artisynth.core.mechmodels

Interface MotionTargetComponent

All Superinterfaces:

DynamicComponent, ForceEffector, HasProperties, HierarchyNode, ModelComponent, Scannable, TransformableGeometry

All Known Implementing Classes:

BeamBody, DeformableBody, FemMarker, FemModelFrame, FemNode, FemNode3d, Frame, FrameMarker, GenericMarker, Marker, MFreeNode3d, Particle, PlanarPoint, Point, RigidBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, TargetFrame, TargetPoint

public interface MotionTargetComponent
extends DynamicComponent

Indicates a dynamic component for which motion targets can be set.

Nested Class Summary

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

ModelComponent.NavpanelVisibility

Field Summary

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Method Summary

Modifier and Type	Method and Description
int	addTargetJacobian(SparseBlockMatrix J, int bi) Add a row to the motion target Jacobian for this motion target.
int	getPosStateSize()
MotionTarget.TargetActivity	getTargetActivity()
int	getTargetPos(double[] post, double s, double h, int idx)
int	getTargetVel(double[] velt, double s, double h, int idx)
int	getVelStateSize()
void	resetTargets()
void	setTargetActivity(MotionTarget.TargetActivity interp)
int	setTargetPos(double[] post, int idx)
int	setTargetVel(double[] velt, int idx)

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addConstrainer, addMasterAttachment, addPosImpulse, addSolveBlock, applyExternalForces, applyGravity, checkFlag, clearFlag, createMassBlock, getAttachment, getConstrainers, getEffectiveMass, getEffectiveMassForces, getForce, getInverseMass, getMass, getMass, getMasterAttachments, getPosDerivative, getPosState, getSolveIndex, getVelState, isActive, isAttached, isControllable, isDynamic, isMassConstant, isParametric, mulInverseEffectiveMass, removeConstrainer, removeMasterAttachment, resetEffectiveMass, setAttached, setFlag, setForce, setPosState, setSolveIndex, setVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from interface artisynth.core.modelbase.ModelComponent

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

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

Methods inherited from interface artisynth.core.mechmodels.ForceEffector

addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, getJacobianType

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

addTransformableDependencies, transformGeometry, transformGeometry

Method Detail

getTargetActivity

MotionTarget.TargetActivity getTargetActivity()

setTargetActivity

void setTargetActivity(MotionTarget.TargetActivity interp)

getVelStateSize

int getVelStateSize()

Specified by:

getVelStateSize in interface DynamicComponent

getTargetVel

int getTargetVel(double[] velt,
                 double s,
                 double h,
                 int idx)

setTargetVel

int setTargetVel(double[] velt,
                 int idx)

getPosStateSize

int getPosStateSize()

Specified by:

getPosStateSize in interface DynamicComponent

getTargetPos

int getTargetPos(double[] post,
                 double s,
                 double h,
                 int idx)

setTargetPos

int setTargetPos(double[] post,
                 int idx)

addTargetJacobian

int addTargetJacobian(SparseBlockMatrix J,
                      int bi)

Add a row to the motion target Jacobian for this motion target. The Jacobian maps state velocities u into motion target velocities vt according to

 vt = J u
 

Parameters:

J - motion target Jacobian

bi - block row index for the row to be added

Returns:

bi + 1

resetTargets

void resetTargets()