artisynth.core.femmodels

Class PointSkinAttachment

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.mechmodels.DynamicAttachment

artisynth.core.mechmodels.PointAttachment

artisynth.core.femmodels.PointSkinAttachment

All Implemented Interfaces:

CopyableComponent, ModelComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, Scannable

public class PointSkinAttachment
extends PointAttachment
implements ScalableUnits

A special attachment class that is used to update a point's position based on the state of the controlling bodies (such as Frames and FemModels) in a SkinMeshBody. Instances of this class (without an actual slave Point) are used to control the positions of each vertex in a SkinMeshBody.

The class maintains a list of Connection objects for each underlying dynamic component (such as a Frame or FemNode3d) that has a weighted influence on the point's final value.

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
class	PointSkinAttachment.BaseConnection
class	PointSkinAttachment.Connection Base class for connections associated with this attachment.
class	PointSkinAttachment.FemDisplacementConnection
class	PointSkinAttachment.FrameConnection
class	PointSkinAttachment.ParticleConnection

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

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, myProps, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES

Constructor Summary

Constructors

Constructor and Description
PointSkinAttachment() Creates an empty PointSkinAttachment.
PointSkinAttachment(SkinMeshBody skinMesh) Creates an empty PointSkinAttachment to associated with a specific skinMesh.

Method Summary

Modifier and Type	Method and Description
void	addBaseConnection(double weight) Adds a base point connection to this attachment.
void	addFemDisplacementConnection(FemNode3d node, double weight) Adds a displacment-based FemNode connection to this attachment.
void	addForce(Vector3d f)
void	addFrameConnection(SkinMeshBody.FrameInfo frameInfo, double weight) Adds a Frame connection to this attachment.
void	addMassToMaster(MatrixBlock mblk, MatrixBlock sblk, int idx)
void	addMassToMasters()
void	addParticleConnection(Particle particle, double weight) Adds an arbitrary particle connection to this attachment.
void	applyForces()
void	clearConnections() Clear the connections used by this attachment.
PointSkinAttachment	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
void	finalizeConnections() Should be called after all connections have been added.
Point3d	getBasePosition() Gets the base position for this attachment.
PointSkinAttachment.Connection	getConnection(int idx) Gets a specific connection used by this attachent.
void	getCurrentPos(Vector3d pos) Returns the current position of the attached point, in world coordinates.
void	getCurrentVel(Vector3d vel, Vector3d dvel)
boolean	getDerivative(double[] buf, int idx)
DynamicComponent	getMaster(int idx) Returns the underlying master component for a connection used by this attachment.
SkinMeshBody	getSkinMesh() Returns the SkinMeshBody associated with this attachment.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
double	getWeight(int idx) Returns the weight for a connection used by this attachment.
void	mulSubG(MatrixBlock D, MatrixBlock B, int idx) Computes
void	mulSubGT(double[] ybuf, int yoff, double[] xbuf, int xoff, int idx) Computes
void	mulSubGT(MatrixBlock D, MatrixBlock B, int idx) Computes
int	numConnections() Returns the number of connections (to master components) used by this attachment.
void	postscan(java.util.Deque<ScanToken> tokens, CompositeComponent ancestor) Performs any required post-scanning for this component.
void	scaleBaseWeights(double s, PointSkinAttachment.Connection[] connections)
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
void	setBasePosition(Vector3d pos) Sets the base position for this attachment.
void	setPoint(Point pnt)
void	setSkinMesh(SkinMeshBody skinMesh) Sets the SkinMeshBody associated with this attachment.
void	setWeight(int idx, double w) Sets the weight for a connection used by this attachment.
void	trimToSize() Minimizes the connection storage space.
void	updateAttachment() Update attachment to reflect changes in the slave state.
void	updatePosStates()
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	updateVelStates()
void	writeItems(java.io.PrintWriter pw, NumberFormat fmt, CompositeComponent ancestor)

