals,
                                boolean setEngaged)

Gets the unilateral constraints associated with this constrainer. They are supplied by the constrainer and appended to an array list.

Parameters:

unilaterals - array list into which the constrainer places the constraints

setEngaged - if true, recompute the set of unilateral constraints. If false, the set of unilateral constraints will stay the same.

Returns:

maximum penetration of the unilateral constraints

setUnilateralImpulses

int setUnilateralImpulses(VectorNd the,
                          double h,
                          int idx)

getUnilateralImpulses

int getUnilateralImpulses(VectorNd the,
                          int idx)

zeroImpulses

void zeroImpulses()

hasUnilateralConstraints

boolean hasUnilateralConstraints()

Returns true if this constrainer has unilateral constraints.

Returns:

true if there are unilateral constraints

updateUnilateralConstraints

void updateUnilateralConstraints(java.util.ArrayList<RigidBodyConstraint> unilaterals,
                                 int offset,
                                 int num)

Updates the unilateral constraints associated with this constrainer. The constraints are the same as those returned by the most recent call to getUnilateralConstraints, located at a specific offset within an array list.

Parameters:

unilaterals - contains constraints which should be updated

offset - starting location of constraints within unilaterals

num - number of constraints to update

setPenetrationTol

void setPenetrationTol(double tol)

getPenetrationTol

double getPenetrationTol()