artisynth.core.mechmodels

Class RigidMeshComp

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.MeshComponent

artisynth.core.mechmodels.RigidMeshComp

All Implemented Interfaces:

Collidable, CollidableBody, HasSurfaceMesh, PointAttachable, ModelComponent, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class RigidMeshComp
extends MeshComponent
implements PointAttachable, HasSurfaceMesh, CollidableBody

Nested Class Summary

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

Collidable.Collidability, Collidable.Group

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

ModelComponent.NavpanelVisibility

Field Summary

Fields

Modifier and Type	Field and Description
static boolean	DEFAULT_PHYSICAL
static PropertyList	myProps

Fields inherited from class artisynth.core.mechmodels.MeshComponent

DEFAULT_COLOR_INTERPOLATION, DEFAULT_VERTEX_COLOR_MIXING

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

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
RigidMeshComp()
RigidMeshComp(MeshBase mesh, java.lang.String fileName, AffineTransform3dBase X)
RigidMeshComp(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
boolean	allowCollision(ContactPoint cpnt, Collidable other, java.util.Set<Vertex3d> attachedVertices) Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt.
boolean	containsContactMaster(CollidableDynamicComponent comp) Returns true if this Collidable contains a specified contact master component.
RigidMeshComp	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)
PointFrameAttachment	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.
Collidable.Collidability	getCollidable() Returns the Collidable.Collidability of this Collidable.
Collidable	getCollidableAncestor() Returns the most immediate Collidable ancestor of this Collidable, if any.
int	getCollidableIndex()
PolygonalMesh	getCollisionMesh() Returns the mesh that should be used for computing collisions, or null if there is no such mesh.
DistanceGrid	getDistanceGrid() Returns a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).
double	getMass()
int	getMaxGridDivisions()
RigidBody	getRigidBody()
void	getSelection(java.util.LinkedList<java.lang.Object> list, int qid) Append to list the component (or components) associated with the qid-th selection query issued by this component's render method.
PolygonalMesh	getSurfaceMesh() Returns the surface mesh associated with this component, or null if no mesh exists.
PolygonalMesh[]	getSurfaceMeshes() Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none.
void	getVertexMasters(java.util.List<ContactMaster> mlist, Vertex3d vtx) Returns all the contact master components associated with a particular mesh vertex.
boolean	hasDistanceGrid() Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider.
boolean	isCompound() Queries whether or not this collidable has sub-collidables.
boolean	isDeformable() Returns true if this collidable is deformable.
boolean	isPhysical()
int	numSelectionQueriesNeeded() If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required.
int	numSurfaceMeshes() Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist.
void	render(Renderer renderer, RenderProps props, int flags)
void	setCollidable(Collidable.Collidability c)
void	setCollidableIndex(int idx)
void	setMaxGridDivisions(int max)
void	setPhysical(boolean set)
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.

Methods inherited from class artisynth.core.mechmodels.MeshComponent

addTransformableDependencies, createRenderProps, createSurfaceMeshArray, getColorInterpolation, getFileTransform, getMesh, getMeshToWorld, getSurfaceMeshes, getVertex, getVertexColorMixing, isFileTransformRigid, isMeshModfied, numSurfaceMeshes, numVertices, prerender, render, scaleDistance, scaleMass, setColorInterpolation, setDefaultValues, setMesh, setMesh, setMesh, setMeshToWorld, setVertexColorMixing, transformGeometry, updateBounds, updatePosition, updateSlavePos

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, getRenderProps, isSelectable, setRenderProps, 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, hasState, 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

Field Detail

DEFAULT_PHYSICAL

public static boolean DEFAULT_PHYSICAL

myProps

public static PropertyList myProps

Constructor Detail

RigidMeshComp

public RigidMeshComp()

RigidMeshComp

public RigidMeshComp(java.lang.String name)

RigidMeshComp

public RigidMeshComp(MeshBase mesh,
                     java.lang.String fileName,
                     AffineTransform3dBase X)

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 MeshComponent

Returns:

static information for all exported properties

isPhysical

public boolean isPhysical()

setPhysical

public void setPhysical(boolean set)

render

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

Overrides:

render in class MeshComponent

getRigidBody

public RigidBody getRigidBody()

copy

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

Overrides:

copy in class MeshComponent

numSelectionQueriesNeeded

public int numSelectionQueriesNeeded()

Description copied from interface: IsSelectable

If this selectable manages its own selection (by issuing selection queries within its render method), then this method should return the maximum number of selection queries that will be required. Otherwise, this method should return -1.

Specified by:

numSelectionQueriesNeeded in interface IsSelectable

Overrides:

numSelectionQueriesNeeded in class RenderableComponentBase

Returns:

maximum number of selection queries needed by this component, or -1 if this component does not manage its own selection.

getSelection

public void getSelection(java.util.LinkedList<java.lang.Object> list,
                         int qid)

Description copied from interface: IsSelectable

Append to list the component (or components) associated with the qid-th selection query issued by this component's render method. This will only be called if this component manages its own selection (i.e., the number nums returned by IsSelectable.numSelectionQueriesNeeded() is positive), and qid will in turn be a number between 0 and nums-1.

Specified by:

getSelection in interface IsSelectable

Overrides:

getSelection in class RenderableComponentBase

Parameters:

list - selected objects are appended to the end of this list

qid - index of the selection query

getCollisionMesh

public PolygonalMesh getCollisionMesh()

Description copied from interface: CollidableBody

Returns the mesh that should be used for computing collisions, or null if there is no such mesh. If this method returns null, then no collisions will be performed for this collidable, regardless any default or explicit collision behaviors that have been arranged by the system.

