RigidBody (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.mechmodels.Frame
      - artisynth.core.mechmodels.RigidBody

All Implemented Interfaces:

Collidable, CollidableBody, CollidableDynamicComponent, ConnectableBody, DynamicComponent, ForceEffector, FrameAttachable, HasDistanceGrid, HasSurfaceMesh, MotionTargetComponent, PointAttachable, CopyableComponent, HasCoordinateFrame, ModelComponent, RenderableComponent, Traceable, TransformableGeometry, ScalableUnits, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable

Direct Known Subclasses:

DeformableBody, RigidCompositeBody, RigidCylinder, RigidEllipsoid, RigidMesh, RigidSphere, RigidTorus, TargetFrame
```
public class RigidBody
extends Frame
implements CollidableBody, HasSurfaceMesh, HasDistanceGrid, ConnectableBody
```

Nested Class Summary

Nested Classes
Modifier and Type	Class and Description
`static class`	`RigidBody.DistanceSurfaceRendering` Describes how the distance surface should be rendered, if at all
`static class`	`RigidBody.InertiaMethod`

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

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.mechmodels.Frame
  dynamicVelInWorldCoords, myRenderFrame
- 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.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

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

Constructor Summary

Constructors
Constructor and Description
`RigidBody()`
`RigidBody(RigidTransform3d XBodyToWorld, SpatialInertia M, PolygonalMesh mesh, java.lang.String meshFileName)`
`RigidBody(java.lang.String name)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addConnector(BodyConnector c)`
`void`	`addEffectiveInertia(SpatialInertia M)`
`void`	`addEffectivePointMass(double m, Vector3d loc)` Adds a point mass to the effective spatial inertia for this Frame.
`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`.
`void`	`applyGravity(Vector3d gacc)` Applies a gravity force to this component, given a prescribed gravity acceleration vector.
`void`	`centerPoseOnCenterOfMass()` Adjusts the pose so that it reflects the rigid body's center of mass
`double`	`computeVolume()`
`boolean`	`containsContactMaster(CollidableDynamicComponent comp)` Returns true if this Collidable contains a specified contact master component.
`RigidBody`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)` Create a copy of this component.
`static RigidBody`	`createBox(java.lang.String bodyName, double wx, double wy, double wz, double density)` Creates a box-shaped RigidBody with a prescribed uniform density.
`static RigidBody`	`createBox(java.lang.String bodyName, double wx, double wy, double wz, double density, boolean addNormals)` Creates a box-shaped RigidBody with a prescribed uniform density.
`static RigidBody`	`createCylinder(java.lang.String bodyName, double r, double h, double density, int nsides)` Creates a cylindrical RigidBody with a prescribed uniform density.
`static RigidBody`	`createEllipsoid(java.lang.String bodyName, double a, double b, double c, double density, int nslices)` Creates an ellipsoidal RigidBody with a prescribed uniform density.
`static RigidBody`	`createFromMesh(java.lang.String bodyName, java.lang.Object obj, java.lang.String relPath, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, PolygonalMesh mesh, java.lang.String meshFilePath, double density, double scale)`
`static RigidBody`	`createFromMesh(java.lang.String bodyName, java.lang.String meshPath, double density, double scale)`
`static RigidBody`	`createIcosahedralSphere(java.lang.String bodyName, double r, double density, int ndivisions)` Creates an icosahedrally spherical RigidBody with a prescribed uniform density.
`RenderProps`	`createRenderProps()` Factory method to create render properties appropriate to this object.
`static RigidBody`	`createSphere(java.lang.String bodyName, double r, double density, int nslices)` Creates an spherical RigidBody with a prescribed uniform density.
`void`	`extrapolatePose(Twist vel, double h)`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`Point3d`	`getCenterOfMass()`
`void`	`getCenterOfMass(Point3d com)`
`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.
`java.util.List<BodyConnector>`	`getConnectors()`
`boolean`	`getCopyReferences(java.util.List<ModelComponent> refs, ModelComponent ancestor)` Collects external references which must also be copied in order to duplicate this component.
`double`	`getDensity()` Returns the density of this body.
`Range`	`getDensityRange()`
`DistanceGrid`	`getDistanceGrid()` Returns a signed distance grid that can be used with a SignedDistanceCollider, or `null` if a grid is not available (i.e., if `hasDistanceGrid()` returns `false`).
`int`	`getDistanceGridMaxRes()` Returns the default maximum cell resolution that should be used when constructing a signed distance grid for this component.
`boolean`	`getDistanceGridOBB()`
`java.lang.String`	`getDistanceGridRenderRanges()` Returns a string describing the x, y, z vertex ranges used when rendering this component's signed distance grid.
`Range`	`getDistanceGridRenderRangesRange()`
`Vector3i`	`getDistanceGridRes()` Returns the cell resolutions (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component.
