public class RigidCompositeBody extends RigidBody implements CompositeComponent
RigidBody.InertiaMethod
CompositeComponent.NavpanelDisplay
ModelComponent.NavpanelVisibility
Collidable.DefaultCollidable
dynamicVelInWorldCoords, myRenderFrame
enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
COPY_REFERENCES
Default, Deformable, RigidBody, Self
ARTICULATED, SIMULATING
TRANSLUCENT, TWO_DIMENSIONAL
Constructor and Description |
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RigidCompositeBody() |
RigidCompositeBody(java.lang.String name) |
Modifier and Type | Method and Description |
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RigidMesh |
addMesh(MeshBase mesh)
Adds a mesh to this object.
|
RigidMesh |
addMesh(MeshBase mesh,
boolean physical)
Adds a mesh to this object.
|
RigidMesh |
addMesh(MeshBase mesh,
java.lang.String fileName,
AffineTransform3dBase Xh,
boolean physical)
Adds a mesh to this object
|
void |
addMesh(RigidMesh mc)
Explicitly adds a mesh component.
|
void |
componentChanged(ComponentChangeEvent e)
Notifies this composite component that a change has occured within one or
more of its descendants.
|
double |
computeVolume() |
boolean |
containsMesh(RigidMesh mc)
Checks if this object contains a particular geometry
|
RigidCompositeBody |
copy(int flags,
java.util.Map<ModelComponent,ModelComponent> copyMap)
Create a copy of this component.
|
ModelComponent |
findComponent(java.lang.String path)
Recursively searches for a sub-component of this ModelComponent,
identified by a path of component names.
|
ModelComponent |
get(int idx)
Returns a specific sub-component of this ModelComponent, identified by
index.
|
ModelComponent |
get(java.lang.String nameOrNumber)
Returns a specific sub-component of this ModelComponent, identified by
name or string representation of the sub-component's number
|
ModelComponent |
getByNumber(int num)
Returns a specific sub-component of this ModelComponent, identified by
number.
|
java.util.Iterator<? extends HierarchyNode> |
getChildren() |
PolygonalMesh |
getCollisionMesh(int idx) |
PolygonalMesh |
getMesh()
returns the first available PolygonalMesh, for compatibility with RigidBody
|
RigidMesh |
getMesh(java.lang.String name) |
MeshComponentList<RigidMesh> |
getMeshes() |
CompositeComponent.NavpanelDisplay |
getNavpanelDisplay()
Returns the DisplayMode for this component.
|
int |
getNumberLimit()
Returns the current upper limit for numbers among all sub-components in
this composite.
|
int |
getNumMeshes()
Number of meshes associated with this object
|
Point3d |
getOriginData(MouseRayEvent ray)
Constructs force origin storage data given a mouse ray
(e.g.
|
boolean |
hasChildren() |
boolean |
hasState()
Returns true if this component has state.
|
boolean |
hierarchyContainsReferences()
Returns true if the component hierarchy formed by this component and its
descendents is closed with respect to references.
|
int |
indexOf(ModelComponent comp)
Returns the index of a specified sub-component, or -1 if that the
component is not present.
|
int |
numComponents()
Returns the number of components in this CompositeComponent.
|
void |
postscan(java.util.Deque<ScanToken> tokens,
CompositeComponent ancestor)
Performs any required post-scanning for this component.
|
void |
prerender(RenderList list)
Prepare for rendering, and potentially add itself to a list to be drawn
by a GLRenderer.
|
boolean |
removeMesh(RigidMesh mc) |
RigidMesh |
removeMesh(java.lang.String name) |
void |
scaleDistance(double s)
Scales all distance coordinates.
|
void |
scan(ReaderTokenizer rtok,
java.lang.Object ref)
Scans this element from a ReaderTokenizer.
|
void |
setDensity(double density)
Sets the density for the mesh, which is defined at the mass divided
by the mesh volume.
|
void |
setDisplayMode(CompositeComponent.NavpanelDisplay mode)
Sets the display mode for this component.
|
void |
setInertia(double m,
double Jxx,
double Jyy,
double Jzz)
Explicitly sets the mass and rotational inertia of this body.
|
void |
setInertia(double m,
SymmetricMatrix3d J)
Explicitly sets the mass and rotational inertia of this body.
|
void |
setInertia(double m,
SymmetricMatrix3d J,
Point3d com)
Explicitly sets the mass, rotational inertia, and center of mass of this
body.
|
void |
setInertia(SpatialInertia M)
Explicitly sets the spatial inertia of this body.
|
void |
setInertiaFromDensity(double density)
Causes the inertia to be automatically computed from the mesh volume
and a given density.
|
void |
setInertiaFromMass(double mass)
Causes the inertia to be automatically computed from the mesh volume
and a given mass (with the density computed by dividing the mass
by the mesh volume).