Specified by:

getCollisionMesh in interface CollidableBody

Returns:

collision mesh for this collidable.

hasDistanceGrid

public boolean hasDistanceGrid()

Description copied from interface: CollidableBody

Returns true if this Collidable supports a signed distance grid that can be used with a SignedDistanceCollider. At present, this will only be true for non-deformable bodies.

Specified by:

hasDistanceGrid in interface CollidableBody

Returns:

true if this Collidable supports a signed distance grid

getDistanceGrid

public DistanceGrid getDistanceGrid()

Description copied from interface: CollidableBody

Returns a signed distance grid that can be used with a SignedDistanceCollider, or null if this Collidable does not support a signed distance grid (i.e., if CollidableBody.hasDistanceGrid() returns false).

Specified by:

getDistanceGrid in interface CollidableBody

getMass

public double getMass()

Specified by:

getMass in interface CollidableBody

getCollidableAncestor

public Collidable getCollidableAncestor()

Description copied from interface: Collidable

Returns the most immediate Collidable ancestor of this Collidable, if any. Otherwise, return null.

Specified by:

getCollidableAncestor in interface Collidable

Returns:

immediate Collidable ancestor, or null.

isCompound

public boolean isCompound()

Description copied from interface: Collidable

Queries whether or not this collidable has sub-collidables.

Specified by:

isCompound in interface Collidable

Returns:

true if this collidable has sub-collidables

getCollidable

public Collidable.Collidability getCollidable()

Description copied from interface: Collidable

Returns the Collidable.Collidability of this Collidable. This provides control over whether external and/or internal collisions are enabled for this Collidable. This setting takes precedence over default and explicitly requested collision behaviors.

Note that for collisions to actually occur, they still need to be enabled through either a default or explicit collision behavior in the MechModel.

Specified by:

getCollidable in interface Collidable

Returns:

Collidability of this collidable.

setCollidable

public void setCollidable(Collidable.Collidability c)

isDeformable

public boolean isDeformable()

Description copied from interface: Collidable

Returns true if this collidable is deformable. Whether or not a collidable is deformable determines how it responds to default collision behaviors involving deformable and rigid collidables. Also, self-collisions among sub-collidables of a collidable A are permitted only if A is deformable.

Specified by:

isDeformable in interface Collidable

Returns:

true if this collidable is deformable

getVertexMasters

public void getVertexMasters(java.util.List<ContactMaster> mlist,
                             Vertex3d vtx)

Description copied from interface: CollidableBody

Returns all the contact master components associated with a particular mesh vertex. Information for each contact master should be appended to mlist. The list should not be cleared. The vertex should be a vertex of the mesh returned by CollidableBody.getCollisionMesh().

Specified by:

getVertexMasters in interface CollidableBody

Parameters:

mlist - collected master component information

vtx - vertex for which the master components are requested

containsContactMaster

public boolean containsContactMaster(CollidableDynamicComponent comp)

Description copied from interface: CollidableBody

Returns true if this Collidable contains a specified contact master component.

Specified by:

containsContactMaster in interface CollidableBody

Parameters:

comp - component to test for

Returns:

true if comp is contained in this Collidable

allowCollision

public boolean allowCollision(ContactPoint cpnt,
                              Collidable other,
                              java.util.Set<Vertex3d> attachedVertices)

Description copied from interface: CollidableBody

Returns true if a collision between this Collidable and other should be allowed for the contact point cpnt. In making this decision, this method may refer to attachedVertices, which supplies a list of vertices on this Collidable which are attached in some way to the other Collidable.

Specified by:

allowCollision in interface CollidableBody

Parameters:

cpnt - contact point being tested

other - opposing collidable

attachedVertices - list of vertices attached to other.

Returns:

true if the collision should be allowed

getCollidableIndex

public int getCollidableIndex()

Specified by:

getCollidableIndex in interface CollidableBody

setCollidableIndex

public void setCollidableIndex(int idx)

Specified by:

setCollidableIndex in interface CollidableBody

setMaxGridDivisions

public void setMaxGridDivisions(int max)

getMaxGridDivisions

public int getMaxGridDivisions()

createPointAttachment

public PointFrameAttachment 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

getSurfaceMesh

public PolygonalMesh getSurfaceMesh()

Description copied from interface: HasSurfaceMesh

Returns the surface mesh associated with this component, or null if no mesh exists. If multiple surface meshes exist, this should be first one in the array returned by HasSurfaceMesh.getSurfaceMeshes().

Specified by:

getSurfaceMesh in interface HasSurfaceMesh

Returns:

component's (primary) surface mesh

numSurfaceMeshes

public int numSurfaceMeshes()

Description copied from interface: HasSurfaceMesh

Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist. If HasSurfaceMesh.getSurfaceMesh() returns null, then this method should return 0.

Specified by:

numSurfaceMeshes in interface HasSurfaceMesh

Returns:

number of surface meshes associated with this component

getSurfaceMeshes

public PolygonalMesh[] getSurfaceMeshes()

Description copied from interface: HasSurfaceMesh

Returns an array listing all the (non-null) surface meshes associated with this component, or a zero-length array if there are none. If HasSurfaceMesh.getSurfaceMesh() returns null, then a zero-length array should be returned.

Specified by:

getSurfaceMeshes in interface HasSurfaceMesh

Returns:

surface meshes associated with this 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

Overrides:

transformGeometry in class MeshComponent

Parameters:

gtr - transformer implementing the transform

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

flags - specifies conditions associated with the transformation