Interface to write added mass matrices for one or two rigid bodies. More...

#include <AddedMassInteraction.h>

Inheritance diagram for agx::AddedMassInteraction:

Classes
class	Matrix6x6
	6x6 matrix class with blockwise interface to get or set 3x3 matrices: [ M(0, 0) M(0, 1) ] [ M(1, 0) M(1, 1) ] More...

class	RigidBodyStorage
	Class containing a rigid body and the 6x6 matrix to be written in the diagonal of the system matrix. More...

Public Member Functions
	AddedMassInteraction (agx::RigidBody rb1, agx::RigidBody rb2=nullptr)
	Construct given either one or two rigid bodies.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::AddedMassInteraction)

agx::AddedMassInteraction::Matrix6x6 &	getOffDiagonalBlock ()
	Off diagonal block (6x6 matrix).

const agx::AddedMassInteraction::Matrix6x6 &	getOffDiagonalBlock () const
	Off diagonal block (6x6 matrix).

virtual agx::RigidBody *	getRigidBody1 () const override

agx::AddedMassInteraction::RigidBodyStorage *	getRigidBody1Storage ()
	Storage of 'rb1' from construction containing the rigid body and a 6x6 matrix block.

const agx::AddedMassInteraction::RigidBodyStorage *	getRigidBody1Storage () const
	Storage of 'rb1' from construction containing the rigid body and a 6x6 matrix block.

virtual agx::RigidBody *	getRigidBody2 () const override

agx::AddedMassInteraction::RigidBodyStorage *	getRigidBody2Storage ()
	Storage of 'rb2' from construction containing the rigid body and a 6x6 matrix block.

const agx::AddedMassInteraction::RigidBodyStorage *	getRigidBody2Storage () const
	Storage of 'rb2' from construction containing the rigid body and a 6x6 matrix block.

void	translateWorldDiagonalBlock (const agx::Vec3 cmOffset, agx::AddedMassInteraction::Matrix6x6 &matrix) const
	Transform the mass matrix according to a translate of center of mass.

void	translateWorldDiagonalBlock (const agx::Vec3 cmOffsetRb1, const agx::Vec3 cmOffsetRb2, agx::AddedMassInteraction::Matrix6x6 &matrix) const

Public Member Functions inherited from agx::StrongInteraction
virtual void	addNlCallbacks (agx::SparseRangeReal &sparseRangeReal) const
	Interface for non-linear callback from solver.

virtual void	addNotification () override
	Called when added to a simulation.

	AGXSTREAM_DECLARE_ABSTRACT_SERIALIZABLE (agx::StrongInteraction)

agx::Bool	getEnable () const

virtual agx::RigidBody *	getRigidBody1 () const =0

virtual agx::RigidBody *	getRigidBody2 () const =0

agx::Bool	getValid () const

virtual void	postSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called after the solver is done.

virtual void	prepare ()
	Prepares for solve.

virtual void	preSystemCallback (agx::DynamicsSystem *dynamicsSystem) override
	Called before solver executes.

virtual void	removeNotification () override
	Called when removed from a simulation.

virtual void	render (agxRender::RenderManager *mgr, float scale)
	Render the interaction.

void	setEnable (agx::Bool enable)
	Enable or disable this interaction.

virtual void	writeMatrixData (agx::StrongInteraction::MatrixData rb1DiagonalBlock, agx::StrongInteraction::MatrixData rb2DiagonalBlock, agx::StrongInteraction::MatrixData offDiagonalBlock)=0
	Write data for dynamic bodies.

virtual void	writeRhs (agx::Physics::RigidBodyPtr rb1, agx::Real rb1Rhs, agx::Physics::RigidBodyPtr rb2, agx::Real rb2Rhs, agx::Bool isRestingSolve)=0
	Write data to the right hand side, for dynamic bodies.

Public Member Functions inherited from agx::Interaction
	Interaction ()
	Default constructor.

