artisynth.core.mfreemodels

Class MFreeMuscleModel

java.lang.Object

artisynth.core.modelbase.ModelComponentBase

artisynth.core.modelbase.ComponentList<ModelComponent>

artisynth.core.modelbase.ModelBase

artisynth.core.modelbase.RenderableModelBase

artisynth.core.mechmodels.MechSystemBase

artisynth.core.femmodels.FemModel

artisynth.core.femmodels.FemModel3d

artisynth.core.mfreemodels.MFreeModel3d

artisynth.core.mfreemodels.MFreeMuscleModel

All Implemented Interfaces:

Collidable, ConnectableBody, Constrainer, ExcitationComponent, ForceEffector, FrameAttachable, HasAuxState, HasSlaveObjects, HasSurfaceMesh, MechSystem, MechSystemModel, PointAttachable, RequiresInitialize, ComponentChangeListener, ComponentListView<ModelComponent>, CompositeComponent, CopyableComponent, HasMenuItems, HasState, IndexedComponentList, Model, ModelComponent, MutableCompositeComponent<ModelComponent>, ParameterizedClass, PropertyChangeListener, RenderableComponent, TransformableGeometry, ScalableUnits, java.awt.event.ActionListener, java.lang.Cloneable, java.lang.Iterable<ModelComponent>, java.util.Collection<ModelComponent>, java.util.EventListener, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Disposable, ListView<ModelComponent>, Scannable

public class MFreeMuscleModel
extends MFreeModel3d
implements ExcitationComponent

Nested Class Summary

Nested classes/interfaces inherited from class artisynth.core.femmodels.FemModel

FemModel.ElementFilter, FemModel.IncompMethod, FemModel.Ranging, FemModel.SurfaceRender

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.MechSystem

MechSystem.ConstraintInfo, MechSystem.FrictionInfo

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

Collidable.Collidability, Collidable.Group

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

HasAuxState.StateContext

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

CompositeComponent.NavpanelDisplay

Field Summary

Fields

Modifier and Type	Field and Description
static PropertyList	myProps

Fields inherited from class artisynth.core.femmodels.FemModel3d

abortOnInvertedElems, checkTangentStability, DEFAULT_HARD_INCOMP, DEFAULT_SOFT_INCOMP, DEFAULT_SURFACEMESH_NAME, defaultAutoGenerateSurface, detJStepReductionLimit, frameMassFraction, noIncompressStiffnessDamping, useFrameRelativeCouplingMasses

Fields inherited from class artisynth.core.mechmodels.MechSystemBase

myParametricsInSystemMatrix

Fields inherited from class artisynth.core.modelbase.ComponentList

DEFAULT_NAVPANEL_DISPLAY

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

enforceUniqueCompositeNames, enforceUniqueNames, myNumber, NULL_OBJ, useCompactPathNames

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

TG_ARTICULATED, TG_DRAGGER, TG_PRESERVE_ORIENTATION, TG_SIMULATING

Fields inherited from interface artisynth.core.mechmodels.MechSystem

COMPUTE_CONTACTS, UPDATE_CONTACTS

Fields inherited from interface artisynth.core.mechmodels.Collidable

All, AllBodies, Deformable, Rigid, Self

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

COPY_REFERENCES

Fields inherited from interface maspack.render.IsRenderable

TRANSPARENT, TWO_DIMENSIONAL

Constructor Summary

Constructors

Constructor and Description
MFreeMuscleModel()
MFreeMuscleModel(java.lang.String name)

