PointFem3dAttachment (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.mechmodels.DynamicAttachmentBase
  - - artisynth.core.mechmodels.PointAttachment
    - - artisynth.core.femmodels.PointFem3dAttachment

All Implemented Interfaces:

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

Direct Known Subclasses:

ShellNodeFem3dAttachment
```
public class PointFem3dAttachment
extends PointAttachment
implements ContactMaster
```

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.CopyableComponent
  COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors
Constructor and Description
`PointFem3dAttachment()`
`PointFem3dAttachment(Point pnt)`
`PointFem3dAttachment(Point pnt, FemModel3d fem)`
`PointFem3dAttachment(Point pnt, FemNode[] nodes, double[] coords)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
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`	`addMassToMasters()`
`static void`	`addMassToNodeMasters(FemNode[] nodes, double[] weights, double m)` Distribute a mass `m` amongst the master nodes on the basis of their coordinate weights.
`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`	`addTargetJacobian(SparseBlockMatrix J, int bi)`
`void`	`applyForces()`
`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.
`void`	`computeNodeCoordinates()`
`PointFem3dAttachment`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)` Create a copy of this component.
`static PointFem3dAttachment`	`create(Point pnt, FemElement3dBase elem, Point3d loc, double reduceTol)` Create an attachment that connects a point to a FemElement within a specified element.
`double`	`getCoordinate(int idx)`
`VectorNd`	`getCoordinates()`
`void`	`getCurrentPos(Vector3d pos)` Returns the current position of the attached point, in world coordinates.
`void`	`getCurrentVel(Vector3d vel)`
`boolean`	`getDerivative(double[] buf, int idx)`
`FemElement`	`getElement()`
`MatrixBlock`	`getGT(int idx)` Returns the transpose of the constraint matrix G associated with the idx-th master component.
`void`	`getHardReferences(java.util.List<ModelComponent> refs)` Appends all hard references for this component to a list.
`FemNode[]`	`getNodes()`
`void`	`getRestPosition(Point3d pos)`
`boolean`	`isControllable()` Queries whether at least one of the underlying dynamic components is controllable.
`void`	`mulSubGT(double[] ybuf, int yoff, double[] xbuf, int xoff, int idx)` Computes
`void`	`mulSubGTM(MatrixBlock D, MatrixBlock M, int idx)` Computes
`void`	`mulSubMG(MatrixBlock D, MatrixBlock M, int idx)` Computes
`boolean`	`setFromElement(Point3d pos, FemElement elem)`
`boolean`	`setFromElement(Point3d pos, FemElement elem, double reduceTol)`
`void`	`setFromFem(Point3d pos, FemModel3d fem)`
`boolean`	`setFromFem(Point3d pos, FemModel3d fem, boolean project)`
`void`	`setFromNodes(java.util.Collection<? extends FemNode> nodes, VectorNd weights)`
`void`	`setFromNodes(FemNode[] nodes, double[] weights)`
`boolean`	`setFromNodes(Point3d pos, java.util.Collection<? extends FemNode> nodes)`
`boolean`	`setFromNodes(Point3d pos, FemNode[] nodes)`
`void`	`updateAttachment()` Update attachment to reflect changes in the slave state.
`void`	`updatePosStates()`
`void`	`updateVelStates()`
`void`	`writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)`

Methods inherited from class artisynth.core.mechmodels.PointAttachment
checkMasterBlocks, getCopyReferences, getMasters, getPoint, getSlave, invalidateMasters, isDuplicatable, notifyMastersOfPositionChange, numMasters

