artisynth.core.mechmodels

Class PointFrameAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachmentBase

artisynth.core.mechmodels.PointAttachment

artisynth.core.mechmodels.PointFrameAttachment

All Implemented Interfaces:

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

Direct Known Subclasses:

ShellNodeFrameAttachment

public class PointFrameAttachment
extends PointAttachment

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
PointFrameAttachment()
PointFrameAttachment(Frame master, Point slave)
PointFrameAttachment(Frame master, Point slave, Point3d loc)
PointFrameAttachment(Point slave)

Method Summary

Modifier and Type	Method and Description
void	addMassToMasters()
int	addTargetJacobian(SparseBlockMatrix J, int bi)
void	applyForces()
PointFrameAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
void	detachSlave()
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)
Frame	getFrame()
MatrixBlock	getGT(int idx) Returns the transpose of the constraint matrix G associated with the idx-th master component.
Point3d	getLocation()
void	getUndeformedPos(Vector3d pos)
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	scale(double s)
void	setCurrentPos(Vector3d pos)
void	setLocation(Point3d loc)
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, getHardReferences, 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, 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

Constructor Detail

PointFrameAttachment

public PointFrameAttachment()

PointFrameAttachment

public PointFrameAttachment(Point slave)

PointFrameAttachment

public PointFrameAttachment(Frame master,
                            Point slave)

PointFrameAttachment

public PointFrameAttachment(Frame master,
                            Point slave,
                            Point3d loc)

Method Detail

getFrame

public Frame getFrame()

setLocation

public void setLocation(Point3d loc)

getLocation

public Point3d getLocation()

detachSlave

public void detachSlave()

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

getUndeformedPos

public void getUndeformedPos(Vector3d pos)

setCurrentPos

public void setCurrentPos(Vector3d pos)

getCurrentVel

public void getCurrentVel(Vector3d vel,
                          Vector3d dvel)

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

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

scale

public void scale(double s)

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

addTargetJacobian

public int addTargetJacobian(SparseBlockMatrix J,
                             int bi)

Overrides:

addTargetJacobian in class PointAttachment

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in interface DynamicAttachment

Specified by:

addMassToMasters in class DynamicAttachmentBase

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

copy

public PointFrameAttachment 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