Method Summary

Modifier and Type	Method and Description
static void	addBundleControls(ControlPanel panel, MFreeMuscleModel muscle)
static void	addControls(ControlPanel controlPanel, FemModel femModel, ModelComponent topModel)
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.
MuscleBundle	addFiberMeshBundle(double rad, PolylineMesh mesh)
void	addMuscleBundle(MuscleBundle bundle)
void	addMuscleExciter(MuscleExciter mex)
void	addPosJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	addSolveBlocks(SparseNumberedBlockMatrix S) Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
void	addTransformableDependencies(TransformGeometryContext context, int flags) Adds to context any transformable components which should be transformed as the same time as this component.
void	addVelJacobian(SparseNumberedBlockMatrix M, double s) Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.
void	applyForces(double t) Adds forces to the components affected by this force effector at a particular time.
void	clearMuscleBundles()
static boolean	computeAverageFiberDirection(Vector3d dir, Point3d pos, double rad, PolylineMesh mesh)
void	computeStress(SymmetricMatrix3d sigma, SolidDeformation def, IntegrationPoint3d pt, IntegrationData3d dt, FemMaterial baseMat)
void	computeTangent(Matrix6d D, SymmetricMatrix3d stress, SolidDeformation def, IntegrationPoint3d pt, IntegrationData3d dt, FemMaterial baseMat)
static MuscleMaterial	createDefaultMuscleMaterial()
MuscleMaterial	createMuscleMaterial()
VectorNd	getActivations()
void	getActivations(VectorNd a, int idx)
PropertyList	getAllPropertyInfo() Returns a list giving static information about all properties exported by this object.
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	getDirectionRenderLen()
PropertyMode	getDirectionRenderLenMode()
MuscleBundle.DirectionRenderType	getDirectionRenderType()
PropertyMode	getDirectionRenderTypeMode()
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.
RenderProps	getFiberRenderProps()
double	getMaxColoredExcitation()
PropertyMode	getMaxColoredExcitationMode()
RenderableComponentList<MuscleBundle>	getMuscleBundles()
ComponentList<MuscleExciter>	getMuscleExciters()
MuscleMaterial	getMuscleMaterial()
double	getNetExcitation() Returns the net excitation for this Excitable.
void	getSoftReferences(java.util.List<ModelComponent> refs) Appends all soft references for this component to a list.
boolean	hasSymmetricTangent()
void	notifyActivationsSet()
int	numActivations() preliminary methods for inverse solver
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	recursivelyInitialize(double t, int level)
boolean	removeExcitationSource(ExcitationComponent ex) Removes an excitation source from this Excitable.
boolean	removeMuscleBundle(MuscleBundle bundle)
boolean	removeMuscleExciter(MuscleExciter mex)
void	render(Renderer renderer, int flags) Render this object using the functionality of the supplied Renderer.
void	scaleDistance(double s) Scales all distance coordinates.
void	scaleMass(double s) Scales all mass units.
void	setActivations(VectorNd a)
void	setActivations(VectorNd a, int idx)
void	setBundlesActive(boolean active)
void	setCombinationRule(ExcitationComponent.CombinationRule rule) Sets the rule for combining excitations.
void	setDefaultValues() Sets the attributes of this component to their default values.
void	setDirectionRenderLen(double size)
void	setDirectionRenderLenMode(PropertyMode mode)
void	setDirectionRenderType(MuscleBundle.DirectionRenderType type)
void	setDirectionRenderTypeMode(PropertyMode mode)
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	setFiberRenderProps(RenderProps props)
void	setMaxColoredExcitation(double excitation)
void	setMaxColoredExcitationMode(PropertyMode mode)
void	setMuscleMaterial(MuscleMaterial mat)
void	transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags) Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes.
void	updateReferences(boolean undo, java.util.Deque<java.lang.Object> undoInfo) May be called by the system if any of the soft references for this component are removed from the the component hierarchy.

Methods inherited from class artisynth.core.mfreemodels.MFreeModel3d

addMarker, addMesh, addMesh, computeConsistentMassMatrix, createPointAttachment, findDependentNodesAtRest, findNaturalCoordinates, findNearestElement, findNearestElement, findNearestNode, getElementBVTree, getNodeBVTree, initialize, integrate, integrateMass, integrateVolume, setSurfaceMesh, updateJacobians, updateNodeMasses, updateSlavePos