Methods inherited from class artisynth.core.mechmodels.PointAttachment

addTargetJacobian, getCopyReferences, getMasterBlocks, getMasters, getPoint, getSlave, getSlaveSolveIndex, invalidateMasters, isDuplicatable, numMasters

Methods inherited from class artisynth.core.mechmodels.DynamicAttachment

addAttachmentJacobian, addBackRefs, addSolveBlocks, clone, connectToHierarchy, containsLoop, containsLoops, containsMaster, createOrderedList, disconnectFromHierarchy, getHardReferences, oneMasterActive, reduceConstraints, reduceMass, reduceRowMatrix, removeBackRefs

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, createTempFlag, getAllPropertyInfo, getChildren, getGrandParent, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, hasChildren, hasState, isConnectedToHierarchy, isFixed, isMarked, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, 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 artisynth.core.modelbase.ModelComponent

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

Methods inherited from interface maspack.properties.HasProperties

getAllPropertyInfo, getProperty

Methods inherited from interface maspack.properties.HierarchyNode

getChildren, hasChildren

Methods inherited from interface maspack.util.Scannable

isWritable, write

Constructor Detail

PointSkinAttachment

public PointSkinAttachment()

Creates an empty PointSkinAttachment. The associated skin mesh will have to be set later.

PointSkinAttachment

public PointSkinAttachment(SkinMeshBody skinMesh)

Creates an empty PointSkinAttachment to associated with a specific skinMesh.

Method Detail

setPoint

public void setPoint(Point pnt)

getSkinMesh

public SkinMeshBody getSkinMesh()

Returns the SkinMeshBody associated with this attachment.

setSkinMesh

public void setSkinMesh(SkinMeshBody skinMesh)

Sets the SkinMeshBody associated with this attachment. Will be called by objects utilizing this attachment.

getBasePosition

public Point3d getBasePosition()

Gets the base position for this attachment. Base positions are used for displacement-based position computations.

setBasePosition

public void setBasePosition(Vector3d pos)

Sets the base position for this attachment.

numConnections

public int numConnections()

Returns the number of connections (to master components) used by this attachment.

clearConnections

public void clearConnections()

Clear the connections used by this attachment.

getConnection

public PointSkinAttachment.Connection getConnection(int idx)

Gets a specific connection used by this attachent.

Parameters:

idx - index of the connection. Must be in the range 0 to numConnections().

getWeight

public double getWeight(int idx)

Returns the weight for a connection used by this attachment.

Parameters:

idx - index of the connection. Must be in the range 0 to numConnections().

setWeight

public void setWeight(int idx,
                      double w)

Sets the weight for a connection used by this attachment.

Parameters:

idx - index of the connection. Must be in the range 0 to numConnections().

getMaster

public DynamicComponent getMaster(int idx)

Returns the underlying master component for a connection used by this attachment. If the connection has no master component, then null is returned.

Parameters:

idx - index of the connection. Must be in the range 0 to numConnections().

addFrameConnection

public void addFrameConnection(SkinMeshBody.FrameInfo frameInfo,
                               double weight)

Adds a Frame connection to this attachment. The Frame's displacement from it's rest pose will be used to compute a weighted contribution to the point value, using a mechanism determined by the blend type associated with the SkinMeshBody (as returned by SkinMeshBody.getFrameBlending()).

Parameters:

frameInfo - FrameInfo structure within the associated SkinMeshBody.

weight - connection weight.

addFemDisplacementConnection

public void addFemDisplacementConnection(FemNode3d node,
                                         double weight)

Adds a displacment-based FemNode connection to this attachment. The node's displacement from it's rest position will be used to compute a weighted contribution to the point value.

Parameters:

node - FemNode

weight - connection weight.

addBaseConnection

public void addBaseConnection(double weight)

Adds a base point connection to this attachment. The point's base position (as returned by getBasePosition() will be used to compute a weighted contribution to the point value.

