#include <SIM_ConRelSpring.h>

Inheritance diagram for SIM_ConRelSpring:

Public Member Functions
UT_Vector3	getForce (const SIM_Time &time, const SIM_ConAnchorSpatial &objAnchor, const SIM_ConAnchorSpatial &otherAnchor, UT_Matrix3 jacobianPos=NULL, UT_Matrix3 jacobianVel=NULL)

UT_Vector3	getForce (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter)

UT_Vector3	getTorque (const UT_Quaternion &objOrient, const UT_Vector3 &objAngVel, const UT_Quaternion &anchorOrient, const UT_Vector3 &anchorAngVel)

UT_Matrix3	getJacobianPos (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const

UT_Matrix3	getJacobianVel (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const
	Get Jacobian with respect to velocity, dF/dv. Same caveats as dF/dx. More...

	GETSET_DATA_FUNCS_F (SIM_NAME_STRENGTH, Strength)
	k More...

	GETSET_DATA_FUNCS_F (SIM_NAME_RESTLENGTH, RestLength)
	L. More...

	GETSET_DATA_FUNCS_F (SIM_NAME_DAMPING, Damping)
	kd More...

	GETSET_DATA_FUNCS_I (SIM_NAME_NUMITERATIONS, NumIterations)

	GETSET_DATA_FUNCS_I (SIM_NAME_DISABLECOLLISIONS, DisableCollisions)

Public Member Functions inherited from SIM_ConRel
SIM_ConRel *	getSubConRel ()

const SIM_ConRel *	getConstSubConRel () const

void	makeStateTransition (const SIM_Time &time)

void	setStateForce (fpreal force)
	Functions to get and set state information. More...

fpreal	getStateForce () const

void	setStateDistance (fpreal distance)

fpreal	getStateDistance () const

void	setStateErrorCode (SIM_ConRelError errorcode)
	A constraint is invalid if its parameters cannot be resolved. More...

SIM_ConRelError	getStateErrorCode () const

void	buildConRelGuideGeometry (const GU_DetailHandle &gdh, const SIM_Time &time, const SIM_Relationship &rel, const SIM_ConAnchor &anchor1, const SIM_ConAnchor &anchor2) const

Public Member Functions inherited from SIM_Data
const UT_StringHolder &	getDataType () const

void	initialize (const SIM_SubdataBehavior &subdatabehavior)

void	makeEqual (const SIM_Data *source, const SIM_SubdataBehavior &subdatabehavior)

void	setParameters (const SIM_Options &parms)

void	interpolate (const SIM_Data source1, const SIM_Data source2, fpreal interp)

int64	getMemorySize () const

bool	getIsAlternateRepresentation () const

bool	saveToFile (const char *filename, UT_CompressionType compressionType) const

bool	saveToStream (std::ostream &os, UT_CompressionType compressionType) const

void	appendFullDataPath (const SIM_Data *subdata, bool useobjectid, UT_String &datapath) const

bool	loadFromFile (const char *filename)

bool	loadFromStream (UT_IStream &is, bool skiptype=false)

bool	getIsOfType (const UT_StringRef &datatype) const

const void *	getConstPointerToType (const UT_StringRef &datatype) const

void *	getPointerToType (const UT_StringRef &datatype)

int	getNumSubData () const
	Get the number of sub-data items attached to this data. More...

const UT_StringHolder &	getSubDataName (int index) const
	Get the name of the sub-data at a particular index location. More...

int	getSubDataIndex (const SIM_Data *subdata) const

bool	buildSubDataPath (const SIM_Data *subdata, UT_String &pathto) const

const SIM_Query &	getQueryObject () const

SIM_Options *	getUserOptions ()

const SIM_Options *	getConstUserOptions () const

long	getGuideParmVersion () const

void	addGuideDep (DEP_MicroNode &src) const

virtual bool	getGuideGeometryList (const SIM_RootData &root, const char *datapath, const SIM_Time &t, UT_Array< GU_ConstDetailHandle > &detailArray, UT_Array< UT_DMatrix4 > &xformArray) const

GU_ConstDetailHandle	getGuideGeometry (const SIM_RootData &root, const char *datapath, UT_DMatrix4 &xform, const SIM_Time &t) const

void	buildGuideOptions (SIM_Options &options, const SIM_Time &time) const

SIM_Data *	getSubData (int index)

const SIM_Data *	getConstSubData (int index) const

SIM_Data *	getNamedSubData (const char *dataname)

const SIM_Data *	getConstNamedSubData (const char *dataname) const

void	filterSubData (SIM_DataArray &ncdp, UT_StringArray names, const SIM_DataFilter &ncfilter, const char startfrom, const SIM_DataFilter &recursefilter)

void	filterConstSubData (SIM_ConstDataArray &dp, UT_StringArray names, const SIM_DataFilter &filter, const char startfrom, const SIM_DataFilter &recurseFilter) const