Methods inherited from class artisynth.core.femmodels.FemModel3d

addBilateralConstraints, addConnector, addElement, addElements, addGeneralMassBlocks, addMarker, addMarker, addMaterialBundle, addMeshComp, addNode, addNodes, addNumberedElement, addNumberedMarker, addNumberedMarker, addNumberedNode, advanceAuxState, attachFrame, clearElements, clearMaterialBundles, clearMeshComps, componentChanged, copy, createDefaultColorMap, createFrameAttachment, createFrameAttachment, createPointAttachment, createStiffnessMatrix, createSurfaceMesh, dispose, findContainingElement, findNearestSurfaceElement, getAuxState, getAuxStateComponents, getAxisLength, getBilateralImpulses, getBilateralInfo, getBilateralSizes, getByNumber, getCollidable, getCollidableAncestor, getCollidables, getColorMap, getColorMapMode, getConnectors, getConstrainedComponents, getCopyReferences, getDynamicComponents, getElement, getElementByNumber, getElementNeighbors, getElements, getElementWidgetSize, getElementWidgetSizeMode, getFrame, getFrameConstraint, getHardIncompMethod, getIncompCompliance, getIncompressible, getIncompressibleRange, getInitialAuxState, getJacobianType, getMassMatrixValues, getMaterialBundles, getMeshComp, getMeshComp, getMeshComps, getNodalDeformationGradients, getNodalPlotRange, getNode, getNodeNeighbors, getNodes, getSelection, getSoftIncompMethod, getSoftIncompMethodRange, getSurfaceElement, getSurfaceMesh, getSurfaceMeshComp, getSurfaceMeshes, getSurfaceNode, getSurfaceVertex, invalidateRestData, invalidateStressAndStiffness, invalidateSurfaceMesh, isAbortOnInvertedElements, isAutoGeneratingSurface, isCompound, isDeformable, isDuplicatable, isFrameRelative, isFreeBody, isSurfaceMeshValid, isSurfaceNode, isVolumeValid, isWarnOnInvertedElements, markInvertedRestElements, mulInverseMass, numMeshComps, numQuadraticElements, numSurfaceMeshes, numTetElements, postscan, printANSYSElements, printANSYSNodes, recursivelyFinalizeAdvance, removeConnector, removeElement, removeMaterialBundle, removeMeshComp, removeNode, resetRestPosition, scan, scanMesh, scanMesh, scanSurfaceMesh, scanSurfaceMesh, setAbortOnInvertedElements, setAutoGenerateSurface, setAuxState, setAxisLength, setBilateralImpulses, setCollidable, setColorMap, setColorMapMode, setComputeNodalStrain, setComputeNodalStress, setElementWidgetSize, setElementWidgetSizeMode, setFrameRelative, setIncompCompliance, setIncompressible, setMaterial, setSoftIncompMethod, setSurfaceMeshComp, setSurfaceRendering, setWarnOnInvertedElements, skipAuxState, subdivideHex, subdivideHexs, transformGeometry, transformPose, updateBounds, updateConstraints, updateStress, updateStressAndStiffness, useAnsysNumbering, usingAttachedRelativeFrame, writeSurfaceMesh, writeSurfaceMesh, zeroImpulses

Methods inherited from class artisynth.core.femmodels.FemModel

addFrictionConstraints, addMarker, addMarker, addMarker, addMarker, addMarker, addMarker, addUnilateralConstraints, attachments, attachPoint, checkVelocityStability, clear, createDefaultMaterial, detachAllNodes, detachPoint, forcesNeedUpdating, getAttachments, getCharacteristicSize, getCollidables, getConstrainers, getDensity, getDensityMode, getEnergy, getForceEffectors, getGravity, getGravityMode, getImplicitIterations, getImplicitPrecision, getIntegrator, getMass, getMassDamping, getMaterial, getMatrixSolver, getNodeMass, getNumInverted, getParticleDamping, getRestVolume, getSlaveObjectComponents, getStiffnessDamping, getStressPlotRange, getStressPlotRangeMode, getStressPlotRanging, getStressPlotRangingMode, getSurfaceRendering, getSurfaceRenderingMode, getToleranceType, getUnilateralImpulses, getUnilateralInfo, getUnilateralSizes, getVolume, hasState, markers, maxFrictionConstraintSets, numElements, numNodes, printNodeMasses, propertyChanged, removeMarker, resetStressPlotRange, setBounds, setDensity, setDensityMode, setGravity, setGravity, setGravityMode, setImplicitIterations, setImplicitPrecision, setIntegrator, setLinearMaterial, setMassDamping, setMatrixSolver, setMaxStepSize, setParticleDamping, setStiffnessDamping, setStressPlotRange, setStressPlotRangeMode, setStressPlotRanging, setStressPlotRangingMode, setSurfaceRenderingMode, setToleranceType, setUnilateralImpulses, updateRestVolume, updateSlaveVel, updateVolume, validateMatrixSolver, zeroExternalForces

