artisynth.core.mechmodels
Class FrameSpring

java.lang.Object
  extended by artisynth.core.modelbase.ModelComponentBase
      extended by artisynth.core.mechmodels.Spring
          extended by artisynth.core.mechmodels.FrameSpring
All Implemented Interfaces:
ForceComponent, ForceEffector, CopyableComponent, ModelComponent, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable

public class FrameSpring
extends Spring
implements RenderableComponent, ScalableUnits, CopyableComponent


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Field Summary
static PropertyList myProps
           
 boolean mySymmetricJacobian
           
 
Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Fields inherited from interface artisynth.core.modelbase.CopyableComponent
COPY_REFERENCES
 
Constructor Summary
FrameSpring()
           
FrameSpring(java.lang.String name)
           
FrameSpring(java.lang.String name, double k, double kRot, double d, double dRot)
           
FrameSpring(java.lang.String name, FrameMaterial mat)
           
 
Method Summary
 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 addPosJacobianWorld(SparseNumberedBlockMatrix M, double s)
           
 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 addVelJacobianWorld(SparseNumberedBlockMatrix M, double s)
           
 void applyForces(double t)
          Adds forces to the components affected by this force effector at a particular time.
 ModelComponent copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
          Create a copy of this component.
static FrameMaterial createDefaultMaterial()
           
 RenderProps createRenderProps()
          Factory method to create render properties appropriate to this object.
 PropertyList getAllPropertyInfo()
          Returns a list giving static information about all properties exported by this object.
 RigidTransform3d getAttachFrameA()
           
 RigidTransform3d getAttachFrameB()
           
 double getAxisLength()
           
 boolean getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)
          Collects external references which must also be copied in order to duplicate this component.
 Frame getFrameA()
           
 Frame getFrameB()
           
 void getHardReferences(java.util.List<ModelComponent> refs)
          Appends all hard references for this component to a list.
 RigidTransform3d getInitialX21()
           
 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.
 FrameMaterial getMaterial()
           
 int getRenderHints()
          Returns a bit code giving rendering hints about this renderable.
 RenderProps getRenderProps()
          Returns the render properities for this object.
 void getSelection(java.util.LinkedList<java.lang.Object> list, int qid)
          Append to list the component (or components) associated with the qid-th selection query issued by this component's render method.
 Wrench getSpringForce()
           
 boolean isDuplicatable()
          Returns true if this component can be duplicated.
 boolean isJacobianSymmetric()
           
 boolean isSelectable()
          Returns true if this object is in fact selectable.
 int numSelectionQueriesNeeded()
          If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required.
 void prerender(RenderList list)
          Prepare for rendering, and potentially add itself to a list to be drawn by a GLRenderer.
 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 setAttachFrameA(RigidTransform3d X1A)
           
 void setAttachFrameB(RigidTransform3d X2B)
           
 void setAxisLength(double len)
           
 void setFrameA(Frame frame)
           
 void setFrameB(Frame frame)
           
 void setInitialX21()
          Set the initialX21 to the current value of the transform from frame 2 to frame 1.
 void setInitialX21(RigidTransform3d X21)
           
 void setJacobianSymmetric(boolean symmetric)
           
 void setMaterial(FrameMaterial mat)
           
 void setRenderProps(RenderProps props)
          Assigns a new set of render properties to this object.
 void setRotaryStiffness(double k)
           
 void updateBounds(Point3d pmin, Point3d pmax)
          Update the minimum and maximum points for this object.
 
Methods inherited from class artisynth.core.modelbase.ModelComponentBase
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, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, updateReferences, write
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 
Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences
 
Methods inherited from interface maspack.properties.HasProperties
getProperty
 
Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren
 
Methods inherited from interface maspack.util.Scannable
isWritable, write
 

Field Detail

mySymmetricJacobian

public boolean mySymmetricJacobian

myProps

public static PropertyList myProps
Constructor Detail

FrameSpring

public FrameSpring()

FrameSpring

public FrameSpring(java.lang.String name)

FrameSpring

public FrameSpring(java.lang.String name,
                   double k,
                   double kRot,
                   double d,
                   double dRot)

FrameSpring

public FrameSpring(java.lang.String name,
                   FrameMaterial mat)
Method Detail

getAllPropertyInfo

public PropertyList getAllPropertyInfo()
Description copied from interface: HasProperties
Returns a list giving static information about all properties exported by this object.

Specified by:
getAllPropertyInfo in interface HasProperties
Overrides:
getAllPropertyInfo in class ModelComponentBase
Returns:
static information for all exported properties

getAxisLength

public double getAxisLength()

setAxisLength

public void setAxisLength(double len)

setInitialX21

public void setInitialX21(RigidTransform3d X21)

getInitialX21

public RigidTransform3d getInitialX21()

setInitialX21

public void setInitialX21()
Set the initialX21 to the current value of the transform from frame 2 to frame 1.


getRenderProps

public RenderProps getRenderProps()
Description copied from interface: HasRenderProps
Returns the render properities for this object. If no render properties are assigned, this routines returns null.

Specified by:
getRenderProps in interface HasRenderProps
Returns:
current render properties for this object

setRenderProps

public void setRenderProps(RenderProps props)
Description copied from interface: HasRenderProps
Assigns a new set of render properties to this object. An argument of null will remove render properties from this object.

Specified by:
setRenderProps in interface HasRenderProps
Parameters:
props - new render properties for this object

createRenderProps

public RenderProps createRenderProps()
Description copied from interface: HasRenderProps
Factory method to create render properties appropriate to this object.

Specified by:
createRenderProps in interface HasRenderProps
Returns:
new render properties for this object

prerender

public void prerender(RenderList list)
Description copied from interface: GLRenderable
Prepare for rendering, and potentially add itself to a list to be drawn by a GLRenderer.