	AGXSTREAM_DECLARE_SERIALIZABLE_BASE (agx::Interaction)

const agx::Name &	getName () const

agx::PropertyContainer *	getPropertyContainer ()

const agx::PropertyContainer *	getPropertyContainer () const

agxSDK::SimulationProxy *	getSimulationProxy () const

agx::Bool	hasPropertyContainer () const

virtual void	postSystemCallback (agx::DynamicsSystem *)
	Called after all post step events, after solve.

virtual void	preSystemCallback (agx::DynamicsSystem *)
	Called after all pre step events, before solve.

void	setName (const agx::Name &name)
	Name this interaction.

void	setPropertyContainer (agx::PropertyContainer *propertyContainer)
	Assign a new property container.

virtual void	updateForce (agx::DynamicsSystem *dynamicsSystem)
	This virtual method is implemented so that it computes the interaction forces on all the physical bodies implicated.

Public Member Functions inherited from agx::Referenced
	Referenced ()
	Default constructor.

	Referenced (const Referenced &)

template<typename T >
T *	as ()
	Subclass casting.

template<typename T >
const T *	as () const

template<typename T >
T *	asSafe ()
	Safe subclass casting, return nullptr if template type does not match.

template<typename T >
const T *	asSafe () const

int	getReferenceCount () const

template<typename T >
bool	is () const
	Subclass test.

Referenced &	operator= (const Referenced &)
	Assignment operator. Will increment the number of references to the referenced object.

void	reference (void *ptr=nullptr) const
	Explicitly increment the reference count by one, indicating that this object has another pointer which is referencing it.

void	unreference (void *ptr=nullptr) const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

void	unreference_nodelete () const
	Decrement the reference count by one, indicating that a pointer to this object is referencing it.

Public Member Functions inherited from agxStream::Serializable
virtual	~Serializable ()
	Destructor for normal C++ use but hidden from SWIG bindings.

virtual const char *	getClassName () const

bool	getEnableSerialization () const

bool	getEnableUuidGeneration ()

agx::UInt32	getIndex () const
	This index is given at creation of this object.

virtual StorageAgent *	getStorageAgent () const =0

agx::Uuid	getUuid () const

bool	isFinished () const

void	setEnableSerialization (bool flag)
	Set to false to disable serialization of this object.

void	setFinished ()
	Tells this class that it is restored correctly and should not be deleted during destruction of an Archive.

void	setUuid (const agx::Uuid &uuid)
	Explicitly set a Uuid on a serializable object.

Static Public Member Functions
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Interaction
static agxStream::Serializable *	create (agxStream::InputArchive &)

Static Public Member Functions inherited from agx::Referenced
template<typename T >
static bool	ValidateCast (const Referenced *object)

Static Public Member Functions inherited from agxStream::Serializable
static void	setEnableUuidGeneration (bool flag)
	Specify if there should be UUID:s generated for each new Serializable object. By default it is enabled.

Protected Member Functions
	AddedMassInteraction ()
	Default constructor used by serialization.

virtual	~AddedMassInteraction ()
	Reference counted object, protected destructor.

virtual void	prepare () override
	Checks if this interaction is valid for the solver.

virtual void	writeMatrixData (agx::StrongInteraction::MatrixData rb1DiagonalBlock, agx::StrongInteraction::MatrixData rb2DiagonalBlock, agx::StrongInteraction::MatrixData offDiagonalBlock) override
	Call from the direct solver with pointers where to write diagonal block(s) and the off diagonal block.

virtual void	writeRhs (agx::Physics::RigidBodyPtr rb1, agx::Real rb1Rhs, agx::Physics::RigidBodyPtr rb2, agx::Real rb2Rhs, agx::Bool isRestingSolve) override
	Right hand side update.

Protected Member Functions inherited from agx::StrongInteraction
	StrongInteraction ()
	Construct given one or two rigid bodies.

virtual	~StrongInteraction ()
	Reference counted object, protected destructor.

virtual void	restore (agxStream::InputArchive &in) override
	Restore local content.

void	setValid (agx::Bool valid)
	Valid if enable and configuration is ok for solver.

virtual void	store (agxStream::OutputArchive &out) const override
	Store local content.