`double`	`getDistanceSurfaceIso()`
`SpatialInertia`	`getEffectiveInertia()`
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`static int`	`getEffectiveMassForces(VectorNd f, double t, FrameState state, SpatialInertia effectiveInertia, int idx)`
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`AffineTransform3d`	`getFileTransform()`
`FrameMarker[]`	`getFrameMarkers()` Returns an array of all FrameMarkers currently associated with this rigid body.
`void`	`getInertia(SpatialInertia M)`
`RigidBody.InertiaMethod`	`getInertiaMethod()`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`double`	`getMass()` Returns the mass of this body.
`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.
`Range`	`getMassRange()`
`PolygonalMesh`	`getMesh()`
`java.lang.String`	`getMeshFileName()`
`AffineTransform3dBase`	`getMeshFileTransform()` Returns the file transform associated with this rigid body's mesh.
`boolean`	`getRenderDistanceGrid()` Queries whether this component's signed distance grid should be rendered.
`RigidBody.DistanceSurfaceRendering`	`getRenderDistanceSurface()` Queries if and how the distance surface is rendered.
`SymmetricMatrix3d`	`getRotationalInertia()` Returns the rotational inertia of this body.
`void`	`getRotationalInertia(SymmetricMatrix3d J)`
`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 RigidBody 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`	`isDuplicatable()` Returns true if this component can be duplicated.
`boolean`	`isFileTransformRigid()`
`boolean`	`isFreeBody()`
`boolean`	`isMassConstant()`
`boolean`	`isMeshModfied()`
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`static int`	`mulInverseEffectiveMass(SpatialInertia S, double[] a, double[] f, int idx)`
`int`	`numSurfaceMeshes()` Returns the number of surfaces meshes associated with this component, or 0 if no meshes exist.
`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`	`removeConnector(BodyConnector c)`
`void`	`render(Renderer renderer, int flags)` Render this object using the functionality of the supplied `Renderer`.
`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`	`scaleMesh(double s)`
`void`	`scaleMesh(double sx, double sy, double sz)`
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setCenterOfMass(Point3d com)`
`void`	`setCollidable(Collidable.Collidability c)`
`void`	`setCollidableIndex(int idx)`
`void`	`setDensity(double density)` Sets the density for the mesh, which is defined at the mass divided by the mesh volume.
`void`	`setDistanceGridMaxRes(int max)` Sets the default maximum cell resolution that should be used when constructing a signed distance grid for this component.
`void`	`setDistanceGridOBB(boolean enable)`
`void`	`setDistanceGridRenderRanges(java.lang.String ranges)` Specifies the x, y, z vertex ranges used when rendering this component's signed distance grid.
`void`	`setDistanceGridRes(Vector3i res)` Sets the cell resolution (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component.
`void`	`setDistanceSurfaceIso(double iso)`
`void`	`setDynamic(boolean dynamic)`
`void`	`setInertia(double m, double Jxx, double Jyy, double Jzz)` Explicitly sets the mass and rotational inertia of this body.
`void`	`setInertia(double m, SymmetricMatrix3d J)` Explicitly sets the mass and rotational inertia of this body.
`void`	`setInertia(double m, SymmetricMatrix3d J, Point3d com)` Explicitly sets the mass, rotational inertia, and center of mass of this body.
`void`	`setInertia(SpatialInertia M)` Explicitly sets the spatial inertia of this body.
`void`	`setInertiaFromDensity(double density)` Causes the inertia to be automatically computed from the mesh volume and a given density.
`void`	`setInertiaFromMass(double mass)` Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume).
`void`	`setInertiaMethod(RigidBody.InertiaMethod method)` Sets the `InertiaMethod` method used to determine the inertia for this RigidBody.
`void`	`setMass(double mass)` Sets the mass for the mesh.
`void`	`setMesh(PolygonalMesh mesh)`
`void`	`setMesh(PolygonalMesh mesh, java.lang.String fileName)`
`void`	`setMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X)` Sets a mesh for this body.
`void`	`setMeshFileName(java.lang.String filename)`
`void`	`setPose(double x, double y, double z, double roll, double pitch, double yaw)`
`void`	`setRenderDistanceGrid(boolean enable)` Enables or disables rendering of this component's signed distance grid.
`void`	`setRenderDistanceSurface(RigidBody.DistanceSurfaceRendering rendering)` Specifies if and how the distance surface is rendered.
`void`	`setRotationalInertia(SymmetricMatrix3d J)` Explicitly sets the rotational inertia of this body.
`void`	`setSurfaceMesh(PolygonalMesh mesh, java.lang.String fileName)`
`void`	`setSurfaceMesh(PolygonalMesh mesh, java.lang.String fileName, AffineTransform3dBase X)` Sets a mesh for this body.
`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`	`updateAttachmentPosStates()`
`void`	`updateBounds(Vector3d pmin, Vector3d pmax)` Update the minimum and maximum points for this object.
`void`	`write(java.io.PrintWriter pw, NumberFormat fmt, java.lang.Object ref)` Writes a text description of this element to a PrintWriter.

