artisynth.core.femmodels

Class FrameFem3dAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.FrameAttachment

artisynth.core.femmodels.FrameFem3dAttachment

All Implemented Interfaces:

AttachingComponent, DynamicAttachment, DynamicAttachmentComp, CopyableComponent, ModelComponent, PostScannable, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class FrameFem3dAttachment
extends FrameAttachment

Class to attach a frame to a FEM and it's coordinate frame.

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
boolean	debug

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
FrameFem3dAttachment()
FrameFem3dAttachment(Frame frame)
FrameFem3dAttachment(Frame frame, FemModel3d fem)

Method Summary

Modifier and Type	Method and Description
int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb)
void	addMassToMasters()
void	applyForce(Wrench wr) Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.
void	applyForces()
void	computeFrame(RigidTransform3d TFM)
void	computeRestFrame(RigidTransform3d TFM)
void	computeVelocity(Twist velFM)
FrameFem3dAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
double	getAverageMasterInertia() Returns the average rotational inertia of the master components as seen by the attached frame.
double	getAverageMasterMass() Returns the average mass of the master components as seen by the attached frame.
int	getBilateralForces(VectorNd lam, int idx)
int	getBilateralInfo(MechSystem.ConstraintInfo[] ginfo, int idx)
void	getBilateralSizes(VectorNi sizes)
void	getCurrentTFW(RigidTransform3d TFW) Returns the current pose of the attached frame, in world coordinates.
void	getCurrentVel(Twist vel, Twist dg) Returns the current velocity of the attached frame, in frame coordinates.
void	getCurrentVelX(Twist vel, Twist dg) For testing only ...
void	getCurrentWorldVel(Twist vel, Twist dg)
void	getCurrentWorldVelX(Twist vel, Twist dg) For testing only ...
boolean	getDerivative(double[] buf, int idx)
FemElement3dBase	getElement()
void	getHardReferences(java.util.List<ModelComponent> refs) Appends all hard references for this component to a list.
FemNode[]	getNodes()
RigidTransform3d	getTFM()
void	getUndeformedTFW(RigidTransform3d TFW) Returns the current undeformed pose of the attached frame, in world coordinates.
boolean	isFlexible() Indicates that this attachment is flexible.
void	scaleDistance(double m) Nothing to do for scale distance, since attachment is based on weights.
int	setBilateralForces(VectorNd lam, double s, int idx)
boolean	setCurrentTFW(RigidTransform3d TFW) Sets the current pose of the attached frame, in world coordinates.
boolean	setFromElement(RigidTransform3d T, FemElement3dBase elem)
void	setFromFem(RigidTransform3d TFW, FemModel3d fem)
boolean	setFromFem(RigidTransform3d TFW, FemModel3d fem, boolean project)
boolean	setFromNodes(RigidTransform3d TFW, java.util.Collection<FemNode3d> nodes)
boolean	setFromNodes(RigidTransform3d TFW, java.util.Collection<FemNode3d> nodes, VectorNd weights)
boolean	setFromNodes(RigidTransform3d TFW, FemNode3d[] nodes)
boolean	setFromNodes(RigidTransform3d TFW, FemNode3d[] nodes, double[] weights)
void	transformGeometry(AffineTransform3dBase X, RigidTransform3d TFW) Nothing to do for scale distance, since attachment is based on weights.
void	updateAttachment() Update attachment to reflect changes in the slave state.
double	updateConstraints(double t, int flags)
void	updateFramePose(boolean frameRelative)
void	updatePosStates()
void	updateVelStates()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)
void	zeroForces()

Methods inherited from class artisynth.core.mechmodels.FrameAttachment

getCopyReferences, getFrame, getGT, getMasterBlocks, getMasters, getSlave, invalidateMasters, isDuplicatable, mulSubGT, mulSubGTM, mulSubMG, numMasters, scaleMass

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, clone, connectAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, oneMasterActive, oneMasterNotAttached, removeBackRefs, removeBackRefs, removeConnectedMasterRefs, setSlaveAffectsStiffness, slaveAffectsStiffness

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, createTempFlag, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, 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, 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, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, 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

Field Detail

debug

public boolean debug

Constructor Detail

FrameFem3dAttachment

public FrameFem3dAttachment()

FrameFem3dAttachment

public FrameFem3dAttachment(Frame frame)

FrameFem3dAttachment

public FrameFem3dAttachment(Frame frame,
                            FemModel3d fem)

Method Detail

isFlexible

public boolean isFlexible()

Description copied from class: FrameAttachment

Indicates that this attachment is flexible. That means that underlying body to which the frame is connected is deformable.