Protected Member Functions inherited from agx::Interaction
virtual	~Interaction ()
	Reference counted object, protected destructor.

virtual void	addNotification ()
	Called when added to a simulation.

virtual void	removeNotification ()
	Called when removed from a simulation.

virtual void	setSimulation (agxSDK::Simulation *simulation)
	Assign simulation.

Protected Member Functions inherited from agx::Referenced
virtual	~Referenced ()
	Destructor.

void	allocateObserverVector () const

void	deleteUsingDeleteHandler () const

Protected Member Functions inherited from agxStream::Serializable
	Serializable ()
	Default constructor.

	Serializable (const Serializable &other)
	Copy constructor.

void	generateUuid ()

Additional Inherited Members
Static Protected Member Functions inherited from agx::Referenced
static DeleteHandler *	getDeleteHandler ()

static void	setDeleteHandler (DeleteHandler *handler)
	Internal: Set a DeleteHandler to which deletion of all referenced counted objects will be delegated to.

Protected Attributes inherited from agx::Referenced
Mutex	m_mutex

ObserverContainer	m_observers

AtomicValue	m_refCount

Detailed Description

Interface to write added mass matrices for one or two rigid bodies.

For two dynamic rigid bodies an off diagonal block may be written as well: [ M_0 ] [ . . ] [ . . ] [ . . ] [ A_i0 M_i ] [ . ] [ . ] [ . ]

Definition at line 39 of file AddedMassInteraction.h.

Constructor & Destructor Documentation

◆ AddedMassInteraction() [1/2]

agx::AddedMassInteraction::AddedMassInteraction	(	agx::RigidBody *	rb1,
		agx::RigidBody *	rb2 = `nullptr`
	)

Construct given either one or two rigid bodies.

Parameters

rb1	- first rigid body
rb2	- second rigid body

◆ AddedMassInteraction() [2/2]

agx::AddedMassInteraction::AddedMassInteraction ( )

protected

Default constructor used by serialization.

◆ ~AddedMassInteraction()

virtual agx::AddedMassInteraction::~AddedMassInteraction ( )

protectedvirtual

Reference counted object, protected destructor.

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

agx::AddedMassInteraction::AGXSTREAM_DECLARE_SERIALIZABLE_BASE ( agx::AddedMassInteraction )

◆ create()

static agxStream::Serializable * agx::AddedMassInteraction::create ( agxStream::InputArchive & )

inlinestatic

Definition at line 307 of file AddedMassInteraction.h.

◆ getOffDiagonalBlock() [1/2]

AddedMassInteraction::Matrix6x6 & agx::AddedMassInteraction::getOffDiagonalBlock ( )

Off diagonal block (6x6 matrix).

Defines how acceleration of the first body results in a force acting on the second body.

Returns: the off diagonal block storage (6x6 matrix)

Definition at line 436 of file AddedMassInteraction.h.

◆ getOffDiagonalBlock() [2/2]

const AddedMassInteraction::Matrix6x6 & agx::AddedMassInteraction::getOffDiagonalBlock ( ) const

Off diagonal block (6x6 matrix).

Defines how acceleration of the first body results in a force acting on the second body.

Returns: the off diagonal block storage (6x6 matrix)

Definition at line 431 of file AddedMassInteraction.h.

◆ getRigidBody1()

virtual agx::RigidBody * agx::AddedMassInteraction::getRigidBody1 ( ) const

overridevirtual

Returns: first rigid body of this interaction

Implements agx::StrongInteraction.

◆ getRigidBody1Storage() [1/2]

agx::AddedMassInteraction::RigidBodyStorage * agx::AddedMassInteraction::getRigidBody1Storage ( )

Storage of 'rb1' from construction containing the rigid body and a 6x6 matrix block.

Returns: storage of rigid body 1

◆ getRigidBody1Storage() [2/2]

const agx::AddedMassInteraction::RigidBodyStorage * agx::AddedMassInteraction::getRigidBody1Storage ( ) const

Storage of 'rb1' from construction containing the rigid body and a 6x6 matrix block.

