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java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.mechmodels.Spring
artisynth.core.mechmodels.FrameSpring
public class FrameSpring
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 PropertyList |
myProps
|
boolean |
mySymmetricJacobian
|
Fields inherited from class artisynth.core.modelbase.ModelComponentBase |
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enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames |
Fields inherited from interface maspack.render.GLRenderable |
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TRANSLUCENT, TWO_DIMENSIONAL |
Fields inherited from interface artisynth.core.modelbase.CopyableComponent |
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COPY_REFERENCES |
Constructor Summary | |
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FrameSpring()
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FrameSpring(java.lang.String name)
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FrameSpring(java.lang.String name,
double k,
double kRot,
double d,
double dRot)
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FrameSpring(java.lang.String name,
FrameMaterial mat)
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Method Summary | |
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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 |
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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, scan, 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, scan, 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 boolean mySymmetricJacobian
public static PropertyList myProps
Constructor Detail |
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public FrameSpring()
public FrameSpring(java.lang.String name)
public FrameSpring(java.lang.String name, double k, double kRot, double d, double dRot)
public FrameSpring(java.lang.String name, FrameMaterial mat)
Method Detail |
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public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class ModelComponentBase
public double getAxisLength()
public void setAxisLength(double len)
public void setInitialX21(RigidTransform3d X21)
public RigidTransform3d getInitialX21()
public void setInitialX21()
public RenderProps getRenderProps()
HasRenderProps
getRenderProps
in interface HasRenderProps
public void setRenderProps(RenderProps props)
HasRenderProps
null
will remove render properties from this object.
setRenderProps
in interface HasRenderProps
props
- new render properties for this objectpublic RenderProps createRenderProps()
HasRenderProps
createRenderProps
in interface HasRenderProps
public void prerender(RenderList list)
GLRenderable
prerender
in interface GLRenderable
public void updateBounds(Point3d pmin, Point3d pmax)
GLRenderable
updateBounds
in interface GLRenderable
pmin
- minimum pointpmax
- maximum pointpublic int getRenderHints()
GLRenderable
TRANSLUCENT
.
getRenderHints
in interface GLRenderable
public boolean isSelectable()
GLSelectable
isSelectable
in interface GLSelectable
public int numSelectionQueriesNeeded()
GLSelectable
render
method), then this method should
return the maximum number of selection queries that will be
required. Otherwise, this method should return -1.
numSelectionQueriesNeeded
in interface GLSelectable
public void render(GLRenderer renderer, int flags)
GLRenderable
render
in interface GLRenderable
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 getSelection(java.util.LinkedList<java.lang.Object> list, int qid)
GLSelectable
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.
getSelection
in interface GLSelectable
list
- selected objects are appended to the end of this listqid
- index of the selection querypublic static FrameMaterial createDefaultMaterial()
public FrameMaterial getMaterial()
public void setMaterial(FrameMaterial mat)
public void setRotaryStiffness(double k)
public void setFrameA(Frame frame)
public Frame getFrameA()
public void setFrameB(Frame frame)
public Frame getFrameB()
public void setAttachFrameA(RigidTransform3d X1A)
public RigidTransform3d getAttachFrameA()
public void setAttachFrameB(RigidTransform3d X2B)
public RigidTransform3d getAttachFrameB()
public Wrench getSpringForce()
public void applyForces(double t)
ForceEffector
applyForces
in interface ForceEffector
applyForces
in class Spring
t
- time (seconds)public 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 addPosJacobianWorld(SparseNumberedBlockMatrix M, double s)
public 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 void addVelJacobianWorld(SparseNumberedBlockMatrix M, double s)
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 scaleDistance(double s)
ScalableUnits
scaleDistance
in interface ScalableUnits
s
- scaling factorpublic void scaleMass(double s)
ScalableUnits
scaleMass
in interface ScalableUnits
s
- scaling factorpublic void setJacobianSymmetric(boolean symmetric)
public boolean isJacobianSymmetric()
public 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 void getHardReferences(java.util.List<ModelComponent> refs)
ModelComponentBase
getHardReferences
in interface ModelComponent
getHardReferences
in class ModelComponentBase
refs
- list to which hard references are appendedpublic 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 ModelComponentBase
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