artisynth.core.femmodels

Class PointSkinAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.PointAttachment

artisynth.core.femmodels.PointSkinAttachment

All Implemented Interfaces:

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

public class PointSkinAttachment
extends PointAttachment
implements TransformableGeometry, ScalableUnits, ContactMaster

A special attachment class that is used to update a point's position based on the state of the controlling bodies (such as Frames and FemModels) in a SkinMeshBody. Instances of this class (without an actual slave Point) are used to control the positions of each vertex in a SkinMeshBody.

The class maintains a list of Connection objects for each underlying dynamic component (such as a Frame or FemNode3d) that has a weighted influence on the point's final value.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PointSkinAttachment.ElementConnection
static class	PointSkinAttachment.FemConnection
class	PointSkinAttachment.FemDispConnection
class	PointSkinAttachment.FrameConnection
static class	PointSkinAttachment.SkinConnection<C extends PointSkinAttachment.SkinConnection<C>> Defines connections associated with this attachment.

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
boolean	debug
boolean	useFemMasterBlocksForContact

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 artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES, REST_POSITION

Constructor Summary

Constructors

Constructor and Description
PointSkinAttachment() Creates an empty PointSkinAttachment.
PointSkinAttachment(Point slave)

Method Summary

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	addBackRefsIfConnected() Add backrefs if this attachment is connected *and* controlling a point
void	addForce(Vector3d f)
void	addFrameConnection(SkinMeshBody.FrameInfo frameInfo, double weight) Adds a Frame connection to this attachment.
void	addMassToMasters()
void	addRelativeVelocity(Vector3d vel, double scale, ContactPoint cpnt) Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	applyForces()
void	clearConnections() Clear the connections used by this attachment.
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	connectToHierarchy(CompositeComponent hcomp) Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).
PointSkinAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
void	disconnectFromHierarchy(CompositeComponent hcomp) Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).
Point3d	getBasePosition() Gets the base position for this attachment.
float	getBaseWeight() Gets the base weight for this attachment.
PointSkinAttachment.SkinConnection	getConnection(int idx)
double	getConnectionWeight(int idx)
void	getCurrentPos(Vector3d pos) Returns the current position of the attached point, in world coordinates.
void	getCurrentVel(Vector3d vel, Vector3d dvel)
boolean	getDerivative(double[] buf, int idx)
PointSkinAttachment.FemConnection	getFemConnection(int idx)
PointSkinAttachment.FemConnection	getFemConnections()
PointSkinAttachment.FrameConnection	getFrameConnection(int idx)
PointSkinAttachment.FrameConnection	getFrameConnections()
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.
MatrixBlock[]	getMasterBlocks() Returns the most recently updated set of master blocks for this attachments.
SkinMeshBody	getSkinMesh() Finds the SkinMeshBody, if any, associated with this attachment.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
void	invalidateMasters()
boolean	isControllable() Queries whether at least one of the underlying dynamic components is controllable.
static void	main(java.lang.String[] args)
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
void	notifyMastersOfPositionChange() If necessary, notify this attachment's master components that the position state of one or more of them has changed.
int	numConnections() Returns the number of connections (to master components) used by this attachment.
int	numFemConnections()
int	numFrameConnections()
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) Performs any required post-scanning for this component.
void	removeBackRefsIfConnected() Remove backrefs if this attachment is connected *and* controlling a point
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
void	setBasePosition(Vector3d pos) Sets the base position for this attachment.
void	setBaseWeight(double w, boolean normalize) Sets the base weight for this attachment.
void	transformGeometry(AffineTransform3dBase X) Applies an affine transformation to the geometry of this component.
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
void	updateAttachment() Update attachment to reflect changes in the slave state.
int	updateFrameMasterBlocks(SkinMeshBody.FrameBlending blending)
void	updatePosStates()
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.
void	updateVelStates()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.PointAttachment

addTargetJacobian, checkMasterBlocks, getCopyReferences, getMasters, getPoint, getSlave, isDuplicatable, numMasters

Methods inherited from class artisynth.core.mechmodels.DynamicAttachmentBase

addBackRefs, addBackRefs, addConnectedMasterRefs, clone, connectAttachment, 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, hasChildren, hasState, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformPriority

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getName, getNavpanelVisibility, getNumber, getParent, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable

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

Field Detail

useFemMasterBlocksForContact

public boolean useFemMasterBlocksForContact

debug

public boolean debug

Constructor Detail

PointSkinAttachment

public PointSkinAttachment()

Creates an empty PointSkinAttachment.

PointSkinAttachment

public PointSkinAttachment(Point slave)

Method Detail

getSkinMesh

public SkinMeshBody getSkinMesh()

Finds the SkinMeshBody, if any, associated with this attachment.

getBasePosition

public Point3d getBasePosition()

Gets the base position for this attachment. Base positions are used for displacement-based position computations.

setBasePosition

public void setBasePosition(Vector3d pos)

Sets the base position for this attachment.

getBaseWeight

public float getBaseWeight()

Gets the base weight for this attachment. Base weights are used to add a fraction of the base position to the skinned position.

setBaseWeight

public void setBaseWeight(double w,
                          boolean normalize)

Sets the base weight for this attachment.

