SIM_ConRelSpring Class Reference

#include <SIM_ConRelSpring.h>

Inheritance diagram for SIM_ConRelSpring:

List of all members.

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.
	GETSET_DATA_FUNCS_F (SIM_NAME_STRENGTH, Strength)
	k
	GETSET_DATA_FUNCS_F (SIM_NAME_RESTLENGTH, RestLength)
	L.
	GETSET_DATA_FUNCS_F (SIM_NAME_DAMPING, Damping)
	kd
Protected Member Functions
	SIM_ConRelSpring (const SIM_DataFactory *factory)
virtual	~SIM_ConRelSpring ()
virtual void	setStateForceSubclass (fpreal force)
virtual fpreal	getStateForceSubclass () const
virtual void	setStateDistanceSubclass (fpreal distance)
virtual fpreal	getStateDistanceSubclass () const
virtual void	buildConRelGuideSpatial (const GU_DetailHandle &gdh, const SIM_Options &options, const UT_Vector3 &anchorPos1, const UT_Vector3 &anchorPos2) const
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

---

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 35 of file SIM_ConRelSpring.h.

---

Constructor & Destructor Documentation

SIM_ConRelSpring::SIM_ConRelSpring

(

const SIM_DataFactory *

factory

)

[explicit, protected]

virtual SIM_ConRelSpring::~SIM_ConRelSpring

(

)

[protected, virtual]

---

Member Function Documentation

virtual void SIM_ConRelSpring::buildConRelGuideSpatial	(	const GU_DetailHandle &	gdh,
		const SIM_Options &	options,
		const UT_Vector3 &	anchorPos1,
		const UT_Vector3 &	anchorPos2
	)			const [protected, virtual]

Reimplemented from SIM_ConRel.

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
	)

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.

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
	)			[protected, virtual]

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 [protected, virtual]

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 [protected, virtual]

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_DAMPING	,
		Damping
	)

kd

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_RESTLENGTH	,
		RestLength
	)

L.

SIM_ConRelSpring::GETSET_DATA_FUNCS_F	(	SIM_NAME_STRENGTH	,
		Strength
	)

k

virtual fpreal SIM_ConRelSpring::getStateDistanceSubclass

(

)

const [protected, virtual]

Reimplemented from SIM_ConRel.

virtual fpreal SIM_ConRelSpring::getStateForceSubclass

(

)

const [protected, virtual]

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
	)			[protected, virtual]

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

virtual void SIM_ConRelSpring::setStateDistanceSubclass

(

fpreal

distance

)

[protected, virtual]

Reimplemented from SIM_ConRel.

virtual void SIM_ConRelSpring::setStateForceSubclass

(

fpreal

force

)

[protected, virtual]

Reimplemented from SIM_ConRel.

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

• SIM/SIM_ConRelSpring.h