artisynth.core.mechmodels

Interface BodyConstrainer

All Superinterfaces:

Constrainer

All Known Implementing Classes:

BodyConnector, CustomJoint, CylindricalJoint, EllipsoidJoint, EllipsoidJoint3d, FixedAxisJoint, FreeJoint, GimbalJoint, HingeJoint, JointBase, JointCoordinateCoupling, OpenSimCustomJoint, PlanarConnector, PlanarJoint, PlanarTranslationJoint, RevoluteJoint, RollPitchJoint, SegmentedPlanarConnector, SkewedUniversalJoint, SliderJoint, SlottedHingeJoint, SolidJoint, SphericalJoint, SphericalJointBase, SphericalRpyJoint, UniversalJoint

public interface BodyConstrainer
extends Constrainer

Subclass of Constrainer that applies constraints to rigid bodies and frames and implements versions of addBilateralConstraints and addUnilateralConstraints that permit block indices to be reassigned via a solve index map.

Method Summary

Modifier and Type	Method and Description
int	addBilateralConstraints(SparseBlockMatrix GT, VectorNd dg, int numb, int[] solveIndexMap) Implementation of Constrainer.addBilateralConstraints(SparseBlockMatrix,VectorNd,int) that allows the block row positions in GT to be reassigned vis a solve matrix map.
int	addUnilateralConstraints(SparseBlockMatrix NT, VectorNd dn, int numu, int[] solveIndexMap) Implementation of Constrainer.addUnilateralConstraints(SparseBlockMatrix,VectorNd,int) that allows the block row positions in NT to be reassigned vis a solve matrix map.

Methods inherited from interface artisynth.core.mechmodels.Constrainer

addBilateralConstraints, addFrictionConstraints, addUnilateralConstraints, getBilateralForces, getBilateralInfo, getBilateralSizes, getConstrainedComponents, getFrictionForces, getFrictionState, getUnilateralForces, getUnilateralInfo, getUnilateralSizes, getUnilateralState, maxFrictionConstraintSets, setBilateralForces, setFrictionForces, setFrictionState, setUnilateralForces, setUnilateralState, updateConstraints, zeroForces

Method Detail

addBilateralConstraints

int addBilateralConstraints(SparseBlockMatrix GT,
                            VectorNd dg,
                            int numb,
                            int[] solveIndexMap)

Implementation of Constrainer.addBilateralConstraints(SparseBlockMatrix,VectorNd,int) that allows the block row positions in GT to be reassigned vis a solve matrix map. This enables the creation of constrained system equations for model component subsets.

Parameters:

GT - matrix to which the bilateral force contraint matrix is appended.

dg - if non-null, returns the velocity constraint time derivative

numb - starting index for time derivative in dg

solveIndexMap - if non-null, maps the solve indices of the constrained components onto the block-row indices of GT.

Returns:

updated value of numb

addUnilateralConstraints

int addUnilateralConstraints(SparseBlockMatrix NT,
                             VectorNd dn,
                             int numu,
                             int[] solveIndexMap)

Implementation of Constrainer.addUnilateralConstraints(SparseBlockMatrix,VectorNd,int) that allows the block row positions in NT to be reassigned vis a solve matrix map. This enables the creation of constrained system equations for model component subsets.

Parameters:

NT - matrix to which the bilateral force contraint matrix is appended.

dn - if non-null, returns the velocity constraint time derivative

numu - starting index for time derivative in dg

solveIndexMap - if non-null, maps the solve indices of the constrained components onto the block-row indices of NT.

Returns:

updated value of numb