Methods inherited from class artisynth.core.mechmodels.Frame
addExternalForce, addForce, addPointForce, addPointForce, addPointMass, addPosImpulse, addPosJacobian, addScaledExternalForce, addSolveBlock, addSolveBlocks, addTargetJacobian, addToPointVelocity, addTransformableDependencies, addVelJacobian, applyExternalForces, applyForces, computeAppliedWrench, computeLocalPointForceJacobian, computePointCoriolis, computePointLocation, computePointPosition, computePointVelocity, computePointVelocity, computePointVelocity, computeWorldPointForceJacobian, createFrameAttachment, createMassBlock, createPointAttachment, getAxisLength, getBodyForce, getBodyVelocity, getBodyVelState, getExternalForce, getForce, getForce, getForce, getFrameDamping, getFrameDampingMode, getJacobianType, getMoment, getOrientation, getOrientation, getPosDerivative, getPose, getPose, getPosition, getPosState, getPosStateSize, getRotaryDamping, getRotaryDampingMode, getRotation, getSelection, getTargetActivity, getTargetOrientation, getTargetPos, getTargetPose, getTargetPosition, getTargetVel, getTargetVelocity, getTraceablePositionProperty, getTraceables, getTransForce, getVelocity, getVelocity, getVelState, getVelStateSize, getWorldVelState, resetTargets, setAxisLength, setBodyVelocity, setContactConstraint, setExternalForce, setForce, setForce, setFrameDamping, setFrameDampingMode, setOrientation, setPose, setPosition, setPosState, setRotaryDamping, setRotaryDampingMode, setRotation, setState, setTargetActivity, setTargetOrientation, setTargetPos, setTargetPose, setTargetPosition, setTargetVel, setTargetVelocity, setVelocity, setVelocity, setVelState, subPointForce, subPointForce, transformPose, 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, getRenderProps, isSelectable, numSelectionQueriesNeeded, setRenderProps, updateRenderProps

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody
transformPose

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable
createFrameAttachment

Methods inherited from interface artisynth.core.mechmodels.PointAttachable
createPointAttachment

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
  - RigidBody
```
public RigidBody()
```
  - RigidBody
```
public RigidBody(java.lang.String name)
```
  - RigidBody
```
public RigidBody(RigidTransform3d XBodyToWorld,
                 SpatialInertia M,
                 PolygonalMesh mesh,
                 java.lang.String meshFileName)
```
- 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 Frame
    
    Returns:
    
    static information for all exported properties
  - isMassConstant
```
public boolean isMassConstant()
```
    Specified by:
    
    isMassConstant in interface DynamicComponent
    
    Overrides:
    
    isMassConstant in class Frame
  - 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 Frame
  - 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 Frame
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveInertia
```
public SpatialInertia getEffectiveInertia()
```
  - 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 Frame
    
    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 Frame
  - mulInverseEffectiveMass
```
public static int mulInverseEffectiveMass(SpatialInertia S,
                                          double[] a,
                                          double[] f,
                                          int idx)
```
  - getEffectiveMassForces
```
public static int getEffectiveMassForces(VectorNd f,
                                         double t,
                                         FrameState state,
                                         SpatialInertia effectiveInertia,
                                         int idx)
```
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    Description copied from interface: DynamicComponent
    
    Gets the mass forces for this component at a particular time. The forces should be stored in f, starting at the location specified by idx. Upon return, this method should return the value of idx incremented by the dimension of the mass forces.
    
    Specified by:
    
    getEffectiveMassForces in interface DynamicComponent
    
    Overrides:
    
    getEffectiveMassForces in class Frame
    
    Parameters:
    
    f - vector to return the forces in
    
    t - current time
    
    idx - starting location within f where forces should be stored
    
    Returns:
    
    updated value for idx
  - 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 Frame
  - addEffectivePointMass
```
public void addEffectivePointMass(double m,
                                  Vector3d loc)
```
    Adds a point mass to the effective spatial inertia for this Frame.
    
