artisynth.core.mechmodels

Interface MechSystemModel

All Superinterfaces:

Disposable, HasProperties, HasState, HierarchyNode, MechSystem, Model, ModelComponent, PostScannable, Scannable

All Known Implementing Classes:

FemModel, FemModel3d, FemModelDeformer, FemMuscleModel, HydrostatModel, LaymanModel, MechModel, MechSystemBase, MFreeModel3d, MFreeMuscleModel, PointToPointMuscle, SpongeModel

public interface MechSystemModel
extends Model, MechSystem

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem

MechSystem.ConstraintInfo

Field Summary

Fields inherited from interface artisynth.core.modelbase.Model

STATE_IS_VOLATILE

Fields inherited from interface artisynth.core.mechmodels.MechSystem

COMPUTE_CONTACTS, UPDATE_CONTACTS

Method Summary

Modifier and Type	Method and Description
void	addGeneralMassBlocks(SparseNumberedBlockMatrix M)
DynamicComponent	checkVelocityStability() Checks the velocity stability of this system.
void	getAttachments(java.util.List<DynamicAttachment> list, int level)
void	getAuxStateComponents(java.util.List<HasNumericState> list, int level)
void	getCollidables(java.util.List<Collidable> list, int level)
void	getConstrainers(java.util.List<Constrainer> list, int level)
void	getDynamicComponents(java.util.List<DynamicComponent> comps)
void	getDynamicComponents(java.util.List<DynamicComponent> active, java.util.List<DynamicComponent> attached, java.util.List<DynamicComponent> parametric)
void	getForceEffectors(java.util.List<ForceEffector> list, int level)
void	getMassMatrixValues(SparseNumberedBlockMatrix M, VectorNd f, double t)
void	getSlaveObjectComponents(java.util.List<HasSlaveObjects> list, int level)
void	mulInverseMass(SparseBlockMatrix M, VectorNd a, VectorNd f)
void	recursivelyFinalizeAdvance(StepAdjustment stepAdjust, double t0, double t1, int flags, int level)
void	recursivelyInitialize(double t, int level)
void	recursivelyPrepareAdvance(double t0, double t1, int flags, int level)

Methods inherited from interface artisynth.core.modelbase.Model

advance, dispose, getMaxStepSize, initialize, preadvance

Methods inherited from interface artisynth.core.modelbase.ModelComponent

connectToHierarchy, disconnectFromHierarchy, getHardReferences, 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

Methods inherited from interface artisynth.core.modelbase.HasState

createState, getInitialState, getState, setState

Methods inherited from interface artisynth.core.mechmodels.MechSystem

addActivePosImpulse, addPosJacobian, addVelJacobian, advanceAuxState, buildMassMatrix, buildSolveMatrix, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelStateSize, getAuxAdvanceState, getAuxVarDerivative, getAuxVarState, getAuxVarStateSize, getBilateralConstraints, getBilateralForces, getBilateralInfo, getFrictionConstraints, getFrictionForces, getFrictionState, getInverseMassMatrix, getMassMatrix, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getSolveMatrixType, getStructureVersion, getUnilateralConstraints, getUnilateralForces, getUnilateralInfo, getUnilateralState, isBilateralStructureConstant, maxFrictionConstraintSets, numActiveComponents, numParametricComponents, setActiveForces, setActivePosState, setActiveVelState, setAuxAdvanceState, setAuxVarState, setBilateralForces, setFrictionForces, setFrictionState, setParametricForces, setParametricPosState, setParametricVelState, setUnilateralForces, setUnilateralState, updateConstraints, updateForces

Method Detail

getAttachments

void getAttachments(java.util.List<DynamicAttachment> list,
                    int level)

getDynamicComponents

void getDynamicComponents(java.util.List<DynamicComponent> active,
                          java.util.List<DynamicComponent> attached,
                          java.util.List<DynamicComponent> parametric)

getDynamicComponents

void getDynamicComponents(java.util.List<DynamicComponent> comps)

getCollidables

void getCollidables(java.util.List<Collidable> list,
                    int level)

getConstrainers

void getConstrainers(java.util.List<Constrainer> list,
                     int level)

getForceEffectors

void getForceEffectors(java.util.List<ForceEffector> list,
                       int level)

getAuxStateComponents

void getAuxStateComponents(java.util.List<HasNumericState> list,
                           int level)

getSlaveObjectComponents

void getSlaveObjectComponents(java.util.List<HasSlaveObjects> list,
                              int level)

addGeneralMassBlocks

void addGeneralMassBlocks(SparseNumberedBlockMatrix M)

getMassMatrixValues

void getMassMatrixValues(SparseNumberedBlockMatrix M,
                         VectorNd f,
                         double t)

mulInverseMass

void mulInverseMass(SparseBlockMatrix M,
                    VectorNd a,
                    VectorNd f)

Specified by:

mulInverseMass in interface MechSystem

checkVelocityStability

DynamicComponent checkVelocityStability()

Checks the velocity stability of this system. If the velocity of any component appears to be unstable, return that component. Otherwise, return null.

Returns:

first component containing an unstable velocity, or null if there is no instability

recursivelyInitialize

void recursivelyInitialize(double t,
                           int level)

recursivelyPrepareAdvance

void recursivelyPrepareAdvance(double t0,
                               double t1,
                               int flags,
                               int level)

recursivelyFinalizeAdvance

void recursivelyFinalizeAdvance(StepAdjustment stepAdjust,
                                double t0,
                                double t1,
                                int flags,
                                int level)