artisynth.core.mechmodels
Class SolidJoint
java.lang.Object
artisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.RigidBodyConnector
artisynth.core.mechmodels.JointBase
artisynth.core.mechmodels.SolidJoint
- All Implemented Interfaces:
- Constrainer, HasAuxState, RigidBodyConstrainer, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, ScalableUnits, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, GLRenderable, GLSelectable, HasRenderProps, Renderable, Scannable
public class SolidJoint
- extends JointBase
- implements CopyableComponent
Auxiliary class used to solve constrained rigid body problems.
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.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.ModelComponent |
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
myProps
public static PropertyList myProps
SolidJoint
public SolidJoint()
SolidJoint
public SolidJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidBody bodyB,
RigidTransform3d XDB)
SolidJoint
public SolidJoint(RigidBody bodyA,
RigidTransform3d XFA,
RigidTransform3d XDW)
SolidJoint
public SolidJoint(RigidBody bodyA,
RigidBody bodyB,
RigidTransform3d XWJ)
SolidJoint
public SolidJoint(RigidBody bodyA,
RigidBody bodyB)
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 JointBase
- Returns:
- static information for all exported properties
setDefaultValues
public void setDefaultValues()
- Description copied from class:
ModelComponentBase
- Sets the attributes of this component to their default values.
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
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 RigidBodyConnector
- Parameters:
pmin
- minimum pointpmax
- maximum point
prerender
public void prerender(RenderList list)
- Description copied from interface:
GLRenderable
- Prepare for rendering, and potentially add itself to a list to be drawn
by a GLRenderer.
- Specified by:
prerender
in interface GLRenderable
- Overrides:
prerender
in class RenderableComponentBase
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
.
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 RigidBodyConnector