    Overrides:
    
    addEffectivePointMass in class Frame
    
    Parameters:
    
    m - mass of the point
    
    loc - location of the point (in local frame coordinates)
  - addEffectiveInertia
```
public void addEffectiveInertia(SpatialInertia M)
```
  - 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
  - getInertiaMethod
```
public RigidBody.InertiaMethod getInertiaMethod()
```
  - setInertiaMethod
```
public void setInertiaMethod(RigidBody.InertiaMethod method)
```
    Sets the InertiaMethod method used to determine the inertia for this RigidBody.
    
    Parameters:
    
    method - inertia method for this RigidBody
    
    See Also:
    
    setInertia(maspack.spatialmotion.SpatialInertia), setInertiaFromDensity(double), setInertiaFromMass(double)
  - getInertia
```
public void getInertia(SpatialInertia M)
```
  - setCenterOfMass
```
public void setCenterOfMass(Point3d com)
```
  - getCenterOfMass
```
public void getCenterOfMass(Point3d com)
```
  - getCenterOfMass
```
public Point3d getCenterOfMass()
```
  - centerPoseOnCenterOfMass
```
public void centerPoseOnCenterOfMass()
```
    Adjusts the pose so that it reflects the rigid body's center of mass
  - setInertiaFromDensity
```
public void setInertiaFromDensity(double density)
```
    Causes the inertia to be automatically computed from the mesh volume and a given density. If the mesh is currently null then the inertia remains unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to Density.
    
    Parameters:
    
    density - desired uniform density
  - setInertiaFromMass
```
public void setInertiaFromMass(double mass)
```
    Causes the inertia to be automatically computed from the mesh volume and a given mass (with the density computed by dividing the mass by the mesh volume). If the mesh is currently null the mass of the inertia is updated but the otherwise the inertia and density are left unchanged. Subsequent (non-null) changes to the mesh will cause the inertia to be recomputed. The inertia method is set to Mass.
    
    Parameters:
    
    mass - desired body mass
  - computeVolume
```
public double computeVolume()
```
  - setDensity
```
public void setDensity(double density)
```
    Sets the density for the mesh, which is defined at the mass divided by the mesh volume. If the mesh is currently non-null, the mass will be updated accordingly. If the current InertiaMethod is either Density or Mass, the other components of the spatial inertia will also be updated.
    
    Parameters:
    
    density - new density value
  - getDensityRange
```
public Range getDensityRange()
```
  - getDensity
```
public double getDensity()
```
    Returns the density of this body. This is either the value set explictly by setInertiaFromDensity, or is the mass/volume ratio for the most recently defined mesh.
    
    Returns:
    
    density for this body.
  - setMass
```
public void setMass(double mass)
```
    Sets the mass for the mesh. If the mesh is currently non-null, then the density (defined as the mass divided by the mesh volume) will be updated accordingly. If the current InertiaMethod is either Density or Mass, the other components of the spatial inertia will also be updated.
    
    Parameters:
    
    mass - new mass value
  - getMass
```
public double getMass()
```
    Returns the mass of this body.
    
    Specified by:
    
    getMass in interface CollidableBody
  - getMassRange
```
public Range getMassRange()
```
  - setRotationalInertia
```
public void setRotationalInertia(SymmetricMatrix3d J)
```
    Explicitly sets the rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - getRotationalInertia
```
public void getRotationalInertia(SymmetricMatrix3d J)
```
  - getRotationalInertia
```
public SymmetricMatrix3d getRotationalInertia()
```
    Returns the rotational inertia of this body.
    
    Returns:
    
    rotational inertia (should not be modified).
  - setInertia
```
public void setInertia(SpatialInertia M)
```
    Explicitly sets the spatial inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       SymmetricMatrix3d J)
```
    Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       SymmetricMatrix3d J,
                       Point3d com)
```
    Explicitly sets the mass, rotational inertia, and center of mass of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - setInertia
```
public void setInertia(double m,
                       double Jxx,
                       double Jyy,
                       double Jzz)
```
    Explicitly sets the mass and rotational inertia of this body. Also sets the uniform density (as returned by getDensity) to be undefined).
  - getMesh
```
public PolygonalMesh getMesh()
```
  - getFileTransform
```
public AffineTransform3d getFileTransform()
```
  - isFileTransformRigid
```
public boolean isFileTransformRigid()
```
  - isMeshModfied
```
public boolean isMeshModfied()
```
  - 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
  - getMeshFileName
```
public java.lang.String getMeshFileName()
```
  - setMeshFileName
```
public void setMeshFileName(java.lang.String filename)
```
  - getMeshFileTransform
```
public AffineTransform3dBase getMeshFileTransform()
```
    Returns the file transform associated with this rigid body's mesh.
    
