artisynth.core.mechmodels
Class SphericalJoint

java.lang.Object
  extended by artisynth.core.modelbase.ModelComponentBase
      extended by artisynth.core.modelbase.RenderableComponentBase
          extended by artisynth.core.mechmodels.RigidBodyConnector
              extended by artisynth.core.mechmodels.JointBase
                  extended by artisynth.core.mechmodels.SphericalJointBase
                      extended by artisynth.core.mechmodels.SphericalJoint
All Implemented Interfaces:
Constrainer, HasAuxState, RigidBodyConstrainer, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable

public class SphericalJoint
extends SphericalJointBase

Auxiliary class used to solve constrained rigid body problems.


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
HasAuxState.StateContext
 
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.modelbase.CopyableComponent
COPY_REFERENCES
 
Fields inherited from interface artisynth.core.util.TransformableGeometry
ARTICULATED, SIMULATING
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Constructor Summary
SphericalJoint()
           
SphericalJoint(RigidBody bodyA, RigidBody bodyB, Point3d worldPnt)
           
SphericalJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XWJ)
           
SphericalJoint(RigidBody bodyA, RigidTransform3d XFA, RigidBody bodyB, RigidTransform3d XDB)
           
SphericalJoint(RigidBody bodyA, RigidTransform3d XFA, RigidTransform3d XDW)
           
 
Method Summary
 ModelComponent copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
          Create a copy of this component.
 PropertyList getAllPropertyInfo()
          Returns a list giving static information about all properties exported by this object.
 double getMaximumTilt()
           
 Vector3d getMaxRotation()
           
 double getMaxTilt()
           
 boolean isRotationLimited()
           
 boolean isTiltLimited()
           
 void setMaximumTilt(double max)
           
 void setMaxRotation(double max)
           
 void setMaxRotation(double maxx, double maxy, double maxz)
           
 void setMaxRotation(Vector3d maxRot)
           
 void setMaxTilt(double max)
           
 void setRotationLimited(boolean enable)
           
 void setTiltLimited(boolean enable)
           
 
Methods inherited from class artisynth.core.mechmodels.SphericalJointBase
createRenderProps, prerender, render, setDefaultValues, updateBounds
 
Methods inherited from class artisynth.core.mechmodels.JointBase
getAxisLength, getPosition, getRenderFrame, scaleDistance, setAxisLength
 
Methods inherited from class artisynth.core.mechmodels.RigidBodyConnector
addBilateralConstraints, addFrictionConstraints, addFrictionConstraints, addUnilateralConstraints, advanceAuxState, connectToHierarchy, disconnectFromHierarchy, getActivation, getAuxState, getBilateralBlockA, getBilateralBlockB, getBilateralConstraints, getBilateralForceInA, getBilateralForceInA, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getBreakAccel, getBreakSpeed, getCompliance, getContactDistance, getCopyReferences, getCurrentXDB, getCurrentXDW, getCurrentXFA, getCurrentXFW, getDamping, getHardReferences, getInitialAuxState, getLinearCompliance, getPenetrationTol, getPenetrationTolMode, getPose, getRotaryCompliance, getUnilateralBlockA, getUnilateralBlockB, getUnilateralConstraints, getUnilateralForceInA, getUnilateralForceInA, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, getXCA, getXCB, getXDB, getXFA, hasState, hasUnilateralConstraints, isActive, isDuplicatable, isEnabled, maxFrictionConstraintSets, numBilateralConstraints, numBodies, numUnilateralConstraints, scaleMass, setAuxState, setBilateralImpulses, setBodies, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setDamping, setEnabled, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setUnilateralImpulses, setXDB, setXFA, skipAuxState, transformGeometry, transformGeometry, updateBodyStates, updateConstraints, updateForBodyPositionChange, updateUnilateralConstraints, zeroImpulses
 
Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps
 
Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, 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.CopyableComponent
getCopyReferences, isDuplicatable
 
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

SphericalJoint

public SphericalJoint()

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidTransform3d XFA,
                      RigidTransform3d XDW)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidTransform3d XFA,
                      RigidBody bodyB,
                      RigidTransform3d XDB)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidBody bodyB,
                      Point3d worldPnt)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidBody bodyB,
                      RigidTransform3d XWJ)
Method Detail

isTiltLimited

public boolean isTiltLimited()

setTiltLimited

public void setTiltLimited(boolean enable)

isRotationLimited

public boolean isRotationLimited()

setRotationLimited

public void setRotationLimited(boolean enable)

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 SphericalJointBase
Returns:
static information for all exported properties

setMaximumTilt

public void setMaximumTilt(double max)

getMaximumTilt

public double getMaximumTilt()

setMaxTilt

public void setMaxTilt(double max)

getMaxTilt

public double getMaxTilt()

setMaxRotation

public void setMaxRotation(Vector3d maxRot)

setMaxRotation

public void setMaxRotation(double maxx,
                           double maxy,
                           double maxz)

setMaxRotation

public void setMaxRotation(double max)

getMaxRotation

public Vector3d getMaxRotation()

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 SphericalJointBase