artisynth.core.mechmodels

Class SphericalJoint

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.RenderableComponentBase

artisynth.core.mechmodels.BodyConnector

artisynth.core.mechmodels.JointBase

artisynth.core.mechmodels.SphericalJointBase

artisynth.core.mechmodels.SphericalJoint

All Implemented Interfaces:

BodyConstrainer, Constrainer, HasAuxState, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

public class SphericalJoint
extends SphericalJointBase

Auxiliary class used to solve constrained rigid body problems.

Nested Class Summary

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.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
SphericalJoint()
SphericalJoint(RigidBody bodyA, RigidBody bodyB, Point3d worldPnt)
SphericalJoint(RigidBody bodyA, RigidBody bodyB, RigidTransform3d XWJ)
SphericalJoint(RigidBody bodyA, RigidTransform3d TCA, RigidBody bodyB, RigidTransform3d XDB)
SphericalJoint(RigidBody bodyA, RigidTransform3d TCA, RigidTransform3d TDW)

Method Summary

Modifier and Type	Method and Description
ModelComponent	copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap) Create a copy of this component.
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
double	getMaximumTilt()
Vector3d	getMaxRotation()
double	getMaxTilt()
boolean	isRotationLimited()
boolean	isTiltLimited()
void	setMaximumTilt(double max)
void	setMaxRotation(double max)
void	setMaxRotation(double maxx, double maxy, double maxz)
void	setMaxRotation(Vector3d maxRot)
void	setMaxTilt(double max)
void	setRotationLimited(boolean enable)
void	setTiltLimited(boolean enable)

Methods inherited from class artisynth.core.mechmodels.SphericalJointBase

render

Methods inherited from class artisynth.core.mechmodels.JointBase

createRenderProps, getAxisLength, getDrawFrame, getDrawFrameC, getDrawFrameD, getPosition, getRenderFrame, prerender, scaleDistance, setAxisLength, setDefaultValues, setDrawFrame, setDrawFrameC, setDrawFrameD, updateBounds

Methods inherited from class artisynth.core.mechmodels.BodyConnector

addBilateralConstraints, addFrictionConstraints, addMasterBlocks, addTransformableDependencies, addUnilateralConstraints, advanceAuxState, connectToHierarchy, disconnectFromHierarchy, findAttachedBodies, getActivation, getAuxState, getBilateralConstraints, getBilateralForceInA, getBilateralForceInA, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getBodyA, getBodyB, getBreakAccel, getBreakSpeed, getCompliance, getConstrainedComponents, getContactDistance, getCopyReferences, getCurrentTCW, getCurrentTCW, getCurrentTDW, getCurrentTDW, getCurrentTXW, getDamping, getHardReferences, getInitialAuxState, getLinearCompliance, getOtherBody, getPenetrationTol, getPenetrationTolMode, getPose, getRotaryCompliance, getUnilateralConstraints, getUnilateralForceInA, getUnilateralForceInA, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, hasState, hasTranslation, hasUnilateralConstraints, isActive, isDuplicatable, isEnabled, maxFrictionConstraintSets, numBilateralConstraints, numBodies, numUnilateralConstraints, printConstraintInfo, scaleMass, setAuxState, setBilateralImpulses, setBodies, setBodies, setBodies, setBodies, setBreakAccel, setBreakSpeed, setCompliance, setContactDistance, setCurrentTCW, setCurrentTDW, setDamping, setEnabled, setLinearCompliance, setPenetrationTol, setPenetrationTolMode, setRotaryCompliance, setUnilateralImpulses, skipAuxState, transformGeometry, transformGeometry, updateBodyStates, updateConstraints, updateForBodyPositionChange, updateUnilateralConstraints, zeroImpulses

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

getRenderHints, getRenderProps, getSelection, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, 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.CopyableComponent

getCopyReferences, isDuplicatable

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

myProps

public static PropertyList myProps

Constructor Detail

SphericalJoint

public SphericalJoint()

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidTransform3d TDW)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidTransform3d TCA,
                      RigidBody bodyB,
                      RigidTransform3d XDB)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidBody bodyB,
                      Point3d worldPnt)

SphericalJoint

public SphericalJoint(RigidBody bodyA,
                      RigidBody bodyB,
                      RigidTransform3d XWJ)

Method Detail

isTiltLimited

public boolean isTiltLimited()

setTiltLimited

public void setTiltLimited(boolean enable)

isRotationLimited

public boolean isRotationLimited()

setRotationLimited

public void setRotationLimited(boolean enable)

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 JointBase

Returns:

static information for all exported properties

setMaximumTilt

public void setMaximumTilt(double max)

getMaximumTilt

public double getMaximumTilt()

setMaxTilt

public void setMaxTilt(double max)

getMaxTilt

public double getMaxTilt()

setMaxRotation

public void setMaxRotation(Vector3d maxRot)

setMaxRotation

public void setMaxRotation(double maxx,
                           double maxy,
                           double maxz)

setMaxRotation

public void setMaxRotation(double max)

getMaxRotation

public Vector3d getMaxRotation()

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 SphericalJointBase

Parameters:

flags - flags to control the copying

copyMap - map to possible existing instances of referenced components

Returns:

copy of this component