    Returns:
    
    mesh file transform (should not be modified)
  - setMesh
```
public void setMesh(PolygonalMesh mesh)
```
  - setMesh
```
public void setMesh(PolygonalMesh mesh,
                    java.lang.String fileName)
```
  - setSurfaceMesh
```
public void setSurfaceMesh(PolygonalMesh mesh,
                           java.lang.String fileName)
```
  - scaleMesh
```
public void scaleMesh(double sx,
                      double sy,
                      double sz)
```
  - scaleMesh
```
public void scaleMesh(double s)
```
  - setMesh
```
public void setMesh(PolygonalMesh mesh,
                    java.lang.String fileName,
                    AffineTransform3dBase X)
```
    Sets a mesh for this body. If the body has a uniform density (i.e., getDensity returns a non-negative value), then the spatial inertia is automatically calculated from the mesh and the uniform density.
  - setSurfaceMesh
```
public void setSurfaceMesh(PolygonalMesh mesh,
                           java.lang.String fileName,
                           AffineTransform3dBase X)
```
    Sets a mesh for this body. If the body has a uniform density (i.e., getDensity returns a non-negative value), then the spatial inertia is automatically calculated from the mesh and the uniform density.
  - setPose
```
public void setPose(double x,
                    double y,
                    double z,
                    double roll,
                    double pitch,
                    double yaw)
```
  - extrapolatePose
```
public void extrapolatePose(Twist vel,
                            double h)
```
  - applyGravity
```
public void applyGravity(Vector3d gacc)
```
    Description copied from class: Frame
    
    Applies a gravity force to this component, given a prescribed gravity acceleration vector.
    
    Specified by:
    
    applyGravity in interface DynamicComponent
    
    Overrides:
    
    applyGravity in class Frame
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    Description copied from class: ModelComponentBase
    
    Scans this element from a ReaderTokenizer. The expected text format is assumed to be compatible with that produced by write.
    
    Specified by:
    
    scan in interface ModelComponent
    
    Specified by:
    
    scan in interface Scannable
    
    Overrides:
    
    scan in class ModelComponentBase
    
    Parameters:
    
    rtok - Tokenizer from which to scan the element
    
    ref - optional reference object which can be used for resolving references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O or formatting error occured
  - write
```
public void write(java.io.PrintWriter pw,
                  NumberFormat fmt,
                  java.lang.Object ref)
           throws java.io.IOException
```
    Description copied from class: ModelComponentBase
    
    Writes a text description of this element to a PrintWriter. The text description should be compatable with scan and complete enough to allow full reconstruction of the element.
    
    Specified by:
    
    write in interface Scannable
    
    Overrides:
    
    write in class ModelComponentBase
    
    Parameters:
    
    pw - stream for writing the element
    
    fmt - numeric formating information
    
    ref - optional reference object which can be used for producing references to other objects
    
    Throws:
    
    java.io.IOException - if an I/O error occured
  - createRenderProps
```
public RenderProps createRenderProps()
```
    Description copied from interface: HasRenderProps
    
    Factory method to create render properties appropriate to this object.
    
    Specified by:
    
    createRenderProps in interface HasRenderProps
    
    Overrides:
    
    createRenderProps in class Frame
    
    Returns:
    
    new render properties for this object
  - updateBounds
```
public void updateBounds(Vector3d pmin,
                         Vector3d pmax)
```
    Description copied from interface: IsRenderable
    
    Update the minimum and maximum points for this object. In an x-y-z coordinate system with x directed to the right and y directed upwards, the minimum and maximum points can be thought of as defining the left-lower-far and right-upper-near corners of a bounding cube. This method should only reduce the elements of the minimum point and increase the elements of the maximum point, since it may be used as part of an iteration to determine the bounding cube for several different objects.
    
    Specified by:
    
    updateBounds in interface IsRenderable
    
    Overrides:
    
    updateBounds in class Frame
    
    Parameters:
    
    pmin - minimum point
    
    pmax - maximum point
  - 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 Frame
    
    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 Frame
    
    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.
  - 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 Frame
    
    Parameters:
    
    gtr - transformer implementing the transform
    
    context - context information, including what other components are being transformed
    
    flags - specifies conditions associated with the transformation
  - 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 Frame
    
    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 Frame
    
    Parameters:
    
    s - scaling factor
  - setDynamic
```
public void setDynamic(boolean dynamic)
```
  - 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 Frame
    
    Returns:
    
    true if this component can be duplicated.
  - 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 Frame
    
    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 RigidBody 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 Frame
    
    Parameters:
    
    flags - flags to control the copying
    
    copyMap - map to possible existing instances of referenced components
    
    Returns:
    
    copy of this component
  - getFrameMarkers
```
public FrameMarker[] getFrameMarkers()
```
    Returns an array of all FrameMarkers currently associated with this rigid body.
    
