artisynth.core.mechmodels

Class Particle

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.DynamicComponentBase

artisynth.core.mechmodels.Point

artisynth.core.mechmodels.Particle

All Implemented Interfaces:

CollidableDynamicComponent, DynamicComponent, ForceEffector, MotionTargetComponent, PointAttachable, CopyableComponent, ModelComponent, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

FemNode

public class Particle
extends Point
implements PointAttachable

Nested Class Summary

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.mechmodels.Point

myRenderCoords

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 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
Particle()
Particle(double m)
Particle(double m, double x, double y, double z)
Particle(double m, Point3d p)
Particle(java.lang.String name, double m, double x, double y, double z)

Method Summary

Modifier and Type	Method and Description
void	addEffectiveMass(double m)
void	applyGravity(Vector3d gacc) Applies a gravity force to this component, given a prescribed gravity acceleration vector.
int	applyPosImpulse(double[] delx, int idx)
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PointParticleAttachment	createPointAttachment(Point pnt) Returns a PointAttachment that attaches pnt to this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
Vector3d	getConstraint() Returns the constraint for this particle, if any.
boolean	getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor) Collects external references which must also be copied in order to duplicate this component.
double	getEffectiveMass()
void	getEffectiveMass(Matrix M, double t) Gets the effective mass of this component at a particular time.
void	getInverseMass(Matrix Minv, Matrix M) Inverts a mass for this component.
double	getMass()
double	getMass(double t) Returns the scalar mass of this component at time t.
void	getMass(Matrix M, double t) Gets the mass of this component at a particular time.
int	getVelDerivative(double[] dxdt, int idx, double mass)
boolean	isDuplicatable() Returns true if this component can be duplicated.
int	mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)
void	resetEffectiveMass() Resets the effective mass of this component to the nominal mass.
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
void	setConstraint(Vector3d c) Sets a constraint for this particle.
void	setDynamic(boolean dynamic)
void	setMass(double m)

Methods inherited from class artisynth.core.mechmodels.Point

addExternalForce, addForce, addLocalForce, addPosImpulse, addPosJacobian, addScaledExternalForce, addScaledForce, addScaledLocalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addToSolveBlockDiagonal, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, createMassBlock, createRenderProps, createSolveBlock, distance, distance, getEffectiveMassForces, getExternalForce, getForce, getForce, getJacobianType, getLocalPosition, getLocalPosition, getLocalVelocity, getLocalVelocity, getPointDamping, getPointDampingMode, getPointFrame, getPosDerivative, getPosition, getPosition, getPosState, getPosStateSize, getRenderCoords, getRenderProps, getSelection, getState, getTargetActivity, getTargetPos, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getVelocity, getVelocity, getVelState, getVelStateSize, isMassConstant, isSelectable, prerender, render, resetTargets, setContactConstraint, setExternalForce, setForce, setForce, setLocalPosition, setLocalPosition, setLocalVelocity, setLocalVelocity, setPointDamping, setPointDampingMode, setPointFrame, setPosition, setPosition, setPosState, setRenderProps, setScaledExternalForce, setState, setState, setTargetActivity, setTargetPos, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subForce, subLocalForce, transformGeometry, updateBounds, updatePosState, updateVelState, velocityLimitExceeded, zeroExternalForces, zeroForces

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex, transformGeometry

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, numSelectionQueriesNeeded, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

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

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

addConstrainer, addMasterAttachment, checkFlag, clearFlag, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setFlag, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

transformGeometry

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

Particle

public Particle()

Particle

public Particle(double m)

Particle

public Particle(double m,
                Point3d p)

Particle

public Particle(double m,
                double x,
                double y,
                double z)

Particle

public Particle(java.lang.String name,
                double m,
                double x,
                double y,
                double z)

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 Point

Returns:

static information for all exported properties

getConstraint

public Vector3d getConstraint()

Returns the constraint for this particle, if any. The constraint is a one-DOF restriction on particle movement, usually imparted by surface contact.

Returns:

constraint for this particle. Should not be modified by the caller.

setConstraint

public void setConstraint(Vector3d c)

Sets a constraint for this particle. The specified constraint is copied internally, and passing a null value will cause the constraint to be cleared.

Parameters:

c - constraint value.

getMass

public double getMass()

getMass

public double getMass(double t)

Description copied from interface: DynamicComponent

Returns the scalar mass of this component at time t.