Specified by:

isFlexible in class FrameAttachment

Returns:

true if this attachment is flexible.

getBilateralSizes

public void getBilateralSizes(VectorNi sizes)

addBilateralConstraints

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

getBilateralInfo

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

setBilateralForces

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

getBilateralForces

public int getBilateralForces(VectorNd lam,
                              int idx)

zeroForces

public void zeroForces()

updateConstraints

public double updateConstraints(double t,
                                int flags)

getElement

public FemElement3dBase getElement()

getNodes

public FemNode[] getNodes()

setFromElement

public boolean setFromElement(RigidTransform3d T,
                              FemElement3dBase elem)

setFromNodes

public boolean setFromNodes(RigidTransform3d TFW,
                            java.util.Collection<FemNode3d> nodes,
                            VectorNd weights)

setFromNodes

public boolean setFromNodes(RigidTransform3d TFW,
                            java.util.Collection<FemNode3d> nodes)

setFromNodes

public boolean setFromNodes(RigidTransform3d TFW,
                            FemNode3d[] nodes,
                            double[] weights)

setFromNodes

public boolean setFromNodes(RigidTransform3d TFW,
                            FemNode3d[] nodes)

setFromFem

public void setFromFem(RigidTransform3d TFW,
                       FemModel3d fem)

setFromFem

public boolean setFromFem(RigidTransform3d TFW,
                          FemModel3d fem,
                          boolean project)

updateFramePose

public void updateFramePose(boolean frameRelative)

updatePosStates

public void updatePosStates()

Specified by:

updatePosStates in interface DynamicAttachment

Specified by:

updatePosStates in class DynamicAttachmentBase

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in interface DynamicAttachment

Specified by:

updateVelStates in class DynamicAttachmentBase

updateAttachment

public void updateAttachment()

Description copied from class: DynamicAttachmentBase

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in interface DynamicAttachment

Specified by:

updateAttachment in class DynamicAttachmentBase

setCurrentTFW

public boolean setCurrentTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Sets the current pose of the attached frame, in world coordinates. This will update the internal parameters of the attachment to be consistent with the current valued master coordinates.

Specified by:

setCurrentTFW in class FrameAttachment

Parameters:

TFW - new pose for the attached frame, in world coordinates

Returns:

true if the underlying master components have changed

computeFrame

public void computeFrame(RigidTransform3d TFM)

computeRestFrame

public void computeRestFrame(RigidTransform3d TFM)

computeVelocity

public void computeVelocity(Twist velFM)

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Overrides:

applyForces in class FrameAttachment

getDerivative

public boolean getDerivative(double[] buf,
                             int idx)

Specified by:

getDerivative in interface DynamicAttachment

Specified by:

getDerivative in class DynamicAttachmentBase

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

getCurrentTFW

public void getCurrentTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Returns the current pose of the attached frame, in world coordinates.

Specified by:

getCurrentTFW in class FrameAttachment

Parameters:

TFW - used to return current frame pose.

getUndeformedTFW

public void getUndeformedTFW(RigidTransform3d TFW)

Description copied from class: FrameAttachment

Returns the current undeformed pose of the attached frame, in world coordinates. If the underlying body to which the frame is attached is not flexible, then this method should return the same value as getCurrentTFW().

Specified by:

getUndeformedTFW in class FrameAttachment

Parameters:

TFW - used to return current undeformed frame pose.

See Also:

FrameAttachment.isFlexible()

getCurrentVel

public void getCurrentVel(Twist vel,
                          Twist dg)

Description copied from class: FrameAttachment

Returns the current velocity of the attached frame, in frame coordinates. Also optionally returns the velocity derivative term, defined by

 \dot J velm
 

where J is the matrix that maps master velocities to the attached frame velocity (in frame coordinates), and velm are the master velocities.

Specified by:

getCurrentVel in class FrameAttachment

Parameters:

vel - used to return current frame velocity

dg - if not null, returns the velocity derivative term

applyForce

public void applyForce(Wrench wr)

Description copied from class: FrameAttachment

Applies a force to this frame, in world coordinates, by propagating it through to the underlying master bodies.

Specified by:

applyForce in class FrameAttachment

Parameters:

wr - force to apply to the frame

getCurrentVelX

public void getCurrentVelX(Twist vel,
                           Twist dg)

For testing only ...

getCurrentWorldVel

public void getCurrentWorldVel(Twist vel,
                               Twist dg)

getCurrentWorldVelX

public void getCurrentWorldVelX(Twist vel,
                                Twist dg)

For testing only ...

getTFM

public RigidTransform3d getTFM()

getAverageMasterMass

public double getAverageMasterMass()

Returns the average mass of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

Specified by:

getAverageMasterMass in class FrameAttachment

getAverageMasterInertia

public double getAverageMasterInertia()

Returns the average rotational inertia of the master components as seen by the attached frame. This is used by BodyConnector for automatically computing critical damping for joint compliance.

Specified by:

getAverageMasterInertia in class FrameAttachment

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Overrides:

writeItems in class FrameAttachment

Throws:

java.io.IOException

getHardReferences

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

Description copied from class: ModelComponentBase

Appends all hard 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 AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:

getHardReferences in interface ModelComponent

Overrides:

getHardReferences in class DynamicAttachmentBase

Parameters:

refs - list to which hard references are appended

scaleDistance

public void scaleDistance(double m)

Nothing to do for scale distance, since attachment is based on weights.

Parameters:

m - scaling factor

transformGeometry

public void transformGeometry(AffineTransform3dBase X,
                              RigidTransform3d TFW)

Nothing to do for scale distance, since attachment is based on weights.

Overrides:

transformGeometry in class FrameAttachment

copy

public FrameFem3dAttachment copy(int flags,
                                 java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If COPY_REFERENCES is set in flags, then any component referenced by this component should itself be set to a copy. This should be done first checking copyMap for an existing copy of the referenced component. If there is no existing copy, then a copy should be created by calling copy recursively and adding the new copy to copyMap.

Specified by:

copy in interface DynamicAttachmentComp

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class FrameAttachment

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component