|
void |
setInertiaMethod(RigidBody.InertiaMethod method)
Sets the
InertiaMethod method used to
determine the inertia for this RigidBody. |
void |
setMass(double mass)
Sets the mass for the mesh.
|
void |
setMesh(PolygonalMesh mesh,
java.lang.String fileName,
AffineTransform3dBase X)
Sets a mesh for this body.
|
void |
setSelected(boolean selected)
Selects or deselects this component.
|
void |
transformGeometry(AffineTransform3dBase X,
TransformableGeometry topObject,
int flags)
Applies an affine transformation to the geometry of this object.
|
void |
updateBounds(Point3d pmin,
Point3d pmax)
Update the minimum and maximum points for this object.
|
void |
updateNameMap(java.lang.String newName,
java.lang.String oldName,
ModelComponent comp) |
addScaledVelocity, addVelocity, applyForce, applyGravity, applyPosImpulse, createBox, createCollisionData, createCylinder, createEllipsoid, createFromMesh, createFromMesh, createFromMesh, createFromMesh, createRenderProps, createSphere, extrapolatePose, findFreeAttachedBodies, getAllPropertyInfo, getCenterOfMass, getCenterOfMass, getCopyReferences, getDensity, getDensityRange, getFrameMarkers, getInertia, getInertiaMethod, getInverseMass, getMass, getMass, getMass, getMassForces, getMassRange, getMeshFileName, getMeshFileTransform, getOriginPoint, getPointRenderRadius, getRelativePoses, getRotationalInertia, getRotationalInertia, getSurfaceMesh, isCollidable, isDuplicatable, isMassConstant, isPullable, render, scaleMass, scaleMesh, setBodyVelocity, setCenterOfMass, setDynamic, setMesh, setMeshFileName, setMeshFileTransform, setPose, setPose, setPosition, setPosState, setRelativePoses, setRotation, setRotationalInertia, setState, setState, setSurfaceMesh, setSurfaceMesh, setVelocity, setVelState, transformGeometry, updateAttachmentPosStates, updatePose, write
addExternalForce, addForce, addPointForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addVelJacobian, applyForces, computeAppliedWrench, computeAppliedWrench, computePointPosition, computePointVelocity, computePointVelocity, createMassBlock, createSolveBlock, drawAxes, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getState, getState, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTracables, getTracingProbe, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, resetTargets, setAxisLength, setExternalForce, setForce, setForce, setForcesToExternal, setFrameDamping, setFrameDampingMode, setOrientation, setRotaryDamping, setRotaryDampingMode, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, velocityLimitExceeded, zeroExternalForces, zeroForces
addMasterAttachment, getAttachment, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeMasterAttachment, setAttached, setSolveIndex
getRenderHints, getRenderProps, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, 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, updateReferences
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, updateReferences
getAllPropertyInfo, getProperty
isWritable, write
addMasterAttachment, checkFlag, clearFlag, getAttachment, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeMasterAttachment, setAttached, setFlag, setSolveIndex
public RigidCompositeBody()
public RigidCompositeBody(java.lang.String name)
public PolygonalMesh getMesh()
public MeshComponentList<RigidMesh> getMeshes()
public RigidMesh getMesh(java.lang.String name)
public PolygonalMesh getCollisionMesh(int idx)
public RigidMesh addMesh(MeshBase mesh)
mesh
- Instance of MeshBasepublic RigidMesh addMesh(MeshBase mesh, boolean physical)
mesh
- Instance of MeshBasephysical
- true if to be used for mass/inertia calculationspublic RigidMesh addMesh(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase Xh, boolean physical)
mesh
- Instance of MeshBasefileName
- name of file (can be null)Xh
- transform associated with meshphysical
- if true, this mesh is used for computing mass and inertiapublic void addMesh(RigidMesh mc)
public int getNumMeshes()
public boolean containsMesh(RigidMesh mc)
public void setInertiaMethod(RigidBody.InertiaMethod method)
InertiaMethod
method used to
determine the inertia for this RigidBody.setInertiaMethod
in class RigidBody
method
- inertia method for this RigidBodyRigidBody.setInertia(maspack.spatialmotion.SpatialInertia)
,
RigidBody.setInertiaFromDensity(double)
,
RigidBody.setInertiaFromMass(double)
public void setInertia(SpatialInertia M)
getDensity
) to be undefined).setInertia
in class RigidBody
public void setInertia(double m, SymmetricMatrix3d J)
getDensity
) to be
undefined).setInertia
in class RigidBody
public void setInertia(double m, SymmetricMatrix3d J, Point3d com)
getDensity
) to be undefined).setInertia
in class RigidBody
public void setInertia(double m, double Jxx, double Jyy, double Jzz)
getDensity
) to be
undefined).setInertia
in class RigidBody
public void setInertiaFromDensity(double density)
null
then
the inertia remains unchanged. Subsequent (non-null
) changes
to the mesh will cause the inertia to be recomputed.
