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java.lang.Objectartisynth.core.modelbase.ModelComponentBase
artisynth.core.modelbase.RenderableComponentBase
artisynth.core.mechmodels.DynamicMechComponentBase
artisynth.core.mechmodels.Point
artisynth.core.mechmodels.Marker
artisynth.core.mechmodels.FrameMarker
public class FrameMarker
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.Point |
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myRenderCoords |
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.util.TransformableGeometry |
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ARTICULATED, SIMULATING |
Fields inherited from interface artisynth.core.modelbase.CopyableComponent |
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COPY_REFERENCES |
Constructor Summary | |
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FrameMarker()
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FrameMarker(double x,
double y,
double z)
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FrameMarker(Frame frame,
double x,
double y,
double z)
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FrameMarker(Frame frame,
Point3d pos)
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FrameMarker(Point3d pos)
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FrameMarker(java.lang.String name)
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Method Summary | |
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int |
addAttachedSolveBlock(SparseNumberedBlockMatrix S)
Adds a diagonal block to the Jacobian for this marker if the frame to which it is attached is active. |
int |
addTargetJacobian(SparseBlockMatrix J,
int bi)
Add a row to the motion target Jacobian for this motion target. |
void |
applyForces()
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void |
connectToHierarchy()
Called by the system after this component is added to the component hierarchy (i.e., when it is added as a child of another CompositeComponent). |
ModelComponent |
copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap)
Create a copy of this component. |
void |
disconnectFromHierarchy()
Called by the system after this component is removed from the component hierarchy (i.e., when it is removed as a child of its parent). |
PropertyList |
getAllPropertyInfo()
Returns a list giving static information about all properties exported by this object. |
void |
getAttachments(java.util.List<DynamicAttachment> list)
Returns the attachments contained by this component. |
boolean |
getCopyReferences(java.util.List<ModelComponent> refs,
ModelComponent ancestor)
Collects external references which must also be copied in order to duplicate this component. |
Point3d |
getDisplacement()
|
double |
getDisplacementNorm()
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Frame |
getFrame()
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void |
getHardReferences(java.util.List<ModelComponent> refs)
Appends all hard references for this component to a list. |
Point3d |
getLocation()
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void |
getLocation(Point3d loc)
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Point3d |
getRefPos()
|
boolean |
hasState()
FrameMarkers don't have state that needs to be saved and restored, since their state is derived from their attached frames. |
boolean |
isDuplicatable()
Returns true if this component can be duplicated. |
void |
scaleDistance(double s)
Scales all distance coordinates. |
void |
setDisplacement(Point3d disp)
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void |
setFrame(Frame frame)
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void |
setLocation(Point3d loc)
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void |
setRefPos(Point3d referencePosition)
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void |
setWorldLocation(Point3d loc)
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void |
transformGeometry(AffineTransform3dBase X,
TransformableGeometry topObject,
int flags)
Applies an affine transformation to the geometry of this object. |
void |
transformLocation(AffineTransform3dBase X)
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void |
updateAttachment()
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void |
updatePosState()
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void |
updateState()
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void |
updateVelState()
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Methods inherited from class artisynth.core.mechmodels.DynamicMechComponentBase |
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addMasterAttachment, getAttachment, getInverseMass, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeMasterAttachment, setAttached, setSolveIndex |
Methods inherited from class artisynth.core.modelbase.RenderableComponentBase |
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getRenderHints, numSelectionQueriesNeeded, updateRenderProps |
Methods inherited from class artisynth.core.modelbase.ModelComponentBase |
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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 |
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equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Methods inherited from interface maspack.render.RenderablePoint |
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isSelected |
Methods inherited from interface maspack.render.GLSelectable |
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numSelectionQueriesNeeded |
Methods inherited from interface maspack.render.GLRenderable |
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getRenderHints |
Methods inherited from interface artisynth.core.mechmodels.DynamicMechComponent |
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addMasterAttachment, checkFlag, clearFlag, getAttachment, getInverseMass, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeMasterAttachment, setAttached, setFlag, setSolveIndex |
Methods inherited from interface artisynth.core.modelbase.ModelComponent |
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getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences |
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, write |
Field Detail |
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public static PropertyList myProps
Constructor Detail |
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public FrameMarker()
public FrameMarker(java.lang.String name)
public FrameMarker(Frame frame, Point3d pos)
public FrameMarker(Point3d pos)
public FrameMarker(double x, double y, double z)
public FrameMarker(Frame frame, double x, double y, double z)
Method Detail |
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public PropertyList getAllPropertyInfo()
HasProperties
getAllPropertyInfo
in interface HasProperties
getAllPropertyInfo
in class Point
public boolean hasState()
hasState
in interface ModelComponent
hasState
in class DynamicMechComponentBase
public void getLocation(Point3d loc)
public Point3d getLocation()
public void setLocation(Point3d loc)
public void transformLocation(AffineTransform3dBase X)
public void setWorldLocation(Point3d loc)
public Frame getFrame()
public void setFrame(Frame frame)
public int addTargetJacobian(SparseBlockMatrix J, int bi)
vt = J u
addTargetJacobian
in interface MotionTargetComponent
addTargetJacobian
in class Point
J
- motion target Jacobianbi
- block row index for the row to be added
public void updateState()
updateState
in class Marker
public double getDisplacementNorm()
public void setDisplacement(Point3d disp)
public Point3d getDisplacement()
public Point3d getRefPos()
public void setRefPos(Point3d referencePosition)
public void transformGeometry(AffineTransform3dBase X, TransformableGeometry topObject, int flags)
TransformableGeometry
topComponent
should be the component for which the method
was initially invoked. The variable flags
provides
information about the context in which the transformation is
being applied. At present, the available flags are
TransformableGeometry.SIMULATING
and TransformableGeometry.ARTICULATED
.
transformGeometry
in interface TransformableGeometry
transformGeometry
in class Point
X
- affine transformationtopObject
- component on which the method was initially invokedflags
- provides information about the context in which the
transformation is being applied.public void updateAttachment()
public void scaleDistance(double s)
ScalableUnits
scaleDistance
in interface ScalableUnits
scaleDistance
in class Point
s
- scaling factorpublic void applyForces()
public void updatePosState()
public void updateVelState()
public int addAttachedSolveBlock(SparseNumberedBlockMatrix S)
public void connectToHierarchy()
ModelComponentBase
When this method is called, ModelComponent.getParent()
will return
the new parent component; the system will have set this beforehand.
connectToHierarchy
in interface ModelComponent
connectToHierarchy
in class ModelComponentBase
public void disconnectFromHierarchy()
ModelComponentBase
When this
method is called, ModelComponent.getParent()
will still return this original
parent component; the system will set this to null
after.
disconnectFromHierarchy
in interface ModelComponent
disconnectFromHierarchy
in class ModelComponentBase
public void getHardReferences(java.util.List<ModelComponent> refs)
ModelComponentBase
getHardReferences
in interface ModelComponent
getHardReferences
in class ModelComponentBase
refs
- list to which hard references are appendedpublic void getAttachments(java.util.List<DynamicAttachment> list)
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
isDuplicatable
in class Point
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
getCopyReferences
in class Point
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 Point
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