SIM_Data *	getNthSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurseFilter)

const SIM_Data *	getNthConstSubData (UT_String name, const SIM_DataFilter &filter, int n, const char startfrom, const SIM_DataFilter &recurseFilter) const

void	forEachSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter)

void	forEachConstSubData (SIM_EachDataCallback &cb, const SIM_DataFilter &filter, const char *startfrom, const SIM_DataFilter &recurseFilter) const

SIM_Data *	createNamedSubData (const char dataname, const char datatype, int creationflags, UT_String *newdatanameptr=NULL)

SIM_Data *	getOrCreateAlternateRepresentation (const char dataname, const char datatype) const

void	interpolateSubData (const SIM_Data &source1, const SIM_Data &source2, fpreal interp, const SIM_DataFilter &interpdata, const SIM_DataFilter &recurse)

void	setNamedSubData (const char dataname, const SIM_Data data, int setflags)

void	createUniqueSubDataName (const SIM_Data *subdata, UT_String &dataname) const

void	removeNamedSubData (const char *dataname)
	Remove some existing sub-data by name. More...

void	removeSubData (int index)
	Remove some existing sub-data by index. More...

void	moveNamedSubData (const char oldname, const char newname)

const UT_Guid &	getUniqueId () const

long	getReferenceCount () const

int	getCreatorId () const
	Get the ID of the node that created this data. More...

OP_Node *	getCreatorNode () const
	Use the creator ID to look up the OP_Node that created this data. More...

OP_Node *	getOwnerNetwork () const
	Look up the owner node of our engine to get the DOP Network pointer. More...

const SIM_Engine &	getEngine () const
	Get the engine that created us (from our data factory). More...

int	getCreatorIndex () const
	Get the output index of the creator node that generated this data. More...

const SIM_Time &	getCreationTime () const
	Get the creation time for this data. More...

bool	getIsSelected () const
	Get the selected flag for this data. More...

void	setIsSelected (bool selected) const

bool	getSelectionRepresentsObject () const

void	copyCreationInfoFrom (const SIM_Data *source)

OP_Node &	getNodePathsRelativeTo () const

OP_Node *	getOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

OBJ_Node *	getOBJNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return an OBJ_Node. More...

SOP_Node *	getSOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a SOP_Node. More...

DOP_Node *	getDOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a DOP_Node. More...

COP2_Node *	getCOP2Node (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a COP2_Node. More...

CHOP_Node *	getCHOPNode (const char *path, bool addinterest) const
	Given a path relative to our creator node, return a CHOP_Node. More...

void	addOPInterest (OP_Node *node) const
	Adds an interest in the specified node to our engine's owner node. More...

void	addError (const SIM_RootData root, int errorcode, const char errorparm, UT_ErrorSeverity severity) const
	Adds an error to our SIM_Engine. More...

void	makeMemberDataUnique ()

virtual void	makeMemberDataUniqueSubclass ()

Public Member Functions inherited from SIM_OptionsUser
	SIM_OptionsUser (SIM_Data *owner)

virtual	~SIM_OptionsUser ()

void	optionChanged (const char *name)

const SIM_Options &	getOptions () const

Protected Member Functions
	SIM_ConRelSpring (const SIM_DataFactory *factory)

	~SIM_ConRelSpring () override

void	setStateForceSubclass (fpreal force) override

fpreal	getStateForceSubclass () const override

void	setStateDistanceSubclass (fpreal distance) override

fpreal	getStateDistanceSubclass () const override

void	buildConRelGuide (const GU_DetailHandle &gdh, const SIM_Options &options, const UT_Vector3 &anchor_pos_1, const UT_Vector3 &anchor_pos_2, const UT_Quaternion &anchor_rot_1, const UT_Quaternion &anchor_rot_2, const ConRelData &c_options) const override

virtual UT_Vector3	getForceSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter)

virtual UT_Vector3	getTorqueSubclass (const UT_Quaternion &objOrient, const UT_Vector3 &objAngVel, const UT_Quaternion &anchorOrient, const UT_Vector3 &anchorAngVel)

virtual UT_Matrix3	getJacobianPosSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const

virtual UT_Matrix3	getJacobianVelSubclass (const UT_Vector3 &objAnchorPos, const UT_Vector3 &objAnchorVel, const UT_Vector3 &otherAnchorPos, const UT_Vector3 &otherAnchorVel, const UT_Matrix3 &dofFilter) const