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

- Constructor Detail
  - PointFem3dAttachment
```
public PointFem3dAttachment()
```
  - PointFem3dAttachment
```
public PointFem3dAttachment(Point pnt)
```
  - PointFem3dAttachment
```
public PointFem3dAttachment(Point pnt,
                            FemModel3d fem)
```
  - PointFem3dAttachment
```
public PointFem3dAttachment(Point pnt,
                            FemNode[] nodes,
                            double[] coords)
```
- Method Detail
  - getElement
```
public FemElement getElement()
```
  - setFromNodes
```
public void setFromNodes(java.util.Collection<? extends FemNode> nodes,
                         VectorNd weights)
```
  - setFromNodes
```
public boolean setFromNodes(Point3d pos,
                            java.util.Collection<? extends FemNode> nodes)
```
  - setFromNodes
```
public void setFromNodes(FemNode[] nodes,
                         double[] weights)
```
  - setFromNodes
```
public boolean setFromNodes(Point3d pos,
                            FemNode[] nodes)
```
  - setFromElement
```
public boolean setFromElement(Point3d pos,
                              FemElement elem)
```
  - setFromElement
```
public boolean setFromElement(Point3d pos,
                              FemElement elem,
                              double reduceTol)
```
  - setFromFem
```
public void setFromFem(Point3d pos,
                       FemModel3d fem)
```
  - setFromFem
```
public boolean setFromFem(Point3d pos,
                          FemModel3d fem,
                          boolean project)
```
  - getCoordinates
```
public VectorNd getCoordinates()
```
  - getCoordinate
```
public double getCoordinate(int idx)
```
  - updatePosStates
```
public void updatePosStates()
```
    Specified by:
    
    updatePosStates in interface DynamicAttachment
    
    Specified by:
    
    updatePosStates in class DynamicAttachmentBase
  - getCurrentPos
```
public void getCurrentPos(Vector3d pos)
```
    Description copied from class: PointAttachment
    
    Returns the current position of the attached point, in world coordinates.
    
    Specified by:
    
    getCurrentPos in class PointAttachment
    
    Parameters:
    
    pos - used to return current point position
  - getCurrentVel
```
public void getCurrentVel(Vector3d vel)
```
  - updateVelStates
```
public void updateVelStates()
```
    Specified by:
    
    updateVelStates in interface DynamicAttachment
    
    Specified by:
    
    updateVelStates in class DynamicAttachmentBase
  - updateAttachment
```
public void updateAttachment()
```
    Update attachment to reflect changes in the slave state.
    
    Specified by:
    
    updateAttachment in interface DynamicAttachment
    
    Specified by:
    
    updateAttachment in class DynamicAttachmentBase
  - applyForces
```
public void applyForces()
```
    Specified by:
    
    applyForces in interface DynamicAttachment
    
    Overrides:
    
    applyForces in class PointAttachment
  - getRestPosition
```
public void getRestPosition(Point3d pos)
```
  - mulSubGTM
```
public void mulSubGTM(MatrixBlock D,
                      MatrixBlock M,
                      int idx)
```
    Description copied from class: DynamicAttachmentBase
    Computes
```
       T
 D -= G  M
 
```
    where D and M are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.
    Specified by:
    
    mulSubGTM in interface DynamicAttachment
    
    Specified by:
    
    mulSubGTM in class DynamicAttachmentBase
    
    Parameters:
    
    D - dependent matrix associated with a master component
    
    M - matrix associated with a slave component
  - mulSubMG
```
public void mulSubMG(MatrixBlock D,
                     MatrixBlock M,
                     int idx)
```
    Description copied from class: DynamicAttachmentBase
    Computes
```
 D -= M G
 
```
    where D and M are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.
    Specified by:
    
    mulSubMG in interface DynamicAttachment
    
    Specified by:
    
    mulSubMG in class DynamicAttachmentBase
    
    Parameters:
    
    D - dependent matrix associated with a master component
    
    M - matrix associated with a slave component
  - getGT
```
public MatrixBlock getGT(int idx)
```
    Description copied from class: DynamicAttachmentBase
    
    Returns the transpose of the constraint matrix G associated with the idx-th master component.
    