Methods inherited from class artisynth.core.mechmodels.MechSystemBase

addActivePosImpulse, addAttachmentJacobian, addAttachmentSolveBlocks, addGeneralSolveBlocks, addPosJacobian, addVelJacobian, advance, applyAttachmentForces, buildMassMatrix, buildSolveMatrix, closePrintStateFile, collectInitialForces, createState, createVelocityJacobian, getActiveForces, getActiveMass, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveStiffness, getActiveVelState, getActiveVelState, getActiveVelStateSize, getAttachmentConstraints, getAttachmentDerivatives, getBilateralConstraints, getBilateralConstraintSizes, getBilateralForces, getBilateralImpulses, getBilateralInfo, getDefaultStabilization, getDynamicDOFs, getDynamicsEnabled, getForces, getFrictionConstraints, getInitialState, getInverseMassMatrix, getMassMatrix, getNumBilateralImpulses, getNumUnilateralImpulses, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getPenetrationLimit, getPrintState, getProfiling, getSolveMatrixType, getSolver, getStabilization, getState, getStructureVersion, getUnilateralConstraints, getUnilateralConstraintSizes, getUnilateralForces, getUnilateralImpulses, getUnilateralInfo, getUpdateForcesAtStepEnd, getUpdateForcesAtStepEndMode, hasParameterizedType, numActiveComponents, numAttachedComponents, numParametricComponents, openPrintStateFile, preadvance, printActiveStiffness, reduceVelocityJacobian, reopenPrintStateFile, setActiveForces, setActivePosState, setActiveVelState, setBilateralImpulses, setDefaultStabilization, setDynamicsEnabled, setForces, setParametricForces, setParametricPosState, setParametricVelState, setPenetrationLimit, setPrintState, setPrintState, setProfiling, setStabilization, setState, setUnilateralImpulses, setUpdateForcesAtStepEnd, setUpdateForcesAtStepEndMode, topMechSystem, updateAttachmentPos, updateAttachmentVel, updateConstraints, updateForces, updatePosState, updateVelState, writeBilateralConstraintMatrix, writeBilateralConstraintMatrix, writeMassMatrix, writeMassMatrix, writeStiffnessMatrix, writeStiffnessMatrix

Methods inherited from class artisynth.core.modelbase.RenderableModelBase

createRenderProps, getRenderHints, getRenderProps, isSelectable, numSelectionQueriesNeeded, setRenderProps

Methods inherited from class artisynth.core.modelbase.ModelBase

actionPerformed, copy, getInitialState, getMaxStepSize, getMenuItems, hierarchyContainsReferences, setInitialState

Methods inherited from class artisynth.core.modelbase.ComponentList

add, add, addAll, addComponents, addFixed, addNumbered, clone, contains, contains, containsAll, ensureCapacity, findComponent, get, get, getChildren, getNavpanelDisplay, getNumberLimit, getShortName, getTypeParameter, hasChildren, indexOf, invalidateNumbers, isEmpty, iterator, nextComponentNumber, numComponents, remove, remove, removeAll, removeAll, removeComponents, retainAll, set, setNavpanelDisplay, setNumbered, setNumberingStartAtOne, setShortName, size, toArray, toArray, updateNameMap

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

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

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.RequiresInitialize

initialize

Methods inherited from interface artisynth.core.mechmodels.MechSystemModel

checkVelocityStability, getAttachments, getConstrainers, getForceEffectors, getSlaveObjectComponents

Methods inherited from interface artisynth.core.modelbase.Model

advance, getMaxStepSize, preadvance

Methods inherited from interface artisynth.core.modelbase.HasState

createState, getInitialState, getState, setState

Methods inherited from interface artisynth.core.mechmodels.MechSystem

addActivePosImpulse, addPosJacobian, addVelJacobian, buildMassMatrix, buildSolveMatrix, getActiveForces, getActivePosDerivative, getActivePosState, getActivePosStateSize, getActiveVelState, getActiveVelStateSize, getBilateralConstraints, getBilateralImpulses, getBilateralInfo, getFrictionConstraints, getInverseMassMatrix, getMassMatrix, getParametricForces, getParametricPosState, getParametricPosStateSize, getParametricPosTarget, getParametricVelState, getParametricVelStateSize, getParametricVelTarget, getSolveMatrixType, getStructureVersion, getUnilateralConstraints, getUnilateralImpulses, getUnilateralInfo, maxFrictionConstraintSets, numActiveComponents, numParametricComponents, setActiveForces, setActivePosState, setActiveVelState, setBilateralImpulses, setParametricForces, setParametricPosState, setParametricVelState, setUnilateralImpulses, updateConstraints, updateForces