The inertia method is set to
Density
.setInertiaFromDensity
in class RigidBody
density
- desired uniform densitypublic void setInertiaFromMass(double mass)
null
the mass
of the inertia is updated but the otherwise the inertia and density
are left unchanged. Subsequent (non-null
) changes
to the mesh will cause the inertia to be recomputed.
The inertia method is set to Mass
.setInertiaFromMass
in class RigidBody
mass
- desired body masspublic double computeVolume()
computeVolume
in class RigidBody
public void setDensity(double density)
Density
or
Mass
, the other components of
the spatial inertia will also be updated.setDensity
in class RigidBody
density
- new density valuepublic void setMass(double mass)
public boolean removeMesh(RigidMesh mc)
public RigidMesh removeMesh(java.lang.String name)
public void setMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X)
RigidBody
getDensity
returns a non-negative value), then the
spatial inertia is automatically calculated from the mesh and the uniform
density.public void prerender(RenderList list)
GLRenderable
prerender
in interface GLRenderable
prerender
in class RigidBody
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 RigidBody
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 scaleDistance(double s)
ScalableUnits
scaleDistance
in interface ScalableUnits
scaleDistance
in class RigidBody
s
- scaling factorpublic void updateNameMap(java.lang.String newName, java.lang.String oldName, ModelComponent comp)
updateNameMap
in interface CompositeComponent
public ModelComponent findComponent(java.lang.String path)
findComponent
in interface CompositeComponent
path
- path leading to the sub-componentpublic ModelComponent get(java.lang.String nameOrNumber)
get
in interface CompositeComponent
nameOrNumber
- name or number of the sub-componentpublic ModelComponent get(int idx)
get
in interface CompositeComponent
get
in interface IndexedComponentList
idx
- index of the sub-componentpublic ModelComponent getByNumber(int num)
getByNumber
in interface CompositeComponent
num
- number of the sub-componentpublic int getNumberLimit()
getNumberLimit
in interface CompositeComponent
public int indexOf(ModelComponent comp)
indexOf
in interface CompositeComponent
public int numComponents()
numComponents
in interface CompositeComponent
numComponents
in interface IndexedComponentList
public void componentChanged(ComponentChangeEvent e)
This method should propagate the notification up the component hierarchy
by calling notifyParentOfChange
.
componentChanged
in interface ComponentChangeListener
componentChanged
in interface CompositeComponent
e
- optional argument giving specific information about the changepublic void scan(ReaderTokenizer rtok, java.lang.Object ref) throws java.io.IOException
ModelComponentBase
write
.scan
in interface ModelComponent
scan
in interface Scannable
scan
in class RigidBody
rtok
- Tokenizer from which to scan the elementref
- optional reference object which can be used for resolving references to
other objectsjava.io.IOException
- if an I/O or formatting error occuredpublic void postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) throws java.io.IOException
ModelComponent
scan()
method and stored in the token queue.
The most common use of this method is to resolve the paths
of component references, which may not have been created
at the time of the initial scan()
call.postscan
in interface ModelComponent
postscan
in class ModelComponentBase
tokens
- token information that was stored during
scan()
.ancestor
- ancestor component with respect to which
reference component paths are defined.java.io.IOException
public java.util.Iterator<? extends HierarchyNode> getChildren()
getChildren
in interface HierarchyNode
getChildren
in class ModelComponentBase
public boolean hasChildren()
hasChildren
in interface HierarchyNode
hasChildren
in class ModelComponentBase
public void setSelected(boolean selected)
ModelComponentBase
setSelected
in interface ModelComponent
setSelected
in class ModelComponentBase
selected
- if true, this component is selectedpublic CompositeComponent.NavpanelDisplay getNavpanelDisplay()
getNavpanelDisplay
in interface CompositeComponent
public void setDisplayMode(CompositeComponent.NavpanelDisplay mode)
NORMAL
.mode
- new display modepublic boolean hierarchyContainsReferences()
In particular, this means that one does not need to search outside the hierarchy when looking for dependencies.
hierarchyContainsReferences
in interface CompositeComponent
public RigidCompositeBody 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 RigidBody
public boolean hasState()
DynamicMechComponentBase
hasState
in interface ModelComponent
hasState
in class DynamicMechComponentBase
public void updateBounds(Point3d pmin, Point3d pmax)
GLRenderable
updateBounds
in interface GLRenderable
updateBounds
in class RigidBody
pmin
- minimum pointpmax
- maximum pointpublic Point3d getOriginData(MouseRayEvent ray)
PullController.Pullable
getOriginData
in interface PullController.Pullable
getOriginData
in class RigidBody