artisynth.core.mechmodels

Interface BodyConstrainer

All Superinterfaces:

Constrainer, HasProperties, HierarchyNode, ModelComponent, PostScannable, Scannable

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, ModelComponent

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, and a version of getUnilateralInfo that controls whether or not deadbands are applied.

Nested Class Summary

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

ModelComponent.FilePathSaveType, ModelComponent.NavpanelVisibility

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.
ConnectableBody[]	getBodies() Returns a list of the bodies constrained by this constrainer.
int	getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo, int idx, boolean addTolerance) Implementation of Constrainer#getUnilateralInfo(ConstraintInfo[],int) that controls whether or not penetration tolerances are added to penetration distances.

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

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

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

getUnilateralInfo

int getUnilateralInfo(MechSystem.ConstraintInfo[] ninfo,
                      int idx,
                      boolean addTolerance)

Implementation of Constrainer#getUnilateralInfo(ConstraintInfo[],int) that controls whether or not penetration tolerances are added to penetration distances.

Parameters:

ninfo - returns the constraint information

idx - starting location in ninfo for returning constraint

addTolerance - if true, adds any specified penetration tolerance to the penetration distance

Returns:

updated value of idx

getBodies

ConnectableBody[] getBodies()

Returns a list of the bodies constrained by this constrainer. If the constrainer connects one or more of the bodies to ground, then null should be included in the list.

Returns:

list of constrained bodies. Should not be modified.