artisynth.core.femmodels

Class MuscleElementDesc

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.femmodels.MuscleElementDesc

All Implemented Interfaces:

AuxiliaryMaterial, ExcitationComponent, RequiresInitialize, ModelComponent, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Clonable, Scannable

public class MuscleElementDesc
extends RenderableComponentBase
implements AuxiliaryMaterial, ExcitationComponent, ScalableUnits, TransformableGeometry

A class wrapping the description of each FEM element belonging to a MuscleBundle. It implements the AuxiliaryMaterial required to effect muscle activation within the element, and contains the element-specific muscle direction information.

Nested Class Summary

Nested classes/interfaces inherited from interface artisynth.core.mechmodels.ExcitationComponent

ExcitationComponent.CombinationRule

Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
MuscleElementDesc()
MuscleElementDesc(FemElement3d elem)
MuscleElementDesc(FemElement3d elem, Vector3d dir)

Method Summary

Modifier and Type	Method and Description
void	addExcitationSource(ExcitationComponent ex) Adds a new excitation source to this Excitable, with an assumed gain of 1.
void	addExcitationSource(ExcitationComponent ex, double gain) Adds a new excitation source to this Excitable with a specified gain.
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	computeStress(SymmetricMatrix3d sigma, SolidDeformation def, IntegrationPoint3d pt, IntegrationData3d dt, FemMaterial baseMat)
void	computeTangent(Matrix6d D, SymmetricMatrix3d stress, SolidDeformation def, IntegrationPoint3d pt, IntegrationData3d dt, FemMaterial baseMat)
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).
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.
ExcitationComponent.CombinationRule	getCombinationRule() Return the combination rule for excitations.
double	getDefaultActivationWeight() Returns the default weight that should be used when this excitation component is being used for inverse actuation control.
Vector3d	getDirection()
Vector3d[]	getDirections()
FemElement3d	getElement()
double	getExcitation() Returns the primary excitation for this component.
double	getExcitationGain(ExcitationComponent ex) Gets the gain for an excitation source in this component.
Vector3d	getMuscleDirection(int ipntIdx)
Vector3d	getMuscleDirection(IntegrationPoint3d pnt)
MuscleMaterial	getMuscleMaterial()
double	getNetExcitation() Returns the net excitation for this Excitable.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
boolean	hasSymmetricTangent()
void	initialize(double t) Called from within the model's initialize() method.
void	interpolateDirection(DelaunayInterpolator interp, Vector3d[] restDirs)
void	interpolateIpntDirection(DelaunayInterpolator interp, Vector3d[] restDirs)
boolean	isCorotated() Deformation is computed by first removing a rotation component (either explicit or computed from strain)
boolean	isInvertible()
boolean	isLinear() Linear stress/stiffness response to deformation, allows tangent to be pre-computed and stored.
void	prerender(RenderList list) Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates).
void	printElementReference(java.io.PrintWriter pw, CompositeComponent ancestor)
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	render(Renderer renderer, RenderProps props, int flags)
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
boolean	scanItem(ReaderTokenizer rtok, java.util.Deque<ScanToken> tokens)
void	setCombinationRule(ExcitationComponent.CombinationRule rule) Sets the rule for combining excitations.
void	setDirection(Vector3d dir)
void	setDirections(Vector3d[] dirs) Sets a list of directions for this MuscleElementDesc, one for each integration point in the element.
void	setElement(FemElement3d elem)
void	setExcitation(double a) Sets the primary excitation for this component.
boolean	setExcitationGain(ExcitationComponent ex, double gain) Sets the gain for an excitation source in this component.
void	setMuscleMaterial(MuscleMaterial mat)
void	transformGeometry(AffineTransform3dBase X) Applies an affine transformation to the geometry of this component.
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
void	updateBounds(Vector3d pmin, Vector3d pmax) Update the minimum and maximum points for this object.
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

copy, createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, hasChildren, hasState, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, scan, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setSelected, write

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface maspack.util.Clonable

clone

Methods inherited from interface artisynth.core.modelbase.ModelComponent

getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected

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

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

MuscleElementDesc

public MuscleElementDesc()

MuscleElementDesc

public MuscleElementDesc(FemElement3d elem,
                         Vector3d dir)

MuscleElementDesc

public MuscleElementDesc(FemElement3d elem)

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 ModelComponentBase

Returns:

static information for all exported properties

setDirection

public void setDirection(Vector3d dir)

getDirection

public Vector3d getDirection()

setDirections

public void setDirections(Vector3d[] dirs)

Sets a list of directions for this MuscleElementDesc, one for each integration point in the element. This will override the single per-element direction specified by setDirection(maspack.matrix.Vector3d). If a particular direction is null, then no stress will be applied at the corresponding integration point. Supplying a null value for dirs will disable per-integration point directions.

getDirections

public Vector3d[] getDirections()

getMuscleMaterial

public MuscleMaterial getMuscleMaterial()

setMuscleMaterial

public void setMuscleMaterial(MuscleMaterial mat)

isInvertible

public boolean isInvertible()

Specified by:

isInvertible in interface AuxiliaryMaterial

isLinear

public boolean isLinear()

Description copied from interface: AuxiliaryMaterial

Linear stress/stiffness response to deformation, allows tangent to be pre-computed and stored.