    Specified by:
    
    getGT in interface DynamicAttachment
    
    Specified by:
    
    getGT in class DynamicAttachmentBase
    
    Parameters:
    
    idx - index of the master component
    
    Returns:
    
    transpose of G associated with idx
  - mulSubGT
```
public void mulSubGT(double[] ybuf,
                     int yoff,
                     double[] xbuf,
                     int xoff,
                     int idx)
```
    Description copied from class: DynamicAttachmentBase
    Computes
```
       T
 y -= G  x
 
```
    where y and x are vectors associated with master and slave components, respectively, and G is the constraint matrix for the attachment.
    Specified by:
    
    mulSubGT in interface DynamicAttachment
    
    Specified by:
    
    mulSubGT in class DynamicAttachmentBase
    
    Parameters:
    
    ybuf - buffer into which to store result
    
    yoff - offset into ybuf
    
    xbuf - buffer containing right hand side vector
    
    xoff - offset into xbuf
    
    idx - master component index
  - writeItems
```
public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException
```
    Overrides:
    
    writeItems in class PointAttachment
    
    Throws:
    
    java.io.IOException
  - addTargetJacobian
```
public int addTargetJacobian(SparseBlockMatrix J,
                             int bi)
```
    Overrides:
    
    addTargetJacobian in class PointAttachment
  - computeNodeCoordinates
```
public void computeNodeCoordinates()
```
  - create
```
public static PointFem3dAttachment create(Point pnt,
                                          FemElement3dBase elem,
                                          Point3d loc,
                                          double reduceTol)
```
    Create an attachment that connects a point to a FemElement within a specified element.
    
    Parameters:
    
    pnt - Point to be attached
    
    elem - FemElement3d to attach the point to
    
    loc - point location with respect to the element. If null, will be assumed to be pnt.getPosition().
    
    reduceTol - try to reduce the number of attached nodes by removing those whose coordinate values are less then this number. A value of zero ensures no reduction. If reduction is desired, a value around 1e-5 is reasonable.
    
    Returns:
    
    an attachment for
  - addMassToNodeMasters
```
public static void addMassToNodeMasters(FemNode[] nodes,
                                        double[] weights,
                                        double m)
```
    Distribute a mass m amongst the master nodes on the basis of their coordinate weights. To guard against negative weights, we use their absolute value and then renormalize so that they sum to unity. Negative weights will occur when the attached point lies outside of an element associated with the nodes.
    Using absolute values is necessary because we are using a lumped mass formulation; if we instead used a consistent mass formulation, the resulting distributed normal mass would be
```
   m weights weights^T
 
```
    which is symmetric positive definite and so there would be no need to guard against negative weights.
    Parameters:
    
    nodes - nodes to which mass should be added
    
    weights - coordinate weights of each node
    
    m - mass to be distributed
  - addMassToMasters
```
public void addMassToMasters()
```
    Specified by:
    
    addMassToMasters in interface DynamicAttachment
    
    Specified by:
    
    addMassToMasters in class DynamicAttachmentBase
  - getDerivative
```
public boolean getDerivative(double[] buf,
                             int idx)
```
    Specified by:
    
    getDerivative in interface DynamicAttachment
    
    Specified by:
    
    getDerivative in class DynamicAttachmentBase
  - getNodes
```
public FemNode[] getNodes()
```
  - 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
  - copy
```
public PointFem3dAttachment 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 PointAttachment
    
    Parameters:
    
    flags - flags to control the copying
    
    copyMap - map to possible existing instances of referenced components
    
    Returns:
    
    copy of this component
  - 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

Class PointFem3dAttachment

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.PointAttachment

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Constructor Detail

PointFem3dAttachment

PointFem3dAttachment

PointFem3dAttachment

PointFem3dAttachment

Method Detail

getElement

setFromNodes

setFromNodes

setFromNodes

setFromNodes

setFromElement

setFromElement

setFromFem

setFromFem

getCoordinates

getCoordinate

updatePosStates

getCurrentPos

getCurrentVel

updateVelStates

updateAttachment

applyForces

getRestPosition

mulSubGTM

mulSubMG

getGT

mulSubGT

writeItems

addTargetJacobian

computeNodeCoordinates

create

addMassToNodeMasters

addMassToMasters

getDerivative

getNodes

getHardReferences

copy

add1DConstraintBlocks

add2DConstraintBlocks

addRelativeVelocity

computeForceOnMasters

isControllable

collectMasterComponents