artisynth.core.mechmodels

Class ParticleConstraint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.ParticleConstraint

All Implemented Interfaces:

ModelComponent, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public abstract class ParticleConstraint
extends RenderableComponentBase
implements ScalableUnits, TransformableGeometry

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

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
ParticleConstraint()

Method Summary

Modifier and Type	Method and Description
abstract int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb, double t)
abstract int	addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu, double t)
abstract int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
abstract void	getBilateralSizes(VectorNi sizes)
abstract int	getState(VectorNd x, int idx)
abstract int	getStateSize()
abstract int	getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx)
abstract void	getUnilateralSizes(VectorNi sizes)
void	projectFrictionConstraints()
abstract void	projectPosConstraints(double t)
abstract int	setBilateralImpulses(VectorNd lam, int idx)
abstract int	setState(VectorNd x, int idx)
abstract int	setUnilateralImpulses(VectorNd the, int idx)
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, hasState, 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.util.ScalableUnits

scaleDistance, scaleMass

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

addTransformableDependencies, transformGeometry, transformGeometry

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, 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

ParticleConstraint

public ParticleConstraint()

Method Detail

getBilateralSizes

public abstract void getBilateralSizes(VectorNi sizes)

addBilateralConstraints

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

getBilateralInfo

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

setBilateralImpulses

public abstract int setBilateralImpulses(VectorNd lam,
                                         int idx)

zeroImpulses

public abstract void zeroImpulses()

getUnilateralSizes

public abstract void getUnilateralSizes(VectorNi sizes)

addUnilateralConstraints

public abstract int addUnilateralConstraints(SparseBlockMatrix NT,
                                             VectorNd dn,
                                             int numu,
                                             double t)

getUnilateralInfo

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

setUnilateralImpulses

public abstract int setUnilateralImpulses(VectorNd the,
                                          int idx)

projectPosConstraints

public abstract void projectPosConstraints(double t)

projectFrictionConstraints

public void projectFrictionConstraints()

getStateSize

public abstract int getStateSize()

getState

public abstract int getState(VectorNd x,
                             int idx)

setState

public abstract int setState(VectorNd x,
                             int idx)