Muscle (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.mechmodels.Spring
  - - artisynth.core.mechmodels.PointSpringBase
    - - artisynth.core.mechmodels.AxialSpring
      - artisynth.core.mechmodels.Muscle

All Implemented Interfaces:

ExcitationComponent, ForceComponent, ForceEffector, HasAuxState, RequiresInitialize, CopyableComponent, ModelComponent, PropertyChangeListener, RenderableComponent, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class Muscle
extends AxialSpring
implements ExcitationComponent, HasAuxState, PropertyChangeListener
```

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
- Nested classes/interfaces inherited from interface artisynth.core.mechmodels.HasAuxState
  HasAuxState.StateContext

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.mechmodels.PointSpringBase
  myIgnoreCoriolisInJacobian, useMaterial
- Fields inherited from class artisynth.core.modelbase.ModelComponentBase
  enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames
- Fields inherited from interface artisynth.core.modelbase.CopyableComponent
  COPY_REFERENCES
- Fields inherited from interface maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

Fields
Modifier and Type	Field and Description
`static PropertyList`	`myProps`

Constructor Summary

Constructors
Constructor and Description

Muscle()

Muscle(Point p1, Point p2)

Muscle(java.lang.String name)

Muscle(java.lang.String name, double l0)

Constructors
Constructor and Description
`Muscle()`
`Muscle(Point p1, Point p2)`
`Muscle(java.lang.String name)`
`Muscle(java.lang.String name, double l0)`

Method Summary

All Methods Instance Methods Concrete Methods
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`	`advanceAuxState(double t0, double t1)` Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers.
`double`	`computeDFdl(double l, double ldot)` Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.
`double`	`computeDFdldot(double l, double ldot)` Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.
`double`	`computeF(double l, double ldot)` Computes the force magnitude acting along the unit vector from the first to the second particle.
`double`	`computePassiveF(double l, double ldot)` Computes the force magnitude acting along the unit vector from the first to the second particle with zero excitation.
`void`	`computePassiveForce(Vector3d f)`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`void`	`getAuxState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`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.
`double`	`getExcitation()` Returns the primary excitation for this component.
`java.awt.Color`	`getExcitationColor()`
`PropertyMode`	`getExcitationColorMode()`
`double`	`getExcitationGain(ExcitationComponent ex)` Gets the gain for an excitation source in this component.
`Vector3d`	`getForce()`
`double`	`getForceNorm()`
`void`	`getInitialAuxState(DataBuffer newData, DataBuffer oldData)` Saves initial state information data for this component by adding data to the supplied data buffer.
`int`	`getJacobianType()` Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
`double`	`getMaxColoredExcitation()`
`PropertyMode`	`getMaxColoredExcitationMode()`
`double`	`getNetExcitation()` Returns the net excitation for this Excitable.
`Vector3d`	`getPassiveForce()`
`double`	`getPassiveForceNorm()`
`float[]`	`getRenderColor()`
`void`	`getSoftReferences(java.util.List<ModelComponent> refs)` Appends all soft references for this component to a list.
`void`	`initialize(double t)` Called from within the model's `initialize()` method.
`boolean`	`isEnabled()`
`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`	`printMuscleDirection()`
`void`	`propertyChanged(PropertyChangeEvent e)`
`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`	`resetLengthProps()` sets the opt length to current muscle length and max length with the original ratio of opt to max length
`void`	`scaleDistance(double s)` Scales all distance coordinates.
`void`	`scaleMass(double s)` Scales all mass units.
`void`	`setAuxState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setCombinationRule(ExcitationComponent.CombinationRule rule)` Sets the rule for combining excitations.
`void`	`setConstantMuscleMaterial(double maxF)`
`void`	`setConstantMuscleMaterial(double maxF, double forceScaling)`
`void`	`setEnabled(boolean enabled)`
`void`	`setExcitation(double a)` Sets the primary excitation for this component.
`void`	`setExcitationColor(java.awt.Color color)`
`void`	`setExcitationColorMode(PropertyMode mode)`
`boolean`	`setExcitationGain(ExcitationComponent ex, double gain)` Sets the gain for an excitation source in this component.
`void`	`setLinearMuscleMaterial(double maxF, double optL, double maxL, double pf)`
`void`	`setMaterial(AxialMaterial mat)`
`void`	`setMaxColoredExcitation(double excitation)`
`void`	`setMaxColoredExcitationMode(PropertyMode mode)`
`void`	`setPeckMuscleMaterial(double maxF, double optL, double maxL, double tendonRatio)`
`void`	`setPeckMuscleMaterial(double maxF, double optL, double maxL, double tendonRatio, double passiveFraction, double damping)`
`void`	`skipAuxState(DataBuffer data)` Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets.

Methods inherited from class artisynth.core.mechmodels.AxialSpring
addPosJacobian, addSolveBlocks, addVelJacobian, applyForces, computeForce, computeForcePositionJacobian, computeForceVelocityJacobian, copy, getCopyReferences, getDir, getFirstPoint, getHardReferences, getLength, getLengthDot, getSecondPoint, isDuplicatable, printPointReferences, setFirstPoint, setPoints, setPoints, setRestLengthFromPoints, setSecondPoint, updateBounds, write

Methods inherited from class artisynth.core.mechmodels.PointSpringBase
createDefaultMaterial, createRenderProps, getEffectiveMaterial, getMaterial, getMaxForce, getRenderHints, getRenderProps, getRestLength, getSelection, isSelectable, numSelectionQueriesNeeded, setDamping, setLinearMaterial, setMaxForce, setRenderProps, setRestLength, setStiffness

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, postscan, scan, setFixed, setMarked, setName, setNumber, setParent, setSelected, updateReferences

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
  - Muscle
```
public Muscle()
```
  - Muscle
```
public Muscle(java.lang.String name)
```
  - Muscle
```
public Muscle(java.lang.String name,
              double l0)
```
  - Muscle
```
public Muscle(Point p1,
              Point p2)
```
- Method Detail
  - setMaterial