UT_Vector3	project (const UT_Vector3 &vec, const UT_Matrix3 &dofFilter) const

Protected Member Functions inherited from SIM_ConRel
	SIM_ConRel (const SIM_DataFactory *factory)

	~SIM_ConRel () override

void	initializeSubclass () override

void	makeEqualSubclass (const SIM_Data *source) override

void	saveSubclass (std::ostream &os) const override

bool	loadSubclass (UT_IStream &is) override

SIM_Query *	createQueryObjectSubclass () const override

virtual SIM_ConRel *	getSubConRelSubclass ()

virtual const SIM_ConRel *	getConstSubConRelSubclass () const

virtual void	makeStateTransitionSubclass (const SIM_Time &time)

virtual void	buildConRelGuideGeometrySubclass (const GU_DetailHandle &gdh, const SIM_Time &time, const SIM_Relationship &rel, const SIM_ConAnchor &anchor1, const SIM_ConAnchor &anchor2) const

Protected Member Functions inherited from SIM_Data
	SIM_Data (const SIM_DataFactory *factory)

virtual	~SIM_Data ()

void	handleModification (int code=-1)

void	setNeedsToRecalculateMemorySize () const

void	deleteQueryObjectIfNotBuilding () const
	Deletes the query object for this data, if there is one. More...

void	deleteGuideObjectIfNotBuilding () const
	Delete the guide geometry for this data, if it exists. More...

void	initAlternateRepresentation () const

void	setNeedsInitialization (bool needsinit) const
	Flags an alternate representation subdata as requiring initialization. More...

bool	getNeedsInitialization () const
	Tests whether an alternate representation requires initialization. More...

bool	saveOptionPacket (std::ostream &os, const char name, const SIM_Options opts) const

bool	loadOptionPacket (UT_IStream &is, const char name, SIM_Options opts) const

bool	getIsDoingSimplifiedSaveLoad () const

void	initializeFromParmDefaults ()

void	setSelectionRepresentsObject (bool representsobject)

virtual void	setNeedsInitializationSubclass (bool needsinit) const

virtual void	saveIOSubclass (std::ostream &os, SIM_DataThreadedIO *io) const

virtual bool	loadIOSubclass (UT_IStream &is, SIM_DataThreadedIO *io)

virtual long	getGuideParmVersionSubclass () const

virtual SIM_Guide *	createGuideObjectSubclass () const

virtual void	buildGuideGeometrySubclass (const SIM_RootData &root, const SIM_Options &options, const GU_DetailHandle &gdh, UT_DMatrix4 *xform, const SIM_Time &t) const

virtual void	setParametersSubclass (const SIM_Options &parms)

virtual void	setNamedSubDataSubclass (const char dataname, const SIM_Data data)

virtual void	removeNamedSubDataSubclass (const char *dataname)

virtual void	interpolateSubclass (const SIM_Data source1, const SIM_Data source2, fpreal interp)

virtual int64	getMemorySizeSubclass () const

virtual void	handleModificationSubclass (int code)

virtual bool	getIsAlternateRepresentationSubclass () const

virtual void	initAlternateRepresentationSubclass (const SIM_Data &)

virtual void *	getCastToType (const UT_StringRef &datatype) const

virtual const UT_StringHolder &	getDataTypeSubclass () const

const SIM_Data *	getAlternateRepresentationOf () const

Protected Member Functions inherited from SIM_OptionsUser
SIM_Options &	getOptions ()

virtual void	optionChangedSubclass (const char *name)

Additional Inherited Members
Static Public Member Functions inherited from SIM_Data
static bool	getDataTypeFromFile (const char *filename, UT_String &datatype)

static bool	getDataTypeFromStream (UT_IStream &is, UT_String &datatype)

static const void *	castConstPointerToType (const SIM_Data *data, const UT_StringRef &datatype)

static void *	castPointerToType (SIM_Data *data, const UT_StringRef &datatype)

Static Protected Member Functions inherited from SIM_Data
static const PRM_Template *	getEmptyTemplateList ()

static const SIM_DopDescription *	getEmptyDopDescription ()
	A DOP description that says not to create an automatic DOP. More...

static void	getDataTypeSuperclasses (UT_StringArray &)

Detailed Description

Defines a spring force between two anchors to enforce the constraint between them.