Parameters:

weight - connection weight.

addParticleConnection

public void addParticleConnection(Particle particle,
                                  double weight)

Adds an arbitrary particle connection to this attachment. The particle's current position will be used to compute a weighted contribution to the point value.

Parameters:

particle - particle associated with the attachment.

weight - connection weight.

trimToSize

public void trimToSize()

Minimizes the connection storage space. Should be called after all connections have been added.

finalizeConnections

public void finalizeConnections()

Should be called after all connections have been added.

getCurrentPos

public void getCurrentPos(Vector3d pos)

Description copied from class: PointAttachment

Returns the current position of the attached point, in world coordinates.

Specified by:

getCurrentPos in class PointAttachment

Parameters:

pos - used to return current point position

getCurrentVel

public void getCurrentVel(Vector3d vel,
                          Vector3d dvel)

updatePosStates

public void updatePosStates()

Specified by:

updatePosStates in class DynamicAttachment

updateVelStates

public void updateVelStates()

Specified by:

updateVelStates in class DynamicAttachment

applyForces

public void applyForces()

Overrides:

applyForces in class PointAttachment

addForce

public void addForce(Vector3d f)

mulSubGT

public void mulSubGT(MatrixBlock D,
                     MatrixBlock B,
                     int idx)

Description copied from class: DynamicAttachment

Computes

       T
 D -= G  B
 

where D and B are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Parameters:

D - dependent matrix associated with a master component

B - matrix associated with a slave component

mulSubG

public void mulSubG(MatrixBlock D,
                    MatrixBlock B,
                    int idx)

Description copied from class: DynamicAttachment

Computes

 D -= B G
 

where D and B are matrices associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Parameters:

D - dependent matrix associated with a master component

B - matrix associated with a slave component

mulSubGT

public void mulSubGT(double[] ybuf,
                     int yoff,
                     double[] xbuf,
                     int xoff,
                     int idx)

Description copied from class: DynamicAttachment

Computes

       T
 y -= G  x
 

where y and x are vectors associated with master and slave components, respectively, and G is the constraint matrix for the attachment.

Parameters:

ybuf - buffer into which to store result

yoff - offset into ybuf

xbuf - buffer containing right hand side vector

xoff - offset into xbuf

idx - master component index

updateAttachment

public void updateAttachment()

Description copied from class: DynamicAttachment

Update attachment to reflect changes in the slave state.

Specified by:

updateAttachment in class DynamicAttachment

addMassToMasters

public void addMassToMasters()

Specified by:

addMassToMasters in class DynamicAttachment

addMassToMaster

public void addMassToMaster(MatrixBlock mblk,
                            MatrixBlock sblk,
                            int idx)

postscan

public void postscan(java.util.Deque<ScanToken> tokens,
                     CompositeComponent ancestor)
              throws java.io.IOException

Description copied from interface: ModelComponent

Performs any required post-scanning for this component. This involves handling any information whose processing was deferred during the 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.

Specified by:

postscan in interface ModelComponent

Overrides:

postscan in class ModelComponentBase

Parameters:

tokens - token information that was stored during scan().

ancestor - ancestor component with respect to which reference component paths are defined.

Throws:

java.io.IOException - if an error is encountered (such as a reference to a non-existent component)

writeItems

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

Overrides:

writeItems in class PointAttachment

Throws:

java.io.IOException

getDerivative

public boolean getDerivative(double[] buf,
                             int idx)

Specified by:

getDerivative in class DynamicAttachment

getSoftReferences

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

Description copied from class: ModelComponentBase

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

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

copy

public PointSkinAttachment copy(int flags,
                                java.util.Map<ModelComponent,ModelComponent> copyMap)

Description copied from interface: CopyableComponent

Create a copy of this component. If 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.

Specified by:

copy in interface CopyableComponent

Overrides:

copy in class PointAttachment

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component

scaleBaseWeights

public void scaleBaseWeights(double s,
                             PointSkinAttachment.Connection[] connections)

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.