Parameters:

w - new base weight

normalize - if true and the connection weights sum to a non-zero value, scales the connections weights so that the total weight sum remains unchanged

numConnections

public int numConnections()

Returns the number of connections (to master components) used by this attachment.

getConnection

public PointSkinAttachment.SkinConnection getConnection(int idx)

getConnectionWeight

public double getConnectionWeight(int idx)

clearConnections

public void clearConnections()

Clear the connections used by this attachment.

addBackRefsIfConnected

public void addBackRefsIfConnected()

Add backrefs if this attachment is connected *and* controlling a point

removeBackRefsIfConnected

public void removeBackRefsIfConnected()

Remove backrefs if this attachment is connected *and* controlling a point

addFrameConnection

public void addFrameConnection(SkinMeshBody.FrameInfo frameInfo,
                               double weight)

Adds a Frame connection to this attachment. The Frame's displacement from it's rest pose will be used to compute a weighted contribution to the point value, using a mechanism determined by the blend type associated with the SkinMeshBody (as returned by SkinMeshBody.getFrameBlending()).

Parameters:

frameInfo - FrameInfo structure within the associated SkinMeshBody.

weight - connection weight.addFemConnection

getFrameConnections

public PointSkinAttachment.FrameConnection getFrameConnections()

getFrameConnection

public PointSkinAttachment.FrameConnection getFrameConnection(int idx)

numFrameConnections

public int numFrameConnections()

getFemConnections

public PointSkinAttachment.FemConnection getFemConnections()

getFemConnection

public PointSkinAttachment.FemConnection getFemConnection(int idx)

numFemConnections

public int numFemConnections()

invalidateMasters

public void invalidateMasters()

Specified by:

invalidateMasters in interface DynamicAttachment

Overrides:

invalidateMasters in class PointAttachment

getMasterBlocks

public MatrixBlock[] getMasterBlocks()

Returns the most recently updated set of master blocks for this attachments. Used for testing and debugging only.

updateFrameMasterBlocks

public int updateFrameMasterBlocks(SkinMeshBody.FrameBlending blending)

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,
                          Vector3d dvel)

notifyMastersOfPositionChange

public void notifyMastersOfPositionChange()

Description copied from class: PointAttachment

If necessary, notify this attachment's master components that the position state of one or more of them has changed. This is only used in situations where the position is changed outside of a normal simulation computation, such as in PointAttachment.createNumericMasterBlocks(). Attachments only need to implement this method when setting the position state of one or more masters, in isolation, incurs the need for other updates before a subsequwent call to DynamicAttachmentBase.updatePosStates() will perform correctly.

Overrides:

notifyMastersOfPositionChange in class PointAttachment

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

applyForces

public void applyForces()

Specified by:

applyForces in interface DynamicAttachment

Overrides:

applyForces in class PointAttachment

addForce

public void addForce(Vector3d f)

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

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

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Description copied from interface: PostScannable

Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the scan() method and stored in the token queue. The most common use of this method is to resolve the paths of component references, which may not have been created at the time of the initial scan() call.

Specified by:

postscan in interface PostScannable

Overrides:

postscan in class ModelComponentBase

Parameters:

tokens - token information that was stored during scan().

ancestor - ancestor component with respect to which reference component paths are defined.

Throws:

java.io.IOException - if an error is encountered (such as a reference to a non-existent component)

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

getDerivative

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

Specified by:

getDerivative in interface DynamicAttachment

Specified by:

getDerivative in class DynamicAttachmentBase

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

getSoftReferences

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

Description copied from class: ModelComponentBase

Appends all soft 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 ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

Parameters:

refs - list to which soft references are appended

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Parameters:

s - scaling factor

scaleMass

public void scaleMass(double s)

Description copied from interface: ScalableUnits

Scales all mass units.

Specified by:

scaleMass in interface ScalableUnits

Parameters:

s - scaling factor

copy

public PointSkinAttachment 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

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.areConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

connectToHierarchy

public void connectToHierarchy(CompositeComponent hcomp)

Description copied from class: DynamicAttachmentBase

Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class DynamicAttachmentBase

Parameters:

hcomp - hierarchy component to which this component, or its ancestor, was attached

disconnectFromHierarchy

public void disconnectFromHierarchy(CompositeComponent hcomp)

Description copied from class: DynamicAttachmentBase

Update the attachment position state whenever we connect to the parent (i.e., plug in to the hierarchy).

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class DynamicAttachmentBase

Parameters:

hcomp - hierarchy component from which this component, or its ancestor, was detached

transformGeometry

public void transformGeometry(AffineTransform3dBase X)

Applies an affine transformation to the geometry of this component. This method should be equivalent to

 TransformGeometryContext.transform (this, X, 0);
 

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

X - affine transformation to apply to the component

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

addTransformableDependencies

public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)

Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.

This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.

Specified by:

addTransformableDependencies in interface TransformableGeometry

Parameters:

context - context information, to which the dependent components are added.

flags - specifies conditions associated with the transformation

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

main

public static void main(java.lang.String[] args)