Returns: storage of rigid body 1

◆ getRigidBody2()

virtual agx::RigidBody * agx::AddedMassInteraction::getRigidBody2 ( ) const

overridevirtual

Returns: second rigid body of this interaction

Implements agx::StrongInteraction.

◆ getRigidBody2Storage() [1/2]

agx::AddedMassInteraction::RigidBodyStorage * agx::AddedMassInteraction::getRigidBody2Storage ( )

Storage of 'rb2' from construction containing the rigid body and a 6x6 matrix block.

Returns: storage of rigid body 2

◆ getRigidBody2Storage() [2/2]

const agx::AddedMassInteraction::RigidBodyStorage * agx::AddedMassInteraction::getRigidBody2Storage ( ) const

Storage of 'rb2' from construction containing the rigid body and a 6x6 matrix block.

Returns: storage of rigid body 2

◆ prepare()

virtual void agx::AddedMassInteraction::prepare ( )

overrideprotectedvirtual

Checks if this interaction is valid for the solver.

Reimplemented from agx::StrongInteraction.

◆ translateWorldDiagonalBlock() [1/2]

void agx::AddedMassInteraction::translateWorldDiagonalBlock	(	const agx::Vec3	cmOffset,
		agx::AddedMassInteraction::Matrix6x6 &	matrix
	)		const

Transform the mass matrix according to a translate of center of mass.

◆ translateWorldDiagonalBlock() [2/2]

void agx::AddedMassInteraction::translateWorldDiagonalBlock	(	const agx::Vec3	cmOffsetRb1,
		const agx::Vec3	cmOffsetRb2,
		agx::AddedMassInteraction::Matrix6x6 &	matrix
	)		const

◆ writeMatrixData()

virtual void agx::AddedMassInteraction::writeMatrixData	(	agx::StrongInteraction::MatrixData	rb1DiagonalBlock,
		agx::StrongInteraction::MatrixData	rb2DiagonalBlock,
		agx::StrongInteraction::MatrixData	offDiagonalBlock
	)

overrideprotectedvirtual

Call from the direct solver with pointers where to write diagonal block(s) and the off diagonal block.

Note: rb1DiagonalBlock and rb2DiagonalBlock can/will come in a different order than what m_rb1Storage and m_rb2Storage are.

Parameters

rb1DiagonalBlock	- block for what the solver thinks is rb1
rb2DiagonalBlock	- block for what the solver thinks is rb2 (data is zero if the solver doesn't need the data to be written)
offDiagonalBlock	- off diagonal block. Location of this block in the system matrix is defined by blockRowIndex fields in rb1DiagonalBlock and rb2DiagonalBlock.

Implements agx::StrongInteraction.

◆ writeRhs()

virtual void agx::AddedMassInteraction::writeRhs	(	agx::Physics::RigidBodyPtr	rb1,
		agx::Real *	rb1Rhs,
		agx::Physics::RigidBodyPtr	rb2,
		agx::Real *	rb2Rhs,
		agx::Bool	isRestingSolve
	)

overrideprotectedvirtual

Right hand side update.

Implements agx::StrongInteraction.

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

AddedMassInteraction.h

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AddedMassInteraction() [1/2]

◆ AddedMassInteraction() [2/2]

◆ ~AddedMassInteraction()

Member Function Documentation

◆ AGXSTREAM_DECLARE_SERIALIZABLE_BASE()

◆ create()

◆ getOffDiagonalBlock() [1/2]

◆ getOffDiagonalBlock() [2/2]

◆ getRigidBody1()

◆ getRigidBody1Storage() [1/2]

◆ getRigidBody1Storage() [2/2]

◆ getRigidBody2()

◆ getRigidBody2Storage() [1/2]

◆ getRigidBody2Storage() [2/2]

◆ prepare()

◆ translateWorldDiagonalBlock() [1/2]

◆ translateWorldDiagonalBlock() [2/2]

◆ writeMatrixData()

◆ writeRhs()