```
public void setMaterial(AxialMaterial mat)
```
    Overrides:
    
    setMaterial in class PointSpringBase
  - setConstantMuscleMaterial
```
public void setConstantMuscleMaterial(double maxF)
```
  - setConstantMuscleMaterial
```
public void setConstantMuscleMaterial(double maxF,
                                      double forceScaling)
```
  - setLinearMuscleMaterial
```
public void setLinearMuscleMaterial(double maxF,
                                    double optL,
                                    double maxL,
                                    double pf)
```
  - setPeckMuscleMaterial
```
public void setPeckMuscleMaterial(double maxF,
                                  double optL,
                                  double maxL,
                                  double tendonRatio)
```
  - setPeckMuscleMaterial
```
public void setPeckMuscleMaterial(double maxF,
                                  double optL,
                                  double maxL,
                                  double tendonRatio,
                                  double passiveFraction,
                                  double damping)
```
  - getExcitationColor
```
public java.awt.Color getExcitationColor()
```
  - setExcitationColor
```
public void setExcitationColor(java.awt.Color color)
```
  - getExcitationColorMode
```
public PropertyMode getExcitationColorMode()
```
  - setExcitationColorMode
```
public void setExcitationColorMode(PropertyMode mode)
```
  - getMaxColoredExcitation
```
public double getMaxColoredExcitation()
```
  - setMaxColoredExcitation
```
public void setMaxColoredExcitation(double excitation)
```
  - getMaxColoredExcitationMode
```
public PropertyMode getMaxColoredExcitationMode()
```
  - setMaxColoredExcitationMode
```
public void setMaxColoredExcitationMode(PropertyMode mode)
```
  - 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 AxialSpring
    
    Returns:
    
    static information for all exported properties
  - 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
  - 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.
  - 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
  - getRenderColor
```
public float[] getRenderColor()
```
    Overrides:
    
    getRenderColor in class PointSpringBase
  - 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 PointSpringBase
    
    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
    
    Overrides:
    
    render in class AxialSpring
    
    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.
  - 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
  - computeF
```
public double computeF(double l,
                       double ldot)
```
    Computes the force magnitude acting along the unit vector from the first to the second particle.
    
    Overrides:
    
    computeF in class PointSpringBase
    
    Returns:
    
    force magnitude
  - computePassiveF
```
public double computePassiveF(double l,
                              double ldot)
```
    Computes the force magnitude acting along the unit vector from the first to the second particle with zero excitation.
    
    Returns:
    
    force magnitude
  - computeDFdl
```
public double computeDFdl(double l,
                          double ldot)
```
    Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle) with respect to spring length.
    
    Overrides:
    
    computeDFdl in class PointSpringBase
    
    Returns:
    
    force magnitude derivative with respect to length
  - computeDFdldot
```
public double computeDFdldot(double l,
                             double ldot)
```
    Computes the derivative of spring force magnitude (acting along the unit vector from the first to the second particle)with respect to the time derivative of spring length.
    
    Overrides:
    
    computeDFdldot in class PointSpringBase
    
    Returns:
    
    force magnitude derivative with respect to length time derivative
  - resetLengthProps
```
public void resetLengthProps()
```
    sets the opt length to current muscle length and max length with the original ratio of opt to max length
  - getForceNorm
```
public double getForceNorm()
```
  - getForce
```
public Vector3d getForce()
```
  - computePassiveForce
```
public void computePassiveForce(Vector3d f)
```
  - getPassiveForceNorm
```
public double getPassiveForceNorm()
```
  - getPassiveForce
```
public Vector3d getPassiveForce()
```
  - scaleDistance
```
public void scaleDistance(double s)
```
    Description copied from interface: ScalableUnits
    
    Scales all distance coordinates.
    
    Specified by:
    
    scaleDistance in interface ScalableUnits
    
    Overrides:
    
    scaleDistance in class AxialSpring
    
    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
    
    Overrides:
    
    scaleMass in class AxialSpring
    
    Parameters:
    
    s - scaling factor
  - printMuscleDirection
```
public void printMuscleDirection()
```
  - getJacobianType
```
public int getJacobianType()
```
    Description copied from interface: ForceEffector
    
    Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.
    
    Specified by:
    
    getJacobianType in interface ForceEffector
    
    Overrides:
    
    getJacobianType in class AxialSpring
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - isEnabled
```
public boolean isEnabled()
```
  - setEnabled
```
public void setEnabled(boolean enabled)
```
  - advanceAuxState
```
public void advanceAuxState(double t0,
                            double t1)
```
    Description copied from interface: HasAuxState
    
    Called at the very beginning of the time step (in the system's preadvance() method) to perform any required updating of the component's state before the application in input probes or controllers. If no such updating is required, this method may do nothing.
    
    Specified by:
    
    advanceAuxState in interface HasAuxState
    
    Parameters:
    
    t0 - beginning time associated with the time step advance
    
    t1 - end time associated with the time step advance
  - skipAuxState
```
public void skipAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    Skips over the state information for this component contained in the supplied data buffer, starting at the current buffer offsets. Essentially this a dummy read; the buffer offsets should be advanced over the state information, but that information should not actually be stored in the component.
    
