artisynth.core.mechmodels
Interface MotionTargetComponent
- All Superinterfaces:
- DynamicMechComponent, ForceEffector, HasProperties, HierarchyNode, ModelComponent, Scannable
- All Known Implementing Classes:
- BeamBody, DeformableBody, Elaston, FemMarker, FemNode, FemNode3d, Frame, FrameMarker, Marker, MFreeHermiteNode3d, MFreeNode3d, Particle, PlanarPoint, Point, RigidBody, RigidCompositeBody, TargetFrame, TargetPoint
public interface MotionTargetComponent
- extends DynamicMechComponent
Indicates a dynamic component for which motion targets can be set.
Methods inherited from interface artisynth.core.mechmodels.DynamicMechComponent |
addMasterAttachment, addPosImpulse, addSolveBlock, applyGravity, checkFlag, clearFlag, createMassBlock, createSolveBlock, getAttachment, getForce, getInverseMass, getMass, getMass, getMassForces, getMasterAttachments, getPosDerivative, getPosState, getSolveIndex, getVelState, isActive, isAttached, isControllable, isDynamic, isMassConstant, isParametric, removeMasterAttachment, setAttached, setFlag, setForce, setForcesToExternal, setPosState, setSolveIndex, setState, setVelState, velocityLimitExceeded, zeroExternalForces, zeroForces |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
getTargetActivity
MotionTarget.TargetActivity getTargetActivity()
setTargetActivity
void setTargetActivity(MotionTarget.TargetActivity interp)
getVelStateSize
int getVelStateSize()
- Specified by:
getVelStateSize
in interface DynamicMechComponent
getTargetVel
int getTargetVel(double[] velt,
double s,
double h,
int idx)
setTargetVel
int setTargetVel(double[] velt,
int idx)
getPosStateSize
int getPosStateSize()
- Specified by:
getPosStateSize
in interface DynamicMechComponent
getTargetPos
int getTargetPos(double[] post,
double s,
double h,
int idx)
setTargetPos
int setTargetPos(double[] post,
int idx)
addTargetJacobian
int addTargetJacobian(SparseBlockMatrix J,
int bi)
- Add a row to the motion target Jacobian for this motion target.
The Jacobian maps state velocities u into motion target velocities
vt according to
vt = J u
- Parameters:
J
- motion target Jacobianbi
- block row index for the row to be added
- Returns:
- bi + 1
resetTargets
void resetTargets()