Specified by:

getMass in interface DynamicComponent

Overrides:

getMass in class Point

getMass

public void getMass(Matrix M,
                    double t)

Description copied from interface: DynamicComponent

Gets the mass of this component at a particular time. Not currently used; getEffectiveMass() is used instead.

Specified by:

getMass in interface DynamicComponent

Overrides:

getMass in class Point

Parameters:

M - matrix to return the mass in

t - current time

getEffectiveMass

public double getEffectiveMass()

Overrides:

getEffectiveMass in class Point

getEffectiveMass

public void getEffectiveMass(Matrix M,
                             double t)

Description copied from interface: DynamicComponent

Gets the effective mass of this component at a particular time. The effective mass is the nominal mass plus any additional mass incurred from attached components.

Specified by:

getEffectiveMass in interface DynamicComponent

Overrides:

getEffectiveMass in class Point

Parameters:

M - matrix to return the mass in

t - current time

mulInverseEffectiveMass

public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)

Specified by:

mulInverseEffectiveMass in interface DynamicComponent

Overrides:

mulInverseEffectiveMass in class Point

resetEffectiveMass

public void resetEffectiveMass()

Description copied from interface: DynamicComponent

Resets the effective mass of this component to the nominal mass.

Specified by:

resetEffectiveMass in interface DynamicComponent

Overrides:

resetEffectiveMass in class Point

addEffectiveMass

public void addEffectiveMass(double m)

Overrides:

addEffectiveMass in class Point

getInverseMass

public void getInverseMass(Matrix Minv,
                           Matrix M)

Description copied from interface: DynamicComponent

Inverts a mass for this component.

Specified by:

getInverseMass in interface DynamicComponent

Overrides:

getInverseMass in class DynamicComponentBase

Parameters:

Minv - matrix to return the inverse mass in

M - matrix containing the mass to be inverted

setMass

public void setMass(double m)

applyGravity

public void applyGravity(Vector3d gacc)

Description copied from class: Point

Applies a gravity force to this component, given a prescribed gravity acceleration vector.

Specified by:

applyGravity in interface DynamicComponent

Overrides:

applyGravity in class Point

applyPosImpulse

public int applyPosImpulse(double[] delx,
                           int idx)

getVelDerivative

public int getVelDerivative(double[] dxdt,
                            int idx,
                            double mass)

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 Point

Parameters:

s - scaling factor

setDynamic

public void setDynamic(boolean dynamic)

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 Point

Parameters:

s - scaling factor

isDuplicatable

public boolean isDuplicatable()

Returns true if this component can be duplicated. Duplication means that we can expect to be able to make a complete copy of the component along with all it's external references. This method should return true if and only if CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) returns true.

This method is not currently used. It is intended to provide a faster way of determining if a component can be duplicated, without having to use CopyableComponent.getCopyReferences(java.util.List<artisynth.core.modelbase.ModelComponent>, artisynth.core.modelbase.ModelComponent) to build the list of copy references.

Specified by:

isDuplicatable in interface CopyableComponent

Overrides:

isDuplicatable in class Point

Returns:

true if this component can be duplicated.

createPointAttachment

public PointParticleAttachment createPointAttachment(Point pnt)

Description copied from interface: PointAttachable

Returns a PointAttachment that attaches pnt to this component. It should not be assumed that pnt is currently connected to the component hierarchy, and no attempt should be made to connect the returned attachment to the hierarchy; the latter, if desired, is the responsibility of the caller.

In some cases, it may not be possible to attach the point at its present location. In that case, the method will create an attachment to the nearest feasible location.

Specified by:

createPointAttachment in interface PointAttachable

Parameters:

pnt - point for which an attachment should be created

Returns:

attachment connecting pnt to this component

getCopyReferences

public boolean getCopyReferences(java.util.List<ModelComponent> refs,
                                 ModelComponent ancestor)

Collects external references which must also be copied in order to duplicate this component. These references should exclude those which are contained within a specified component hierarchy. This method should return true if and only if CopyableComponent.isDuplicatable() returns true.

Specified by:

getCopyReferences in interface CopyableComponent

Overrides:

getCopyReferences in class Point

Parameters:

refs - list to which references are appended

ancestor - root node of the hierarchy from which references are to be excluded

Returns:

false if it is discovered that the component cannot be duplicated

copy

public ModelComponent 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 Point

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component