    Specified by:
    
    skipAuxState in interface HasAuxState
    
    Parameters:
    
    data - buffer containing the state information
  - getAuxState
```
public void getAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Specified by:
    
    getAuxState in interface HasAuxState
    
    Parameters:
    
    data - buffer for storing the state values.
  - getInitialAuxState
```
public void getInitialAuxState(DataBuffer newData,
                               DataBuffer oldData)
```
    Description copied from interface: HasAuxState
    
    Saves initial state information data for this component by adding data to the supplied data buffer. Existing data in the buffer should not be disturbed.
    If oldData is non-null, then this contains previously stored initial state information (starting at its current buffer offsets), which should be stored into newData in place of the current component state data. This may only be partially possible if the component's state structure has changed since oldData was written.
    
    Specified by:
    
    getInitialAuxState in interface HasAuxState
    
    Parameters:
    
    newData - buffer for storing the state values.
    
    oldData - if non-null, contains old state information that should be written into newData in place of the current state information.
  - setAuxState
```
public void setAuxState(DataBuffer data)
```
    Description copied from interface: HasAuxState
    
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Specified by:
    
    setAuxState in interface HasAuxState
    
    Parameters:
    
    data - buffer containing the state information
  - propertyChanged
```
public void propertyChanged(PropertyChangeEvent e)
```
    Specified by:
    
    propertyChanged in interface PropertyChangeListener
  - getDefaultActivationWeight
```
public double getDefaultActivationWeight()
```
    Description copied from interface: ExcitationComponent
    
    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
  - 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

Class Muscle

Nested Class Summary

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

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

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.PointSpringBase

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.AxialSpring

Methods inherited from class artisynth.core.mechmodels.PointSpringBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface maspack.util.Scannable

Field Detail

myProps

Constructor Detail

Muscle

Muscle

Muscle

Muscle

Method Detail

setMaterial

setConstantMuscleMaterial

setConstantMuscleMaterial

setLinearMuscleMaterial

setPeckMuscleMaterial

setPeckMuscleMaterial

getExcitationColor

setExcitationColor

getExcitationColorMode

setExcitationColorMode

getMaxColoredExcitation

setMaxColoredExcitation

getMaxColoredExcitationMode

setMaxColoredExcitationMode

getAllPropertyInfo

getExcitation

initialize

setExcitation

addExcitationSource

addExcitationSource

removeExcitationSource

getExcitationGain

setExcitationGain

setCombinationRule

getCombinationRule

getRenderColor

prerender

render

getNetExcitation

computeF

computePassiveF

computeDFdl

computeDFdldot

resetLengthProps

getForceNorm

getForce

computePassiveForce

getPassiveForceNorm

getPassiveForce

scaleDistance

scaleMass

printMuscleDirection

getJacobianType

isEnabled

setEnabled

advanceAuxState

skipAuxState

getAuxState

getInitialAuxState

setAuxState

propertyChanged

getDefaultActivationWeight