    Returns:
    
    list of all frame markers
  - addConnector
```
public void addConnector(BodyConnector c)
```
    Specified by:
    
    addConnector in interface ConnectableBody
  - removeConnector
```
public void removeConnector(BodyConnector c)
```
    Specified by:
    
    removeConnector in interface ConnectableBody
  - getConnectors
```
public java.util.List<BodyConnector> getConnectors()
```
    Specified by:
    
    getConnectors in interface ConnectableBody
  - isFreeBody
```
public boolean isFreeBody()
```
    Specified by:
    
    isFreeBody in interface ConnectableBody
  - updateAttachmentPosStates
```
public void updateAttachmentPosStates()
```
  - createSphere
```
public static RigidBody createSphere(java.lang.String bodyName,
                                     double r,
                                     double density,
                                     int nslices)
```
    Creates an spherical RigidBody with a prescribed uniform density. The sphere is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - radius of the sphere
    
    density - density of the body
    
    nslices - number of slices used in creating the mesh
    
    Returns:
    
    spherical rigid body
  - createIcosahedralSphere
```
public static RigidBody createIcosahedralSphere(java.lang.String bodyName,
                                                double r,
                                                double density,
                                                int ndivisions)
```
    Creates an icosahedrally spherical RigidBody with a prescribed uniform density. The sphere is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - radius of the sphere
    
    density - density of the body
    
    ndivisions - number of divisions used in creating the mesh
    
    Returns:
    
    spherical rigid body
  - createEllipsoid
```
public static RigidBody createEllipsoid(java.lang.String bodyName,
                                        double a,
                                        double b,
                                        double c,
                                        double density,
                                        int nslices)
```
    Creates an ellipsoidal RigidBody with a prescribed uniform density. The ellipsoid is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    a - semi-axis length in the x direction
    
    b - semi-axis length in the y direction
    
    c - semi-axis length in the z direction
    
    density - density of the body
    
    nslices - number of slices used in creating the mesh
    
    Returns:
    
    ellipsoidal rigid body
  - createBox
```
public static RigidBody createBox(java.lang.String bodyName,
                                  double wx,
                                  double wy,
                                  double wz,
                                  double density,
                                  boolean addNormals)
```
    Creates a box-shaped RigidBody with a prescribed uniform density. The box is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    wx - width of the box in the x direction
    
    wy - width of the box in the y direction
    
    wz - width of the box in the z direction
    
    density - density of the body
    
    Returns:
    
    box-shaped rigid body
  - createBox
```
public static RigidBody createBox(java.lang.String bodyName,
                                  double wx,
                                  double wy,
                                  double wz,
                                  double density)
```
    Creates a box-shaped RigidBody with a prescribed uniform density. The box is centered on the origin.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    wx - width of the box in the x direction
    
    wy - width of the box in the y direction
    
    wz - width of the box in the z direction
    
    density - density of the body
    
    Returns:
    
    box-shaped rigid body
  - createCylinder
```
public static RigidBody createCylinder(java.lang.String bodyName,
                                       double r,
                                       double h,
                                       double density,
                                       int nsides)
```
    Creates a cylindrical RigidBody with a prescribed uniform density. The cylinder is centered on the origin and is parallel to the z axis.
    
    Parameters:
    
    bodyName - name of the RigidBody
    
    r - cylinder radius
    
    h - cylinder height
    
    density - density of the body
    
    nsides - number of sides used in creating the cylinder mesh
    
    Returns:
    
    cylindrical rigid body
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       PolygonalMesh mesh,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       PolygonalMesh mesh,
                                       java.lang.String meshFilePath,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       java.lang.String meshPath,
                                       double density,
                                       double scale)
```
  - createFromMesh
```
public static RigidBody createFromMesh(java.lang.String bodyName,
                                       java.lang.Object obj,
                                       java.lang.String relPath,
                                       double density,
                                       double scale)
```
  - 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()
```
    Returns true if this RigidBody supports a signed distance grid that can be used with a SignedDistanceCollider. A grid is available if either the property distanceGridMaxRes is positive, or the property distanceGridRes contains all positive values.
    