Methods inherited from interface artisynth.core.modelbase.ComponentListView

getName

Methods inherited from interface java.lang.Iterable

forEach, spliterator

Methods inherited from interface java.util.Collection

equals, hashCode, parallelStream, removeIf, spliterator, stream

Field Detail

myProps

public static PropertyList myProps

Constructor Detail

MFreeMuscleModel

public MFreeMuscleModel()

MFreeMuscleModel

public MFreeMuscleModel(java.lang.String name)

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 FemModel3d

Returns:

static information for all exported properties

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)

getExcitation

public double getExcitation()

Returns the primary excitation for this component.

Specified by:

getExcitation in interface ExcitationComponent

Returns:

primary excitation value

setExcitation

public void setExcitation(double a)

Sets the primary excitation for this component.

Specified by:

setExcitation in interface ExcitationComponent

Parameters:

a - excitation value

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

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.

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

getSoftReferences

public void getSoftReferences(java.util.List<ModelComponent> refs)

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

updateReferences

public void updateReferences(boolean undo,
                             java.util.Deque<java.lang.Object> undoInfo)

May be called by the system if any of the soft references for this component are removed from the the component hierarchy. If called with undo equal to false, this component should then examine its soft references and use ComponentUtils.isConnected() to determine which of them have been disconnected from the hierarchy. Disconnected references should be removed, and sufficient information should be appended to undoInfo to allow this update to be undone if this method is called later with undo equal to true. When undoing an update, the undo information should be removed from the front of undoInfo.

Specified by:

updateReferences in interface ModelComponent

Overrides:

updateReferences in class ModelComponentBase

Parameters:

undo - if true, indicates that the most recent reference update should be undone, using the supplied undo information.

undoInfo - if undo is false, should be used to store information allowing the reference update to be undone. Otherwise, if undo is true, then this supplied information to undo the most recent update.

getDefaultActivationWeight

public double getDefaultActivationWeight()

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

setDefaultValues

public void setDefaultValues()

Description copied from class: ModelComponentBase

Sets the attributes of this component to their default values.

setDirectionRenderLen

public void setDirectionRenderLen(double size)

getDirectionRenderLen

public double getDirectionRenderLen()

setDirectionRenderLenMode

public void setDirectionRenderLenMode(PropertyMode mode)

getDirectionRenderLenMode

public PropertyMode getDirectionRenderLenMode()

setFiberRenderProps

public void setFiberRenderProps(RenderProps props)

getFiberRenderProps

public RenderProps getFiberRenderProps()

setDirectionRenderType

public void setDirectionRenderType(MuscleBundle.DirectionRenderType type)

getDirectionRenderType

public MuscleBundle.DirectionRenderType getDirectionRenderType()

setDirectionRenderTypeMode

public void setDirectionRenderTypeMode(PropertyMode mode)

getDirectionRenderTypeMode

public PropertyMode getDirectionRenderTypeMode()

createDefaultMuscleMaterial

public static MuscleMaterial createDefaultMuscleMaterial()

getMuscleMaterial

public MuscleMaterial getMuscleMaterial()

createMuscleMaterial

public MuscleMaterial createMuscleMaterial()

setMuscleMaterial

public void setMuscleMaterial(MuscleMaterial mat)

addMuscleBundle

public void addMuscleBundle(MuscleBundle bundle)

removeMuscleBundle

public boolean removeMuscleBundle(MuscleBundle bundle)

clearMuscleBundles

public void clearMuscleBundles()

getMuscleBundles

public RenderableComponentList<MuscleBundle> getMuscleBundles()

addMuscleExciter

public void addMuscleExciter(MuscleExciter mex)

removeMuscleExciter

public boolean removeMuscleExciter(MuscleExciter mex)

getMuscleExciters

public ComponentList<MuscleExciter> getMuscleExciters()

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 FemModel3d

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 FemModel3d

Parameters:

s - scaling factor

applyForces

public void applyForces(double t)

Description copied from interface: ForceEffector

Adds forces to the components affected by this force effector at a particular time. Component forces should be added and not set, since other forces may be added to the same components by other force effectors.

