artisynth.demos.mech
Class LaymanModel

java.lang.Object
  extended by artisynth.core.modelbase.ModelComponentBase
      extended by artisynth.core.modelbase.ComponentList<ModelComponent>
          extended by artisynth.core.modelbase.ModelBase
              extended by artisynth.core.modelbase.RenderableModelBase
                  extended by artisynth.core.mechmodels.MechSystemBase
                      extended by artisynth.core.mechmodels.MechModel
                          extended by 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


Nested Class Summary
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
ModelComponent.NavpanelVisibility
 
Nested classes/interfaces inherited from interface artisynth.core.mechmodels.MechSystem
MechSystem.ConstraintInfo, MechSystem.FrictionInfo
 
Nested classes/interfaces inherited from interface artisynth.core.modelbase.CompositeComponent
CompositeComponent.NavpanelDisplay
 
Field Summary
static PropertyList myProps
           
 
Fields inherited from class artisynth.core.mechmodels.MechSystemBase
myParametricsInSystemMatrix
 
Fields inherited from class artisynth.core.modelbase.ComponentList
DEFAULT_NAVPANEL_DISPLAY
 
Fields inherited from class artisynth.core.modelbase.ModelComponentBase
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
 
Fields inherited from interface artisynth.core.util.TransformableGeometry
ARTICULATED, SIMULATING
 
Fields inherited from interface artisynth.core.mechmodels.MechSystem
COMPUTE_CONTACTS, UPDATE_CONTACTS
 
Fields inherited from interface maspack.render.GLRenderable
TRANSLUCENT, TWO_DIMENSIONAL
 
Constructor Summary
LaymanModel()
           
LaymanModel(java.lang.String name)
           
 
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.RenderableModelBase
createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, prerender, setRenderProps
 
Methods inherited from class artisynth.core.modelbase.ModelBase
copy, getInitialState, getMaxStepSize, hierarchyContainsReferences, setInitialState, setMaxStepSize
 
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.Model
getMaxStepSize, initialize
 
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 maspack.properties.HasProperties
getProperty
 
Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren
 
Methods inherited from interface maspack.util.Scannable
isWritable, write
 
Methods inherited from interface artisynth.core.modelbase.HasState
createState, getInitialState, getState, setState
 
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 artisynth.core.modelbase.ComponentListView
getName
 
Methods inherited from interface java.util.Collection
equals, hashCode
 

Field Detail

myProps

public static PropertyList myProps
Constructor Detail

LaymanModel

public LaymanModel()

LaymanModel

public LaymanModel(java.lang.String name)
            throws java.io.IOException
Throws:
java.io.IOException
Method Detail

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)