Specified by:

isLinear in interface AuxiliaryMaterial

Returns:

true if linear response

isCorotated

public boolean isCorotated()

Description copied from interface: AuxiliaryMaterial

Deformation is computed by first removing a rotation component (either explicit or computed from strain)

Specified by:

isCorotated in interface AuxiliaryMaterial

Returns:

true if material is corotated

getExcitation

public double getExcitation()

Returns the primary excitation for this component.

Specified by:

getExcitation in interface ExcitationComponent

Returns:

primary excitation value

initialize

public void initialize(double t)

Called from within the model's initialize() method.

Specified by:

initialize in interface RequiresInitialize

Parameters:

t - initialization time (seconds)

setExcitation

public void setExcitation(double a)

Sets the primary excitation for this component.

Specified by:

setExcitation in interface ExcitationComponent

Parameters:

a - excitation value

setCombinationRule

public void setCombinationRule(ExcitationComponent.CombinationRule rule)

Sets the rule for combining excitations.

Specified by:

setCombinationRule in interface ExcitationComponent

Parameters:

rule - rule for combining excitations

getCombinationRule

public ExcitationComponent.CombinationRule getCombinationRule()

Return the combination rule for excitations.

Specified by:

getCombinationRule in interface ExcitationComponent

Returns:

combination rule for excitations

addExcitationSource

public void addExcitationSource(ExcitationComponent ex)

Adds a new excitation source to this Excitable, with an assumed gain of 1.

Specified by:

addExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be added

addExcitationSource

public void addExcitationSource(ExcitationComponent ex,
                                double gain)

Adds a new excitation source to this Excitable with a specified gain.

Specified by:

addExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be added

gain - gain for the source

removeExcitationSource

public boolean removeExcitationSource(ExcitationComponent ex)

Removes an excitation source from this Excitable. Returns false if the source was not present.

Specified by:

removeExcitationSource in interface ExcitationComponent

Parameters:

ex - excitatation source to be removed

Returns:

true if the source was present and removed

getExcitationGain

public double getExcitationGain(ExcitationComponent ex)

Gets the gain for an excitation source in this component.

Specified by:

getExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be queried

Returns:

source gain value, or -1 if the source is not present in this component.

setExcitationGain

public boolean setExcitationGain(ExcitationComponent ex,
                                 double gain)

Sets the gain for an excitation source in this component.

Specified by:

setExcitationGain in interface ExcitationComponent

Parameters:

ex - excitatation source whose gain is to be modified

gain - new gain for the source

Returns:

false if the source is not present in this component.

getNetExcitation

public double getNetExcitation()

Returns the net excitation for this Excitable. The net excitation is the combination of the primary excitation and the net excitations of all the excitation sources.

Specified by:

getNetExcitation in interface ExcitationComponent

Returns:

net excitation for this Excitable

getSoftReferences

public void getSoftReferences(java.util.List<ModelComponent> refs)

Appends all soft references for this component to a list. References are other components, outside of this component's immediate ancestry, on which this component depends. For example, an ExcitationComponent may refer to one or more other ExcitationComponents to act as excitation sources. A soft reference is one which can be removed from the referring component. In particular, if any soft references for a component are deleted, then that component's updateReferences() method will be called to update its internal reference information.

Specified by:

getSoftReferences in interface ModelComponent

Overrides:

getSoftReferences in class ModelComponentBase

Parameters:

refs - list to which soft references are appended

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.isConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

getDefaultActivationWeight

public double getDefaultActivationWeight()

Returns the default weight that should be used when this excitation component is being used for inverse actuation control.

Specified by:

getDefaultActivationWeight in interface ExcitationComponent

Returns:

default weight for inverse actuation control

updateBounds

public void updateBounds(Vector3d pmin,
                         Vector3d pmax)

Description copied from interface: IsRenderable

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 IsRenderable

Overrides:

updateBounds in class RenderableComponentBase

Parameters:

pmin - minimum point

pmax - maximum point

prerender

public void prerender(RenderList list)

Description copied from interface: IsRenderable

Called prior to rendering to allow this object to update the internal state required for rendering (such as by caching rendering coordinates). The object may add internal objects to the list of objects being rendered, by calling

list.addIfVisible (obj);

for each of the objects in question.

