artisynth.core.mechmodels

Interface ContactMaster

All Known Implementing Classes:

BeamBody, DeformableBody, DicomPlaneViewer, DicomViewer, EBBeamBody, FemCutPlane, FemModelFrame, Frame, ImageViewer, NiftiViewer, PointFem3dAttachment, PointParticleAttachment, PointSkinAttachment, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, ShellNodeFem3dAttachment, TargetFrame, TexturePlaneBase, VertexContactMaster

public interface ContactMaster

Adds blocks to constraint matrices to implement the constraint conditions requires for contact, including both normal and frictional contact conditions. Implementations are assumed to have information about the contact point, weighting factor, and the underlying dynamic components.

Method Summary

Modifier and Type	Method and Description
void	add1DConstraintBlocks(SparseBlockMatrix DT, 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 DT, 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	addRelativeVelocity(Vector3d vel, double scale, ContactPoint cpnt) Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.
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.
boolean	isControllable() Queries whether at least one of the underlying dynamic components is controllable.

Method Detail

add1DConstraintBlocks

void add1DConstraintBlocks(SparseBlockMatrix DT,
                           int bj,
                           double scale,
                           ContactPoint cpnt,
                           Vector3d dir)

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.

Parameters:

DT - constraint matrix

bj - block column index

scale - TODO

cpnt - contact point

dir - friction direction

add2DConstraintBlocks

void add2DConstraintBlocks(SparseBlockMatrix DT,
                           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. 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.

Parameters:

DT - constraint matrix

bj - block column index

scale - TODO

cpnt - contact point

dir0 - first friction direction

dir1 - second friction direction

addRelativeVelocity

void addRelativeVelocity(Vector3d vel,
                         double scale,
                         ContactPoint cpnt)

Accumulate the velocity at the contact due to the current velocity of the underlying dynamic components.

Parameters:

vel - accumulates velocity

scale - TODO

cpnt - contact point

computeForceOnMasters

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.

isControllable

boolean isControllable()

Queries whether at least one of the underlying dynamic components is controllable.

Returns:

true if at least one dynamic component is controllable

collectMasterComponents

int collectMasterComponents(java.util.HashSet<DynamicComponent> masters,
                            boolean activeOnly)

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.

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