Specified by:

applyForces in interface ForceEffector

Overrides:

applyForces in class FemModel

Parameters:

t - time (seconds)

addPosJacobian

public void addPosJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the position Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addPosJacobian in interface ForceEffector

Overrides:

addPosJacobian in class FemModel3d

Parameters:

M - solve matrix to which scaled position Jacobian is to be added

s - scaling factor for position Jacobian

addVelJacobian

public void addVelJacobian(SparseNumberedBlockMatrix M,
                           double s)

Description copied from interface: ForceEffector

Scales the components of the velocity Jacobian associated with this force effector and adds it to the supplied solve matrix M.

M is guaranteed to be the same matrix supplied in the most recent call to addSolveBlocks, and so implementations may choose to cache the relevant matrix blocks from that call, instead of retrieving them directly from M.

Specified by:

addVelJacobian in interface ForceEffector

Overrides:

addVelJacobian in class FemModel3d

Parameters:

M - solve matrix to which scaled velocity Jacobian is to be added

s - scaling factor for velocity Jacobian

addSolveBlocks

public void addSolveBlocks(SparseNumberedBlockMatrix S)

Description copied from interface: ForceEffector

Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector. In general, blocks will be need to be added at locations given by the block indices (bi, bj), where bi and bj correspond to the solve indices (as returned by getSolveIndex) for all dynamic or attached components affected by this force effector.

Specified by:

addSolveBlocks in interface ForceEffector

Overrides:

addSolveBlocks in class FemModel3d

Parameters:

S - solve matrix to which blocks should be added

recursivelyInitialize

public void recursivelyInitialize(double t,
                                  int level)

Specified by:

recursivelyInitialize in interface MechSystemModel

Overrides:

recursivelyInitialize in class FemModel3d

addControls

public static void addControls(ControlPanel controlPanel,
                               FemModel femModel,
                               ModelComponent topModel)

addBundleControls

public static void addBundleControls(ControlPanel panel,
                                     MFreeMuscleModel muscle)

numActivations

public int numActivations()

preliminary methods for inverse solver

See Also:

MechSystemBase

getActivations

public VectorNd getActivations()

getActivations

public void getActivations(VectorNd a,
                           int idx)

setActivations

public void setActivations(VectorNd a)

setActivations

public void setActivations(VectorNd a,
                           int idx)

notifyActivationsSet

public void notifyActivationsSet()

hasSymmetricTangent

public boolean hasSymmetricTangent()

computeTangent

public void computeTangent(Matrix6d D,
                           SymmetricMatrix3d stress,
                           SolidDeformation def,
                           IntegrationPoint3d pt,
                           IntegrationData3d dt,
                           FemMaterial baseMat)

computeStress

public void computeStress(SymmetricMatrix3d sigma,
                          SolidDeformation def,
                          IntegrationPoint3d pt,
                          IntegrationData3d dt,
                          FemMaterial baseMat)

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 FemModel3d

Parameters:

gtr - transformer implementing the transform

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

flags - specifies conditions associated with the transformation

addTransformableDependencies

public void addTransformableDependencies(TransformGeometryContext context,
                                         int flags)

Description copied from interface: TransformableGeometry

Adds to context any transformable components which should be transformed as the same time as this component. This will generally include descendant components, and may also include other components to which this component is connected in some way.

This method is generally called from with the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of a TransformGeometryContext.

Specified by:

addTransformableDependencies in interface TransformableGeometry

Overrides:

addTransformableDependencies in class FemModel3d

Parameters:

context - context information, to which the dependent components are added.

flags - specifies conditions associated with the transformation

computeAverageFiberDirection

public static boolean computeAverageFiberDirection(Vector3d dir,
                                                   Point3d pos,
                                                   double rad,
                                                   PolylineMesh mesh)

setBundlesActive

public void setBundlesActive(boolean active)

addFiberMeshBundle

public MuscleBundle addFiberMeshBundle(double rad,
                                       PolylineMesh mesh)

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 FemModel3d

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 FemModel3d

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.