Examples with ConstraintInfo artisynth.core.mechmodels.MechSystem.ConstraintInfo used on opensource projects

Example 6 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class BodyConnector method getUnilateralInfo.

public int getUnilateralInfo(ConstraintInfo[] ninfo, int idx) {
    int nc = (myUnilaterals != null ? myUnilaterals.size() : 0);
    if (nc > 0) {
        for (int j = 0; j < nc; j++) {
            RigidBodyConstraint uc = myUnilaterals.get(j);
            uc.setSolveIndex(idx);
            ConstraintInfo ni = ninfo[idx++];
            if (uc.getDistance() < -myPenetrationTol) {
                ni.dist = uc.getDistance() + myPenetrationTol;
            } else {
                ni.dist = 0;
            }
            ni.compliance = uc.getCompliance();
            ni.damping = uc.getDamping();
            ni.force = 0;
        }
    }
    return idx;
}

Example 7 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class ParticleConstraintBase method getBilateralInfo.

public int getBilateralInfo(ConstraintInfo[] ginfo, int idx) {
    if (!myUnilateralP) {
        for (int i = 0; i < myParticleInfo.size(); i++) {
            ParticleInfo pi = myParticleInfo.get(i);
            if (pi.myPart.getSolveIndex() != -1) {
                ConstraintInfo gi = ginfo[idx++];
                gi.dist = pi.myDist;
                gi.compliance = myCompliance;
                gi.damping = myDamping;
                gi.force = 0;
            }
        }
    }
    return idx;
}

Example 8 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class ParticleConstraintNdBase method getBilateralInfo.

public int getBilateralInfo(ConstraintInfo[] ginfo, int idx) {
    if (!myUnilateralP) {
        for (ParticleInfo pi : myParticleInfo) {
            if (pi.myPart.getSolveIndex() != -1) {
                for (int i = 0; i < pi.myDist.length; ++i) {
                    ConstraintInfo gi = ginfo[idx++];
                    gi.dist = pi.myDist[i];
                    gi.compliance = myCompliance;
                    gi.damping = myDamping;
                    gi.force = 0;
                }
            }
        }
    }
    return idx;
}

Example 9 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class ParticleConstraintNdBase method getUnilateralInfo.

public int getUnilateralInfo(ConstraintInfo[] ninfo, int idx) {
    if (myUnilateralP) {
        for (ParticleInfo pi : myParticleInfo) {
            if (pi.myEngagedP && pi.myPart.getSolveIndex() != -1) {
                for (int j = 0; j < pi.myDist.length; ++j) {
                    ConstraintInfo gi = ninfo[idx++];
                    gi.dist = pi.myDist[j];
                    gi.compliance = myCompliance;
                    gi.damping = myDamping;
                    gi.force = 0;
                }
            }
        }
    }
    return idx;
}

Example 10 with ConstraintInfo

use of artisynth.core.mechmodels.MechSystem.ConstraintInfo in project artisynth_core by artisynth.

the class MechSystemSolver method setUnilateralOffsets.

private void setUnilateralOffsets(double h, double dotscale) {
    if (myNsize > 0) {
        mySys.getUnilateralInfo(myNInfo);
        double[] ndot = myNdot.getBuffer();
        double[] Rbuf = myRn.getBuffer();
        double[] nbuf = myBn.getBuffer();
        for (int i = 0; i < myNsize; i++) {
            ConstraintInfo ni = myNInfo[i];
            if (ni.compliance > 0) {
                if (ni.force != 0) {
                    double alpha = 1 / (0.5 * h / ni.compliance + ni.damping);
                    Rbuf[i] = alpha / h;
                    nbuf[i] -= alpha * ni.force;
                } else {
                    double s = 1 / (0.5 * h + ni.damping * ni.compliance);
                    Rbuf[i] = s * ni.compliance / h;
                    nbuf[i] -= s * ni.dist;
                }
            }
            nbuf[i] -= dotscale * ndot[i];
        }
    }
}