    Specified by:
    
    hasDistanceGrid in interface CollidableBody
    
    Specified by:
    
    hasDistanceGrid in interface HasDistanceGrid
    
    Returns:
    
    true if a signed distance grid is available for this RigidBody
    
    See Also:
    
    getDistanceGridMaxRes(), getDistanceGridRes()
  - getDistanceGrid
```
public DistanceGrid getDistanceGrid()
```
    Returns a signed distance grid that can be used with a SignedDistanceCollider, or null if a grid is not available (i.e., if hasDistanceGrid() returns false). The number of divisons in the grid is controlled explicitly by the property distanceGridRes, or, that is 0, by the property distanceGridMaxRes. If both properties are 0, no grid is available and null will be returned.
    
    Specified by:
    
    getDistanceGrid in interface CollidableBody
    
    Specified by:
    
    getDistanceGrid in interface HasDistanceGrid
    
    Returns:
    
    signed distance grid, or null if a grid is not available this RigidBody
    
    See Also:
    
    getDistanceGridMaxRes(), getDistanceGridRes()
  - 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.
  - 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
  - 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
    
    Specified by:
    
    isDeformable in interface ConnectableBody
    
    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
  - setDistanceGridMaxRes
```
public void setDistanceGridMaxRes(int max)
```
    Sets the default maximum cell resolution that should be used when constructing a signed distance grid for this component. This is the number of cells that will be used along the maximum x, y, or z direction, with the number of cells in other directions adjusted accordingly so as to provide cells of uniform size. If max is <= 0, the value will be set to 0. If the values returned by HasDistanceGrid.getDistanceGridRes()) are non-zero, those will be used to specify the cell resolutions instead. If the maximum cell resolution and the values returned by HasDistanceGrid.getDistanceGridRes() are all 0, then no signed distance grid will be available for this component and HasDistanceGrid.hasDistanceGrid() will return false.
    
    Specified by:
    
    setDistanceGridMaxRes in interface HasDistanceGrid
    
    Parameters:
    
    max - default maximum cell resolution for constructing a signed distance grid
  - getDistanceGridMaxRes
```
public int getDistanceGridMaxRes()
```
    Returns the default maximum cell resolution that should be used when constructing a signed distance grid for this component. See HasDistanceGrid.getDistanceGridMaxRes() for a more detailed description.
    
    Specified by:
    
    getDistanceGridMaxRes in interface HasDistanceGrid
    
    Returns:
    
    default maximum cell resolution for constructing a signed distance grid
  - setDistanceGridRes
```
public void setDistanceGridRes(Vector3i res)
```
    Sets the cell resolution (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component. This specifies the number of cells that the grid should have along each axis. If any of the values are <= 0, then all of the values are set to zero and the value returned by HasDistanceGrid.getDistanceGridMaxRes()) is used to determine the grid divisions instead.
    
    Specified by:
    
    setDistanceGridRes in interface HasDistanceGrid
    
    Parameters:
    
    res - cell resolution along x, y, z axes to be used in constructing a signed distance grid
    
    See Also:
    
    HasDistanceGrid.getDistanceGridRes()
  - getDistanceGridOBB
```
public boolean getDistanceGridOBB()
```
  - setDistanceGridOBB
```
public void setDistanceGridOBB(boolean enable)
```
  - getDistanceGridRes
```
public Vector3i getDistanceGridRes()
```
    Returns the cell resolutions (in the x, y, and z directions) that should be used when constructing a signed distance grid for this component. See HasDistanceGrid.setDistanceGridRes(maspack.matrix.Vector3i) for a more detailed description.
    
    Specified by:
    
    getDistanceGridRes in interface HasDistanceGrid
    
    Returns:
    
    x, y, and z divisions to be used in constructing a signed distance grid
    
    See Also:
    
    HasDistanceGrid.setDistanceGridRes(maspack.matrix.Vector3i)
  - getRenderDistanceGrid
```
public boolean getRenderDistanceGrid()
```
    Queries whether this component's signed distance grid should be rendered.
    
    Specified by:
    
    getRenderDistanceGrid in interface HasDistanceGrid
    
    Returns:
    
    true if distance grid rendering is enabled
  - setRenderDistanceGrid
```
public void setRenderDistanceGrid(boolean enable)
```
    Enables or disables rendering of this component's signed distance grid.
    
    Specified by:
    
    setRenderDistanceGrid in interface HasDistanceGrid
    
    Parameters:
    
    enable - if true, enables distance grid rendering
  - getRenderDistanceSurface
```
public RigidBody.DistanceSurfaceRendering getRenderDistanceSurface()
```
    Queries if and how the distance surface is rendered.
    