The force is expressed mathematically as: F = -k * (|x| - L) * ( x/|x| ) with a damping force of Fd = -kd * (v . (x/|x|)) * (x/|x|) where x is the vector connecting the two anchors and v is dx/dt.

Torque is defined similarly.

Definition at line 29 of file SIM_ConRelSpring.h.

Constructor & Destructor Documentation

SIM_ConRelSpring::SIM_ConRelSpring ( const SIM_DataFactory * factory )

explicitprotected

SIM_ConRelSpring::~SIM_ConRelSpring ( )

overrideprotected

Member Function Documentation

void SIM_ConRelSpring::buildConRelGuide	(	const GU_DetailHandle &	gdh,
		const SIM_Options &	options,
		const UT_Vector3 &	anchor_pos_1,
		const UT_Vector3 &	anchor_pos_2,
		const UT_Quaternion &	anchor_rot_1,
		const UT_Quaternion &	anchor_rot_2,
		const ConRelData &	c_options
	)		const

overrideprotectedvirtual

Reimplemented from SIM_ConRel.

UT_Vector3 SIM_ConRelSpring::getForce	(	const SIM_Time &	time,
		const SIM_ConAnchorSpatial &	objAnchor,
		const SIM_ConAnchorSpatial &	otherAnchor,
		UT_Matrix3 *	jacobianPos = `NULL`,
		UT_Matrix3 *	jacobianVel = `NULL`
	)

Retrieve the force (and optional jacobian) acting on objAnchor from a spring.

UT_Vector3 SIM_ConRelSpring::getForce	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)

virtual UT_Vector3 SIM_ConRelSpring::getForceSubclass	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)

protectedvirtual

UT_Matrix3 SIM_ConRelSpring::getJacobianPos	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)		const

Get Jacobian with respect to position, dF/dx. The returned Jacobian is w.r.t. the obj point (dF_i/dx_i); the Jacobian for the other point is the same thing, just negated (dF_i/dx_j = -dF_i/dx_i)

virtual UT_Matrix3 SIM_ConRelSpring::getJacobianPosSubclass	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)		const

protectedvirtual

UT_Matrix3 SIM_ConRelSpring::getJacobianVel	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)		const

Get Jacobian with respect to velocity, dF/dv. Same caveats as dF/dx.

virtual UT_Matrix3 SIM_ConRelSpring::getJacobianVelSubclass	(	const UT_Vector3 &	objAnchorPos,
		const UT_Vector3 &	objAnchorVel,
		const UT_Vector3 &	otherAnchorPos,
		const UT_Vector3 &	otherAnchorVel,
		const UT_Matrix3 &	dofFilter
	)		const

protectedvirtual

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_STRENGTH	,
		Strength
	)

k

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_RESTLENGTH	,
		RestLength
	)

L.

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_DAMPING	,
		Damping
	)

kd

SIM_ConRelSpring::GETSET_DATA_FUNCS_I	(	SIM_NAME_NUMITERATIONS	,
		NumIterations
	)

SIM_ConRelSpring::GETSET_DATA_FUNCS_I	(	SIM_NAME_DISABLECOLLISIONS	,
		DisableCollisions
	)

fpreal SIM_ConRelSpring::getStateDistanceSubclass ( ) const

overrideprotectedvirtual

Reimplemented from SIM_ConRel.

fpreal SIM_ConRelSpring::getStateForceSubclass ( ) const

overrideprotectedvirtual

Reimplemented from SIM_ConRel.

UT_Vector3 SIM_ConRelSpring::getTorque	(	const UT_Quaternion &	objOrient,
		const UT_Vector3 &	objAngVel,
		const UT_Quaternion &	anchorOrient,
		const UT_Vector3 &	anchorAngVel
	)

virtual UT_Vector3 SIM_ConRelSpring::getTorqueSubclass	(	const UT_Quaternion &	objOrient,
		const UT_Vector3 &	objAngVel,
		const UT_Quaternion &	anchorOrient,
		const UT_Vector3 &	anchorAngVel
	)

protectedvirtual

UT_Vector3 SIM_ConRelSpring::project	(	const UT_Vector3 &	vec,
		const UT_Matrix3 &	dofFilter
	)		const

protected

void SIM_ConRelSpring::setStateDistanceSubclass ( fpreal distance )

overrideprotectedvirtual

Reimplemented from SIM_ConRel.

void SIM_ConRelSpring::setStateForceSubclass ( fpreal force )

overrideprotectedvirtual

Reimplemented from SIM_ConRel.

The documentation for this class was generated from the following file:

SIM/SIM_ConRelSpring.h

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation