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java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.DynamicMechComponentBase
public abstract class DynamicMechComponentBase
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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Fields inherited from class artisynth.core.modelbase.ModelComponentBase |
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enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames |
Fields inherited from interface maspack.render.GLRenderable |
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TRANSLUCENT, TWO_DIMENSIONAL |
Constructor Summary | |
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DynamicMechComponentBase()
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Method Summary | |
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void |
addMasterAttachment(DynamicAttachment a)
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abstract void |
addSolveBlock(SparseNumberedBlockMatrix S)
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ModelComponent |
copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap)
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DynamicAttachment |
getAttachment()
Returns the slave attachment associated with this component, if any. |
void |
getInverseMass(Matrix Minv,
Matrix M)
Inverts a mass for this component. |
java.util.LinkedList<DynamicAttachment> |
getMasterAttachments()
Returns a list of the attachments for which this component is a master, or null if there are no such attachments. |
int |
getSolveIndex()
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boolean |
hasState()
Returns true if this component has state. |
boolean |
isActive()
Returns true if this component is active. |
boolean |
isAttached()
Returns true if this component is attached. |
boolean |
isControllable()
Returns true is this component is active, or it is attached to one or more other components which ultimately are attached to at least one active component. |
boolean |
isDynamic()
Returns true if this component is dynamic. |
boolean |
isParametric()
Returns true if the state of this component is determined parametrically; i.e., it is neither dynamic nor attached. |
void |
removeMasterAttachment(DynamicAttachment a)
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void |
setAttached(DynamicAttachment attachment)
M Attach this component to another via a DynamicAttachment object. |
void |
setSolveIndex(int idx)
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Methods inherited from class artisynth.core.modelbase.RenderableComponentBase |
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createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, render, setRenderProps, updateBounds, updateRenderProps |
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.mechmodels.DynamicMechComponent |
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addPosImpulse, applyGravity, checkFlag, clearFlag, createMassBlock, createSolveBlock, getForce, getMass, getMass, getMassForces, getPosDerivative, getPosState, getPosStateSize, getVelState, getVelStateSize, isMassConstant, setFlag, setForce, setForcesToExternal, setPosState, setState, setVelState, velocityLimitExceeded, zeroExternalForces, zeroForces |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
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connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
Methods inherited from interface maspack.properties.HasProperties |
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getAllPropertyInfo, 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 |
Methods inherited from interface artisynth.core.mechmodels.ForceEffector |
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addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, getJacobianType |
Constructor Detail |
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public DynamicMechComponentBase()
Method Detail |
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public DynamicAttachment getAttachment()
DynamicMechComponent
getAttachment
in interface DynamicMechComponent
public boolean isDynamic()
DynamicMechComponent
isDynamic
in interface DynamicMechComponent
public void setAttached(DynamicAttachment attachment)
DynamicMechComponent
setAttached
in interface DynamicMechComponent
attachment
- Specifies the attachment relationship between
this component and its master(s)public boolean isActive()
DynamicMechComponent
isActive
in interface DynamicMechComponent
public boolean isAttached()
DynamicMechComponent
isAttached
in interface DynamicMechComponent
public boolean isParametric()
DynamicMechComponent
isParametric
in interface DynamicMechComponent
public boolean isControllable()
DynamicMechComponent
isControllable
in interface DynamicMechComponent
public int getSolveIndex()
getSolveIndex
in interface DynamicMechComponent
public void setSolveIndex(int idx)
setSolveIndex
in interface DynamicMechComponent
public abstract void addSolveBlock(SparseNumberedBlockMatrix S)
addSolveBlock
in interface DynamicMechComponent
public void getInverseMass(Matrix Minv, Matrix M)
DynamicMechComponent
getInverseMass
in interface DynamicMechComponent
Minv
- matrix to return the inverse mass inM
- matrix containing the mass to be invertedpublic void addMasterAttachment(DynamicAttachment a)
addMasterAttachment
in interface DynamicMechComponent
public void removeMasterAttachment(DynamicAttachment a)
removeMasterAttachment
in interface DynamicMechComponent
public java.util.LinkedList<DynamicAttachment> getMasterAttachments()
DynamicMechComponent
getMasterAttachments
in interface DynamicMechComponent
public ModelComponent copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
copy
in class RenderableComponentBase
public boolean hasState()
hasState
in interface ModelComponent
hasState
in class ModelComponentBase
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