    Returns:
    
    code describing if/how the distance surface is rendered
    
    See Also:
    
    setRenderDistanceSurface(artisynth.core.mechmodels.RigidBody.DistanceSurfaceRendering)
  - setRenderDistanceSurface
```
public void setRenderDistanceSurface(RigidBody.DistanceSurfaceRendering rendering)
```
    Specifies if and how the distance surface is rendered. If enabled, an approximation of the isosurface for the signed distance grid is rendered instead of the surface mesh. This can give the user a better understanding of how the distance grid approximates the associated mesh. The rendering is done using either linear or quadratic interpolation, depending on the value of rendering.
    
    Parameters:
    
    rendering - specifies if and how the distance surface is rendered.
    
    See Also:
    
    getRenderDistanceSurface()
  - getDistanceSurfaceIso
```
public double getDistanceSurfaceIso()
```
  - setDistanceSurfaceIso
```
public void setDistanceSurfaceIso(double iso)
```
  - getDistanceGridRenderRanges
```
public java.lang.String getDistanceGridRenderRanges()
```
    Returns a string describing the x, y, z vertex ranges used when rendering this component's signed distance grid. See HasDistanceGrid.setDistanceGridRenderRanges(java.lang.String) for a more detailed description.
    
    Specified by:
    
    getDistanceGridRenderRanges in interface HasDistanceGrid
    
    Returns:
    
    string describing the render ranges
    
    See Also:
    
    HasDistanceGrid.setDistanceGridRenderRanges(java.lang.String)
  - setDistanceGridRenderRanges
```
public void setDistanceGridRenderRanges(java.lang.String ranges)
```
    Specifies the x, y, z vertex ranges used when rendering this component's signed distance grid. The signed distance grid will have numVX X numVY X numVZ vertices in the x, y, z directions, where numVX, numVY, and numVZ are each one greater than the x, y, z cell resolution values returned by the DistanceGrid.getResolution() method of the distance grid itself. In general, the range string should contain three range specifications, one for each axis, where each specification is either * (all vertices), n:m (vertices in the index range n to m, inclusive), or n (vertices only at index n). A range specification of "* * *" (or "*") means draw all vertices, which is the default behavior. Other examples include:
```
  "* 7 *"      - all vertices along x and z, and those at index 7 along y
  "0 2 3"      - a single vertex at indices (0, 2, 3)
  "0:3 4:5 *"  - all vertices between indices 0 and 3 along x, and 4 and 5
                 along y
 
```
    Specified by:
    
    setDistanceGridRenderRanges in interface HasDistanceGrid
    
    Parameters:
    
    ranges - describing the render ranges
    
    See Also:
    
    HasDistanceGrid.getDistanceGridRenderRanges()
  - getDistanceGridRenderRangesRange
```
public Range getDistanceGridRenderRangesRange()
```

Class RigidBody

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.mechmodels.Frame

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

Fields inherited from interface artisynth.core.mechmodels.Collidable

Fields inherited from interface artisynth.core.modelbase.CopyableComponent

Fields inherited from interface artisynth.core.modelbase.TransformableGeometry

Fields inherited from interface maspack.render.IsRenderable

Constructor Summary

Method Summary

Methods inherited from class artisynth.core.mechmodels.Frame

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase

Methods inherited from class artisynth.core.modelbase.ModelComponentBase

Methods inherited from class java.lang.Object

Methods inherited from interface artisynth.core.mechmodels.ConnectableBody

Methods inherited from interface artisynth.core.mechmodels.FrameAttachable

Methods inherited from interface artisynth.core.mechmodels.PointAttachable

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent

Methods inherited from interface artisynth.core.modelbase.TransformableGeometry

Field Detail

myProps

Constructor Detail

RigidBody

RigidBody

RigidBody

Method Detail

getAllPropertyInfo

isMassConstant

getMass

getMass

getEffectiveInertia

getEffectiveMass

mulInverseEffectiveMass

mulInverseEffectiveMass

getEffectiveMassForces

getEffectiveMassForces

resetEffectiveMass

addEffectivePointMass

addEffectiveInertia

getInverseMass

getInertiaMethod

setInertiaMethod

getInertia

setCenterOfMass

getCenterOfMass

getCenterOfMass

centerPoseOnCenterOfMass

setInertiaFromDensity

setInertiaFromMass

computeVolume

setDensity

getDensityRange

getDensity

setMass

getMass

getMassRange

setRotationalInertia

getRotationalInertia

getRotationalInertia

setInertia

setInertia

setInertia

setInertia

getMesh

getFileTransform

isFileTransformRigid

isMeshModfied

getSurfaceMesh

numSurfaceMeshes

getSurfaceMeshes

getMeshFileName

setMeshFileName

getMeshFileTransform

setMesh

setMesh

setSurfaceMesh

scaleMesh