artisynth.demos.mech
Class LaymanModel
java.lang.Object
artisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.ComponentList<ModelComponent>
artisynth.core.modelbase.ModelBase
artisynth.core.modelbase.RenderableModelBase
artisynth.core.mechmodels.MechSystemBase
artisynth.core.mechmodels.MechModel
artisynth.demos.mech.LaymanModel
- All Implemented Interfaces:
- MechSystem, MechSystemModel, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, ParameterizedClass, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Disposable, ListView<ModelComponent>, Scannable
public class LaymanModel
- extends MechModel
Method Summary |
RigidBody |
addBody(java.lang.String bodyName,
java.lang.String meshName)
|
void |
addFrameSpring(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double kRot)
|
RevoluteJoint |
addRevoluteJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z)
|
RevoluteJoint |
addRevoluteJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XDW)
|
SphericalJoint |
addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double maxAng)
|
SphericalJoint |
addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XDW,
double maxAng)
|
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by
this object. |
double |
getFriction()
|
void |
setFriction(double mu)
|
Methods inherited from class artisynth.core.mechmodels.MechModel |
addAttachment, addAxialSpring, addConstrainer, addForceEffector, addFrameMarker, addFrameMarker, addFrameSpring, addMeshBody, addModel, addMultiPointSpring, addMuscleExciter, addParticle, addRenderable, addRigidBody, addRigidBodyConnector, advance, attachAxialSpring, attachFrameSpring, attachments, attachPoint, attachPoint, attachPoint, attachPoint, attachPoint, axialSprings, checkVelocityStability, clear, clearAxialSprings, clearConstrainers, clearForceEffectors, clearFrameMarkers, clearFrameSprings, clearMeshBodies, clearModels, clearMultiPointSprings, clearParticles, clearRenderables, clearRigidBodies, clearRigidBodyConnectors, closePrintStateFile, combineMatrixTypes, componentChanged, computeDefaultPenetrationTol, constrainers, detachPoint, dispose, forceEffectors, frameMarkers, frameSprings, getAddConstraintForces, getAttachments, getAuxStateComponents, getCollidables, getCollisionBehavior, getCollisionManager, getConstrainers, getDefaultCollisionBehavior, getDynamicComponents, getExcitationColor, getExcitationColorMode, getForceEffectors, getFrameDamping, getFrameDampingMode, getGravity, getGravityMode, getIntegrator, getMatrixSolver, getMaxColoredExcitation, getMaxColoredExcitationMode, getMuscleExciters, getPenetrationTol, getPenetrationTolMode, getPointDamping, getPointDampingMode, getPrintState, getProfiling, getRadius, getRotaryDamping, getRotaryDampingMode, getSlaveObjectComponents, hasState, isActive, lowestCommonModel, meshBodies, models, multiPointSprings, openPrintStateFile, particles, preadvance, projectRigidBodyPositionConstraints, recursivelyFinalizeAdvance, recursivelyInitialize, removeAxialSpring, removeConstrainer, removeForceEffector, removeFrameMarker, removeFrameSpring, removeMeshBody, removeModel, removeMultiPointSpring, removeMuscleExciter, removeParticle, removeRenderable, removeRigidBody, removeRigidBodyConnector, render, renderables, reopenPrintStateFile, rigidBodies, rigidBodyConnectors, scaleDistance, scaleMass, scan, setAddConstraintForces, setBounds, setCollisionBehavior, setCollisionBehavior, setCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setDefaultCollisionBehavior, setExcitationColor, setExcitationColorMode, setFrameDamping, setFrameDampingMode, setGravity, setGravity, setGravityMode, setIntegrator, setMatrixSolver, setMaxColoredExcitation, setMaxColoredExcitationMode, setPenetrationTol, setPenetrationTolIfNecessary, setPenetrationTolMode, setPointDamping, setPointDampingMode, setPrintState, setProfiling, setRotaryDamping, setRotaryDampingMode, topMechModel, transformGeometry, transformGeometry, updateBounds, validateMatrixSolver |
Methods inherited from class artisynth.core.mechmodels.MechSystemBase |
addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, copy, createState, createVelocityJacobian, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffness, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getAuxState, getBilateralConstraints, getBilateralConstraintSizes, getBilateralImpulses, getBilateralImpulses, getBilateralInfo, getDefaultStabilization, getDynamicsEnabled, getFrictionConstraints, getInitialState, getInverseMassMatrix, getMass, getMassMatrix, getNumBilateralImpulses, getNumUnilateralImpulses, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralImpulses, getUnilateralImpulses, getUnilateralInfo, getUpdateForcesAtStepEnd, hasParameterizedType, initialize, maxFrictionConstraintSets, numActiveComponents, numAttachedComponents, numParametricComponents, printActiveStiffness, reduceVelocityJacobian, setActiveForces, setActivePosState, setActiveVelState, setAuxState, setBilateralImpulses, setBilateralImpulses, setDefaultStabilization, setDynamicsEnabled, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setStabilization, setState, setUnilateralImpulses, setUnilateralImpulses, setUpdateForcesAtStepEnd, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeMassMatrix, writeStiffnessMatrix |
Methods inherited from class artisynth.core.modelbase.ComponentList |
add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getByNumber, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, isEmpty, iterator, nextComponentNumber, numComponents, postscan, remove, remove, removeAll, removeAll, removeComponents, retainAll, setNavpanelDisplay, setNumberingStartAtOne, setShortName, size, toArray, toArray, updateNameMap |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
checkFlag, checkName, checkNameUniqueness, clearFlag, connectToHierarchy, createTempFlag, disconnectFromHierarchy, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, 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, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
Methods inherited from interface artisynth.core.mechmodels.MechSystem |
addActivePosImpulse, addPosJacobian, addVelJacobian, buildMassMatrix, buildSolveMatrix, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelStateSize, getBilateralConstraints, getBilateralImpulses, getBilateralInfo, getFrictionConstraints, getInverseMassMatrix, getMassMatrix, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getSolveMatrixType, getStructureVersion, getUnilateralConstraints, getUnilateralImpulses, getUnilateralInfo, maxFrictionConstraintSets, numActiveComponents, numParametricComponents, setActiveForces, setActivePosState, setActiveVelState, setBilateralImpulses, setParametricForces, setParametricPosState, setParametricVelState, setUnilateralImpulses, updateConstraints, updateForces |
Methods inherited from interface java.util.Collection |
equals, hashCode |
myProps
public static PropertyList myProps
LaymanModel
public LaymanModel()
LaymanModel
public LaymanModel(java.lang.String name)
throws java.io.IOException
- Throws:
java.io.IOException
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 MechModel
- Returns:
- static information for all exported properties
getFriction
public double getFriction()
setFriction
public void setFriction(double mu)
- Overrides:
setFriction
in class MechModel
addFrameSpring
public void addFrameSpring(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double kRot)
addBody
public RigidBody addBody(java.lang.String bodyName,
java.lang.String meshName)
throws java.io.IOException
- Throws:
java.io.IOException
addSphericalJoint
public SphericalJoint addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z,
double maxAng)
addSphericalJoint
public SphericalJoint addSphericalJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XDW,
double maxAng)
addRevoluteJoint
public RevoluteJoint addRevoluteJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XDW)
addRevoluteJoint
public RevoluteJoint addRevoluteJoint(RigidBody bodyA,
RigidBody bodyB,
double x,
double y,
double z)