Specified by:
prerender in interface GLRenderable

updateBounds

public void updateBounds(Point3d pmin,
                         Point3d pmax)
Description copied from interface: GLRenderable
Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.

Specified by:
updateBounds in interface GLRenderable
Parameters:
pmin - minimum point
pmax - maximum point

getRenderHints

public int getRenderHints()
Description copied from interface: GLRenderable
Returns a bit code giving rendering hints about this renderable. Current bit codes include TRANSLUCENT.

Specified by:
getRenderHints in interface GLRenderable
Returns:
bit code of rendering hints.

isSelectable

public boolean isSelectable()
Description copied from interface: GLSelectable
Returns true if this object is in fact selectable.

Specified by:
isSelectable in interface GLSelectable
Returns:
true if this object is selectable

numSelectionQueriesNeeded

public int numSelectionQueriesNeeded()
Description copied from interface: GLSelectable
If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required. Otherwise, this method should return -1.

Specified by:
numSelectionQueriesNeeded in interface GLSelectable
Returns:
maximum number of selection queries needed by this component, or -1 if this component does not manage its own selection.

render

public void render(GLRenderer renderer,
                   int flags)
Description copied from interface: GLRenderable
Render this object using Open GL via the JOGL.

Specified by:
render in interface GLRenderable
Parameters:
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.

getSelection

public void getSelection(java.util.LinkedList<java.lang.Object> list,
                         int qid)
Description copied from interface: GLSelectable
Append to list the component (or components) associated with the qid-th selection query issued by this component's render method. This will only be called if this component manages its own selection (i.e., the number nums returned by GLSelectable.numSelectionQueriesNeeded() is positive), and qid will in turn be a number between 0 and nums-1.

Specified by:
getSelection in interface GLSelectable
Parameters:
list - selected objects are appended to the end of this list
qid - index of the selection query

createDefaultMaterial

public static FrameMaterial createDefaultMaterial()

getMaterial

public FrameMaterial getMaterial()

setMaterial

public void setMaterial(FrameMaterial mat)

setRotaryStiffness

public void setRotaryStiffness(double k)

setFrameA

public void setFrameA(Frame frame)

getFrameA

public Frame getFrameA()

setFrameB

public void setFrameB(Frame frame)

getFrameB

public Frame getFrameB()

setAttachFrameA

public void setAttachFrameA(RigidTransform3d X1A)

getAttachFrameA

public RigidTransform3d getAttachFrameA()

setAttachFrameB

public void setAttachFrameB(RigidTransform3d X2B)

getAttachFrameB

public RigidTransform3d getAttachFrameB()

getSpringForce

public Wrench getSpringForce()

applyForces

public void applyForces(double t)
Description copied from interface: ForceEffector
Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.

Specified by:
applyForces in interface ForceEffector
Specified by:
applyForces in class Spring
Parameters:
t - time (seconds)

addPosJacobian

public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)
Description copied from interface: ForceEffector
Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.

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.

Specified by:
addPosJacobian in interface ForceEffector
Parameters:
M - solve matrix to which scaled position Jacobian is to be added
s - scaling factor for position Jacobian

addPosJacobianWorld

public void addPosJacobianWorld(SparseNumberedBlockMatrix M,
                                double s)

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)
Description copied from interface: ForceEffector
Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.

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.

Specified by:
addVelJacobian in interface ForceEffector
Parameters:
M - solve matrix to which scaled velocity Jacobian is to be added
s - scaling factor for velocity Jacobian

addVelJacobianWorld

public void addVelJacobianWorld(SparseNumberedBlockMatrix M,
                                double s)

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix M)
Description copied from interface: ForceEffector
Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.

Specified by:
addSolveBlocks in interface ForceEffector
Parameters:
M - solve matrix to which blocks should be added

scaleDistance

public void scaleDistance(double s)
Description copied from interface: ScalableUnits
Scales all distance coordinates.

Specified by:
scaleDistance in interface ScalableUnits
Parameters:
s - scaling factor

scaleMass

public void scaleMass(double s)
Description copied from interface: ScalableUnits
Scales all mass units.

Specified by:
scaleMass in interface ScalableUnits
Parameters:
s - scaling factor

setJacobianSymmetric

public void setJacobianSymmetric(boolean symmetric)

isJacobianSymmetric

public boolean isJacobianSymmetric()

getJacobianType

public int getJacobianType()
Description copied from interface: ForceEffector
Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either 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.

Specified by:
getJacobianType in interface ForceEffector
Returns:
solve matrix type resulting from adding Jacobian terms

getHardReferences

public void getHardReferences(java.util.List<ModelComponent> refs)
Description copied from class: ModelComponentBase
Appends all hard references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an AxialSpring refers to two Point components as for it's end points. A hard reference is one which the referring component must have, and which if deleted, implies that the referring component should be deleted too.

Specified by:
getHardReferences in interface ModelComponent
Overrides:
getHardReferences in class ModelComponentBase
Parameters:
refs - list to which hard references are appended

isDuplicatable

public boolean isDuplicatable()
Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return 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, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:
isDuplicatable in interface CopyableComponent
Returns:
true if this component can be duplicated.

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)
Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:
getCopyReferences in interface CopyableComponent
Parameters:
refs - list to which references are appended
ancestor - root node of the hierarchy from which references are to be excluded
Returns:
false if it is discovered that the component cannot be duplicated

copy

public ModelComponent copy(int flags,
                           java.util.Map<ModelComponent,ModelComponent> copyMap)
Description copied from interface: CopyableComponent
Create a copy of this component. If 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.

Specified by:
copy in interface CopyableComponent
Overrides:
copy in class ModelComponentBase