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java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.mechmodels.Spring
artisynth.core.mechmodels.PointSpringBase
artisynth.core.mechmodels.MultiPointSpring
public class MultiPointSpring
Nested Class Summary |
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Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent |
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ModelComponent.NavpanelVisibility |
Field Summary | |
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static boolean |
myIgnoreCoriolisInJacobian
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static PropertyList |
myProps
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Fields inherited from class artisynth.core.mechmodels.PointSpringBase |
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useMaterial |
Fields inherited from class artisynth.core.modelbase.ModelComponentBase |
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enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames |
Fields inherited from interface artisynth.core.modelbase.CopyableComponent |
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COPY_REFERENCES |
Fields inherited from interface maspack.render.GLRenderable |
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TRANSLUCENT, TWO_DIMENSIONAL |
Constructor Summary | |
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MultiPointSpring()
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MultiPointSpring(double k,
double d,
double l)
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MultiPointSpring(java.lang.String name)
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MultiPointSpring(java.lang.String name,
double k,
double d,
double l)
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Method Summary | |
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void |
addPoint(int idx,
Point pnt)
|
void |
addPoint(Point pnt)
|
void |
addPosJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M. |
void |
addSolveBlocks(SparseNumberedBlockMatrix M)
Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. |
void |
addVelJacobian(SparseNumberedBlockMatrix M,
double s)
Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M. |
void |
applyForces(double t)
Adds forces to the components affected by this force effector at a particular time. |
void |
clearPassiveSegments()
|
void |
clearPoints()
|
void |
computeSegmentForce(Vector3d f,
int i,
double F)
Computes the force acting on point i due to the spring segment between i and i+1. |
boolean |
containsPoint(Point pnt)
|
ModelComponent |
copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap)
Create a copy of this component. |
double |
getActiveLength()
|
double |
getActiveLengthDot()
|
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by this object. |
boolean |
getCopyReferences(java.util.List<ModelComponent> refs,
ModelComponent ancestor)
Collects external references which must also be copied in order to duplicate this component. |
void |
getHardReferences(java.util.List<ModelComponent> refs)
Appends all hard references for this component to a list. |
int |
getJacobianType()
Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. |
double |
getLength()
|
double |
getLengthDot()
|
Point |
getPoint(int idx)
|
int |
indexOfPoint(Point pnt)
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boolean |
isDuplicatable()
Returns true if this component can be duplicated. |
boolean |
isSegmentPassive(int segIdx)
|
int |
numPoints()
|
void |
postadvance(double t0,
double t1,
int flags)
Called from within the model's advance() method, after all position and velocity state has been
advanced. |
void |
preadvance(double t0,
double t1,
int flags)
Called from within the model's preadvance() method. |
void |
printPointReferences(java.io.PrintWriter pw,
CompositeComponent ancestor)
|
boolean |
removePoint(Point pnt)
|
void |
render(GLRenderer renderer,
int flags)
Render this object using Open GL via the JOGL. |
void |
scaleDistance(double s)
Scales all distance coordinates. |
void |
scaleMass(double s)
Scales all mass units. |
void |
scan(ReaderTokenizer rtok,
java.lang.Object ref)
Scans this element from a ReaderTokenizer. |
void |
setPoint(Point pnt,
int idx)
|
double |
setRestLengthFromPoints()
Sets the rest length of the spring from the current point locations |
void |
setSegmentPassive(int segIdx,
boolean passive)
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void |
updateBounds(Point3d pmin,
Point3d pmax)
Update the minimum and maximum points for this object. |
void |
updateStructure()
Hook method to allow sub-classes to update their structure by adding or removing points. |
Methods inherited from class artisynth.core.mechmodels.PointSpringBase |
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computeDFdl, computeDFdldot, computeF, createDefaultMaterial, createRenderProps, getEffectiveMaterial, getMaterial, getMaxForce, getRenderColor, getRenderHints, getRenderProps, getRestLength, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setDamping, setLinearMaterial, setMaterial, setMaxForce, setRenderProps, setRestLength, setStiffness |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
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checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, hasState, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
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connectToHierarchy, disconnectFromHierarchy, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
Methods inherited from interface maspack.properties.HasProperties |
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getProperty |
Methods inherited from interface maspack.properties.HierarchyNode |
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getChildren, hasChildren |
Methods inherited from interface maspack.util.Scannable |
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isWritable, write |
Field Detail |
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public static boolean myIgnoreCoriolisInJacobian
public static PropertyList myProps
Constructor Detail |
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public MultiPointSpring()
public MultiPointSpring(java.lang.String name)
public MultiPointSpring(java.lang.String name, double k, double d, double l)
public MultiPointSpring(double k, double d, double l)
Method Detail |
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public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class PointSpringBase
public Point getPoint(int idx)
public int numPoints()
public boolean containsPoint(Point pnt)
public void addPoint(int idx, Point pnt)
public void addPoint(Point pnt)
public int indexOfPoint(Point pnt)
public boolean removePoint(Point pnt)
public double setRestLengthFromPoints()
setRestLengthFromPoints
in class PointSpringBase
public void clearPoints()
public void setPoint(Point pnt, int idx)
public void clearPassiveSegments()
public void setSegmentPassive(int segIdx, boolean passive)
public boolean isSegmentPassive(int segIdx)
public void computeSegmentForce(Vector3d f, int i, double F)
f
- computed force acting between i and i+1i
- index of the point in the segmentF
- scalar force in the entire springpublic void applyForces(double t)
ForceEffector
applyForces
in interface ForceEffector
applyForces
in class Spring
t
- time (seconds)public void printPointReferences(java.io.PrintWriter pw, CompositeComponent ancestor) throws java.io.IOException
java.io.IOException
public void scan(ReaderTokenizer rtok, java.lang.Object ref) throws java.io.IOException
ModelComponentBase
write
.
