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SUMMARY: NESTED | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.mechmodels.Spring
artisynth.core.mechmodels.PointSpringBase
artisynth.core.mechmodels.AxialSpring
public class AxialSpring
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
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Fields inherited from class artisynth.core.mechmodels.PointSpringBase |
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myIgnoreCoriolisInJacobian, useMaterial |
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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AxialSpring()
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AxialSpring(double k,
double d,
double l)
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AxialSpring(java.lang.String name)
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AxialSpring(java.lang.String name,
double k,
double d,
double l)
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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 |
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 |
applyForces(double t)
Adds forces to the components affected by this force effector at a particular time. |
void |
computeForce(Vector3d f)
Computes the force acting on the first point. |
void |
computeForcePositionJacobian(Matrix3d M)
Computes the force/position Jacobian of this spring. |
void |
computeForceVelocityJacobian(Matrix3d M)
Computes the force/velocity Jacobian of this spring. |
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. |
boolean |
getCopyReferences(java.util.List<ModelComponent> refs,
ModelComponent ancestor)
Collects external references which must also be copied in order to duplicate this component. |
Vector3d |
getDir()
|
Point |
getFirstPoint()
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void |
getHardReferences(java.util.List<ModelComponent> refs)
Appends all hard references for this component to a list. |
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. |
double |
getLength()
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double |
getLengthDot()
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float[] |
getRenderCoords0()
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float[] |
getRenderCoords1()
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Point |
getSecondPoint()
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boolean |
isDuplicatable()
Returns true if this component can be duplicated. |
void |
printPointReferences(java.io.PrintWriter pw,
CompositeComponent ancestor)
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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 |
setFirstPoint(Point pnt)
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void |
setPoints(Point p1,
Point p2)
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void |
setPoints(Point p1,
Point p2,
double restLength)
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double |
setRestLengthFromPoints()
Sets the rest length of the spring from the current point locations |
void |
setSecondPoint(Point pnt)
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void |
updateBounds(Point3d pmin,
Point3d pmax)
Update the minimum and maximum points for this object. |
void |
write(java.io.PrintWriter pw,
NumberFormat fmt,
java.lang.Object ref)
Writes a text description of this element to a PrintWriter. |
Methods inherited from class artisynth.core.mechmodels.PointSpringBase |
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computeDFdl, computeDFdldot, computeF, createDefaultMaterial, createRenderProps, getEffectiveMaterial, getMaterial, getMaxForce, getRenderColor, getRenderHints, getRenderProps, getRestLength, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setDamping, setLinearMaterial, setMaterial, setMaxForce, setRenderProps, setRestLength, setStiffness |
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 |
Methods inherited from class java.lang.Object |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface maspack.render.RenderableLine |
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getRenderColor, isSelected |
Methods inherited from interface maspack.render.GLSelectable |
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getSelection, isSelectable, numSelectionQueriesNeeded |
Methods inherited from interface maspack.render.GLRenderable |
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getRenderHints, prerender |
Methods inherited from interface maspack.render.HasRenderProps |
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createRenderProps, getRenderProps, setRenderProps |
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 |
Field Detail |
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public static PropertyList myProps
Constructor Detail |
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public AxialSpring()
public AxialSpring(java.lang.String name)
public AxialSpring(java.lang.String name, double k, double d, double l)
public AxialSpring(double k, double d, double l)
Method Detail |
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public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class PointSpringBase
public Point getFirstPoint()
public Point getSecondPoint()
public void setPoints(Point p1, Point p2)
public void setPoints(Point p1, Point p2, double restLength)
public void setFirstPoint(Point pnt)
public void setSecondPoint(Point pnt)
public double setRestLengthFromPoints()
PointSpringBase
setRestLengthFromPoints
in class PointSpringBase
public void computeForce(Vector3d f)
f
- returns the computed force acting on the first pointpublic void applyForces(double t)
ForceEffector
applyForces
in interface ForceEffector
applyForces
in class Spring
t
- time (seconds)public void printPointReferences(java.io.PrintWriter pw, CompositeComponent ancestor) throws java.io.IOException
java.io.IOException
public void write(java.io.PrintWriter pw, NumberFormat fmt, java.lang.Object ref) throws java.io.IOException
ModelComponentBase
scan
and complete
enough to allow full reconstruction of the element.
write
in interface Scannable
write
in class ModelComponentBase
pw
- stream for writing the elementfmt
- numeric formating informationref
- optional reference object which can be used for producing references to
other objects
java.io.IOException
- if an I/O error occuredpublic float[] getRenderCoords0()
getRenderCoords0
in interface RenderableLine
public float[] getRenderCoords1()
getRenderCoords1
in interface RenderableLine
public void updateBounds(Point3d pmin, Point3d pmax)
GLRenderable
updateBounds
in interface GLRenderable
updateBounds
in class PointSpringBase
pmin
- minimum pointpmax
- maximum pointpublic void render(GLRenderer renderer, int flags)
GLRenderable
render
in interface GLRenderable
render
in class PointSpringBase
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 scaleDistance(double s)
ScalableUnits
scaleDistance
in interface ScalableUnits
scaleDistance
in class PointSpringBase
s
- scaling factorpublic void scaleMass(double s)
ScalableUnits
scaleMass
in interface ScalableUnits
scaleMass
in class PointSpringBase
s
- scaling factorpublic Vector3d getDir()
public double getLength()
getLength
in class PointSpringBase
public double getLengthDot()
public void computeForcePositionJacobian(Matrix3d M)
M
- matrix in which to return the resultpublic void computeForceVelocityJacobian(Matrix3d M)
M
- matrix in which to return the resultpublic 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 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 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 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 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 PointSpringBase
public void getHardReferences(java.util.List<ModelComponent> refs)
ModelComponentBase
getHardReferences
in interface ModelComponent
getHardReferences
in class ModelComponentBase
refs
- list to which hard references are appended
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