artisynth.core.mechmodels
Class SoftPlaneCollider

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

public class SoftPlaneCollider
extends RenderableComponentBase
implements ScalableUnits, ForceComponent, TransformableGeometry


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Field Summary
static PropertyList myProps
           
 
Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
 
Fields inherited from interface artisynth.core.util.TransformableGeometry
ARTICULATED, SIMULATING
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Constructor Summary
SoftPlaneCollider()
           
SoftPlaneCollider(java.lang.String name, Vector3d normal, Point3d center, double k, double d)
           
 
Method Summary
 void addMechModel(MechModel ms)
           
 void addPosJacobian(SparseNumberedBlockMatrix M, double h)
          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 h)
          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.
 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.
 Point3d getCenter()
           
 double getDamping()
           
 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.
 Vector3d getNormal()
           
 double getSize()
           
 double getStiffness()
           
 void removeMechModel(MechModel ms)
           
 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 setCenter(Point3d center)
           
 void setDamping(double damping)
           
 void setNormal(Vector3d normal)
           
 void setRenderPosition(Point3d center, double size)
           
 void setSize(double size)
           
 void setStiffness(double stiffness)
           
 void transformGeometry(AffineTransform3dBase X)
          Applies an affine transformation to the geometry of this object.
 void transformGeometry(AffineTransform3dBase X, TransformableGeometry topComponent, int flags)
          Applies an affine transformation to the geometry of this object.
 void updateBounds(Point3d pmin, Point3d pmax)
          Update the minimum and maximum points for this object.
 
Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
copy, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps, updateRenderProps
 
Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getChildren, getGrandParent, getHardReferences, 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, getHardReferences, 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

myProps

public static PropertyList myProps
Constructor Detail

SoftPlaneCollider

public SoftPlaneCollider()

SoftPlaneCollider

public SoftPlaneCollider(java.lang.String name,
                         Vector3d normal,
                         Point3d center,
                         double k,
                         double d)
Method Detail

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
Overrides:
createRenderProps in class RenderableComponentBase
Returns:
new render properties for this object

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

addMechModel

public void addMechModel(MechModel ms)

removeMechModel

public void removeMechModel(MechModel ms)

setRenderPosition

public void setRenderPosition(Point3d center,
                              double size)

setCenter

public void setCenter(Point3d center)

getCenter

public Point3d getCenter()

setNormal

public void setNormal(Vector3d normal)

getNormal

public Vector3d getNormal()

setSize

public void setSize(double size)

getSize

public double getSize()

setStiffness

public void setStiffness(double stiffness)

getStiffness

public double getStiffness()

setDamping

public void setDamping(double damping)

getDamping

public double getDamping()

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
Parameters:
t - time (seconds)

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

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double h)
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
h - scaling factor for velocity Jacobian

addPosJacobian

public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double h)
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
h - scaling factor for position Jacobian

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

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
Overrides:
updateBounds in class RenderableComponentBase
Parameters:
pmin - minimum point
pmax - maximum point

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
Specified by:
render in class RenderableComponentBase
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.

transformGeometry

public void transformGeometry(AffineTransform3dBase X)
Description copied from interface: TransformableGeometry
Applies an affine transformation to the geometry of this object. This method should be equivalent to
 transformGeometry (X, this, 0);
 

Specified by:
transformGeometry in interface TransformableGeometry
Parameters:
X - affine transformation

transformGeometry

public void transformGeometry(AffineTransform3dBase X,
                              TransformableGeometry topComponent,
                              int flags)
Description copied from interface: TransformableGeometry
Applies an affine transformation to the geometry of this object. If recursively invoked within a component hierarchy, then topComponent should be the component for which the method was initially invoked. The variable flags provides information about the context in which the transformation is being applied. At present, the available flags are TransformableGeometry.SIMULATING and TransformableGeometry.ARTICULATED.

Specified by:
transformGeometry in interface TransformableGeometry
Parameters:
X - affine transformation
topComponent - component on which the method was initially invoked
flags - provides information about the context in which the transformation is being applied.

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