scan
in interface ModelComponent
scan
in interface Scannable
scan
in class ModelComponentBase
rtok
- Tokenizer from which to scan the elementref
- optional reference object which can be used for resolving references to
other objects
java.io.IOException
- if an I/O or formatting error occuredpublic void updateBounds(Point3d pmin, Point3d pmax)
GLRenderable
updateBounds
in interface GLRenderable
updateBounds
in class PointSpringBase
pmin
- minimum pointpmax
- maximum pointpublic void render(GLRenderer renderer, int flags)
GLRenderable
render
in interface GLRenderable
render
in class PointSpringBase
renderer
- renderer object which is used to perform the rendering. Provides pointers
to GL and GLU, along with helper functions.flags
- supplies flags that may be used to control different
aspects of the rendering. Flags are defined in GLRenderer
and currently include
GLRenderer.SELECTED
,
GLRenderer.VERTEX_COLORING
,
GLRenderer.HSV_COLOR_INTERPOLATION
,
GLRenderer.SORT_FACES
, and
GLRenderer.CLEAR_MESH_DISPLAY_LISTS
.public void scaleDistance(double s)
ScalableUnits
scaleDistance
in interface ScalableUnits
scaleDistance
in class PointSpringBase
s
- scaling factorpublic void scaleMass(double s)
ScalableUnits
scaleMass
in interface ScalableUnits
scaleMass
in class PointSpringBase
s
- scaling factorpublic double getLength()
getLength
in class PointSpringBase
public double getLengthDot()
public double getActiveLength()
public double getActiveLengthDot()
public void addSolveBlocks(SparseNumberedBlockMatrix M)
ForceEffector
getSolveIndex
) for all dynamic or attached components affected by this
force effector.
addSolveBlocks
in interface ForceEffector
M
- solve matrix to which blocks should be addedpublic void addPosJacobian(SparseNumberedBlockMatrix M, double s)
ForceEffector
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks
, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addPosJacobian
in interface ForceEffector
M
- solve matrix to which scaled position Jacobian is to be addeds
- scaling factor for position Jacobianpublic void addVelJacobian(SparseNumberedBlockMatrix M, double s)
ForceEffector
M is guaranteed to be the same matrix supplied in the most recent call to
addSolveBlocks
, and so implementations may choose
to cache the relevant matrix blocks from that call, instead of retrieving
them directly from M.
addVelJacobian
in interface ForceEffector
M
- solve matrix to which scaled velocity Jacobian is to be addeds
- scaling factor for velocity Jacobianpublic int getJacobianType()
ForceEffector
Matrix.SYMMETRIC
or Matrix.POSITIVE_DEFINITE
. The former should be set if adding the Jacobian
terms preserves symmetry, and the latter should be set if positive
definiteness if preserved. Both should be set if there is no Jacobian for
this effector (i.e., the Jacobian methods are not implemented). Matrix
types from all the force effectors are logically and-ed together to
determine the type for the entire solve matrix.
getJacobianType
in interface ForceEffector
public boolean isDuplicatable()
true
if and only if CopyableComponent.getCopyReferences(java.util.List, artisynth.core.modelbase.ModelComponent)
returns true.
This method is not currently used. It is intended to provide a faster
way of determining if a component can be duplicated, without having to
use CopyableComponent.getCopyReferences(java.util.List
to build the list of copy references.
isDuplicatable
in interface CopyableComponent
true
if this component can be duplicated.public boolean getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)
true
if and only if CopyableComponent.isDuplicatable()
returns
true.
getCopyReferences
in interface CopyableComponent
refs
- list to which references are appendedancestor
- root node of the hierarchy from which references are to be excluded
public ModelComponent copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
CopyableComponent
COPY_REFERENCES
is set in flags
, then any component referenced
by this component should itself be set to a copy. This
should be done first checking copyMap
for an
existing copy of the referenced component. If there is no existing
copy, then a copy should be created by calling copy
recursively and adding the new copy to copyMap
.
copy
in interface CopyableComponent
copy
in class PointSpringBase
public void getHardReferences(java.util.List<ModelComponent> refs)
ModelComponentBase
getHardReferences
in interface ModelComponent
getHardReferences
in class ModelComponentBase
refs
- list to which hard references are appendedpublic void preadvance(double t0, double t1, int flags)
RequiresPrePostAdvance
preadvance()
method.
preadvance
in interface RequiresPrePostAdvance
t0
- current time (seconds)t1
- new time to be advanced to (seconds)flags
- flags passed to the model's
preadvance()
method (reserved for future use).public void postadvance(double t0, double t1, int flags)
RequiresPrePostAdvance
advance()
method, after all position and velocity state has been
advanced.
postadvance
in interface RequiresPrePostAdvance
t0
- current time (seconds)t1
- new time to be advanced to (seconds)flags
- flags passed to the model's
advance()
method (reserved for future use).public void updateStructure()
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