artisynth.core.mechmodels

Class ConstrainerBase

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.ConstrainerBase

All Implemented Interfaces:

Constrainer, HasAuxState, ModelComponent, RenderableComponent, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

CollisionHandler, FrameFem3dConstraint, LinearPointConstraint, ParticleConstraintBase, ParticleConstraintNdBase

public abstract class ConstrainerBase
extends RenderableComponentBase
implements Constrainer, HasAuxState

Nested Class Summary

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

HasAuxState.StateContext

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

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
ConstrainerBase()

Method Summary

Modifier and Type	Method and Description
abstract int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)
int	addFrictionConstraints(SparseBlockMatrix DT, MechSystem.FrictionInfo[] finfo, int idx)
int	addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu)
void	advanceAuxState(double t0, double t1) Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers.
void	getAuxState(DataBuffer data) Saves state information for this component by adding data to the supplied DataBuffer.
abstract int	getBilateralImpulses(VectorNd lam, int idx)
abstract int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
abstract void	getBilateralSizes(VectorNi sizes)
abstract void	getConstrainedComponents(java.util.List<DynamicComponent> list)
void	getInitialAuxState(DataBuffer newData, DataBuffer oldData) Saves initial state information data for this component by adding data to the supplied data buffer.
int	getUnilateralImpulses(VectorNd the, int idx)
int	getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)
void	getUnilateralSizes(VectorNi sizes)
boolean	hasState() Queries if this component has state.
int	maxFrictionConstraintSets()
void	setAuxState(DataBuffer data) Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
abstract int	setBilateralImpulses(VectorNd lam, double h, int idx)
int	setUnilateralImpulses(VectorNd the, double h, int idx)
void	skipAuxState(DataBuffer data) Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets.
abstract double	updateConstraints(double t, int flags)
abstract void	zeroImpulses()

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

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

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getAllPropertyInfo, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, 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

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Constructor Detail

ConstrainerBase

public ConstrainerBase()

Method Detail

getBilateralSizes

public abstract void getBilateralSizes(VectorNi sizes)

Specified by:

getBilateralSizes in interface Constrainer

addBilateralConstraints

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

Specified by:

addBilateralConstraints in interface Constrainer

getBilateralInfo

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

Specified by:

getBilateralInfo in interface Constrainer

setBilateralImpulses

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

Specified by:

setBilateralImpulses in interface Constrainer

getBilateralImpulses

public abstract int getBilateralImpulses(VectorNd lam,
                                         int idx)

Specified by:

getBilateralImpulses in interface Constrainer

zeroImpulses

public abstract void zeroImpulses()

Specified by:

zeroImpulses in interface Constrainer

getUnilateralSizes

public void getUnilateralSizes(VectorNi sizes)

Specified by:

getUnilateralSizes in interface Constrainer

addUnilateralConstraints

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

Specified by:

addUnilateralConstraints in interface Constrainer

getUnilateralInfo

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

Specified by:

getUnilateralInfo in interface Constrainer

setUnilateralImpulses

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

Specified by:

setUnilateralImpulses in interface Constrainer

getUnilateralImpulses

public int getUnilateralImpulses(VectorNd the,
                                 int idx)

Specified by:

getUnilateralImpulses in interface Constrainer

maxFrictionConstraintSets

public int maxFrictionConstraintSets()

Specified by:

maxFrictionConstraintSets in interface Constrainer

addFrictionConstraints

public int addFrictionConstraints(SparseBlockMatrix DT,
                                  MechSystem.FrictionInfo[] finfo,
                                  int idx)

Specified by:

addFrictionConstraints in interface Constrainer

updateConstraints

public abstract double updateConstraints(double t,
                                         int flags)

Specified by:

updateConstraints in interface Constrainer

getConstrainedComponents

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

Specified by:

getConstrainedComponents in interface Constrainer

advanceAuxState

public void advanceAuxState(double t0,
                            double t1)

Description copied from interface: HasAuxState

Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers. If no such updating is required, this method may do nothing.

Specified by:

advanceAuxState in interface HasAuxState

Parameters:

t0 - beginning time associated with the time step advance

t1 - end time associated with the time step advance

skipAuxState

public void skipAuxState(DataBuffer data)

Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets. Essentially this a dummy read; the buffer offsets should be advanced over the state information, but that information should not actually be stored in the component.

Specified by:

skipAuxState in interface HasAuxState

Parameters:

data - buffer containing the state information

getAuxState

public void getAuxState(DataBuffer data)

Description copied from interface: HasAuxState

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

Specified by:

getAuxState in interface HasAuxState

Parameters:

data - buffer for storing the state values.

getInitialAuxState

public void getInitialAuxState(DataBuffer newData,
                               DataBuffer oldData)

Description copied from interface: HasAuxState

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

If oldData is non-null, then this contains previously stored initial state information (starting at its current buffer offsets), which should be stored into newData in place of the current component state data. This may only be partially possible if the component's state structure has changed since oldData was written.

Specified by:

getInitialAuxState in interface HasAuxState

Parameters:

newData - buffer for storing the state values.

oldData - if non-null, contains old state information that should be written into newData in place of the current state information.

setAuxState

public void setAuxState(DataBuffer data)

Description copied from interface: HasAuxState

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

Specified by:

setAuxState in interface HasAuxState

Parameters:

data - buffer containing the state information

hasState

public boolean hasState()

Queries if this component has state. Structure change events involving components that have state will cause the current state history of of the system to be cleared.

Specified by:

hasState in interface ModelComponent

Overrides:

hasState in class ModelComponentBase

Returns:

true if this component has state