Specified by:

prerender in interface IsRenderable

Overrides:

prerender in class RenderableComponentBase

Parameters:

list - list of objects to be rendered

render

public void render(Renderer renderer,
                   int flags)

Description copied from interface: IsRenderable

Render this object using the functionality of the supplied Renderer.

Specified by:

render in interface IsRenderable

Specified by:

render in class RenderableComponentBase

Parameters:

renderer - provides the functionality used to perform the rendering.

flags - flags that may be used to control different aspects of the rendering. Flags are defined in Renderer and currently include Renderer.HIGHLIGHT and Renderer.SORT_FACES.

render

public void render(Renderer renderer,
                   RenderProps props,
                   int flags)

computeTangent

public void computeTangent(Matrix6d D,
                           SymmetricMatrix3d stress,
                           SolidDeformation def,
                           IntegrationPoint3d pt,
                           IntegrationData3d dt,
                           FemMaterial baseMat)

Specified by:

computeTangent in interface AuxiliaryMaterial

computeStress

public void computeStress(SymmetricMatrix3d sigma,
                          SolidDeformation def,
                          IntegrationPoint3d pt,
                          IntegrationData3d dt,
                          FemMaterial baseMat)

Specified by:

computeStress in interface AuxiliaryMaterial

hasSymmetricTangent

public boolean hasSymmetricTangent()

Specified by:

hasSymmetricTangent in interface AuxiliaryMaterial

getMuscleDirection

public Vector3d getMuscleDirection(IntegrationPoint3d pnt)

getMuscleDirection

public Vector3d getMuscleDirection(int ipntIdx)

interpolateDirection

public void interpolateDirection(DelaunayInterpolator interp,
                                 Vector3d[] restDirs)

interpolateIpntDirection

public void interpolateIpntDirection(DelaunayInterpolator interp,
                                     Vector3d[] restDirs)

getElement

public FemElement3d getElement()

setElement

public void setElement(FemElement3d elem)

transformGeometry

public void transformGeometry(AffineTransform3dBase X)

Description copied from interface: TransformableGeometry

Applies an affine transformation to the geometry of this component. This method should be equivalent to

 TransformGeometryContext.transform (this, X, 0);
 

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

X - affine transformation to apply to the component

transformGeometry

public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)

Description copied from interface: TransformableGeometry

Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.

This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).

TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.

This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).

Specified by:

transformGeometry in interface TransformableGeometry

Parameters:

gtr - transformer implementing the transform

context - context information, including what other components are being transformed

flags - specifies conditions associated with the transformation

addTransformableDependencies

public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)

Description copied from interface: TransformableGeometry

Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.

This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.

Specified by:

addTransformableDependencies in interface TransformableGeometry

Parameters:

context - context information, to which the dependent components are added.

flags - specifies conditions associated with the transformation

scaleDistance

public void scaleDistance(double s)

Description copied from interface: ScalableUnits

Scales all distance coordinates.

Specified by:

scaleDistance in interface ScalableUnits

Parameters:

s - scaling factor

scaleMass

public void scaleMass(double s)

Description copied from interface: ScalableUnits

Scales all mass units.

Specified by:

scaleMass in interface ScalableUnits

Parameters:

s - scaling factor

connectToHierarchy

public void connectToHierarchy()

Description copied from class: ModelComponentBase

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). This method is responsible for doing any required hierarchy-dependent initialization.

When this method is called, ModelComponent.getParent() will return the new parent component; the system will have set this beforehand.

Specified by:

connectToHierarchy in interface ModelComponent

Overrides:

connectToHierarchy in class ModelComponentBase

disconnectFromHierarchy

public void disconnectFromHierarchy()

Description copied from class: ModelComponentBase

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). This method is responsible for any required hierarchy-dependent deinitialization.

When this method is called, ModelComponent.getParent() will still return this original parent component; the system will set this to null after.

Specified by:

disconnectFromHierarchy in interface ModelComponent

Overrides:

disconnectFromHierarchy in class ModelComponentBase

printElementReference

public void printElementReference(java.io.PrintWriter pw,
                                  CompositeComponent ancestor)
                           throws java.io.IOException

Throws:

java.io.IOException

scanItem

public boolean scanItem(ReaderTokenizer rtok,
                        java.util.Deque<ScanToken> tokens)
                 throws java.io.IOException

Throws:

java.io.IOException

writeItems

public void writeItems(java.io.PrintWriter pw,
                       NumberFormat fmt,
                       CompositeComponent ancestor)
                throws java.io.IOException

Throws:

java.io.IOException