BackNode3d (Artisynth API documentation)

java.lang.Object
- artisynth.core.modelbase.ModelComponentBase
- - artisynth.core.modelbase.RenderableComponentBase
  - - artisynth.core.mechmodels.DynamicComponentBase
    - - artisynth.core.femmodels.BackNode3d

All Implemented Interfaces:

DynamicAgent, DynamicComponent, ForceEffector, MotionTargetComponent, HasNumericState, ModelComponent, PostScannable, RenderableComponent, TransformableGeometry, java.lang.Cloneable, HasProperties, HierarchyNode, HasRenderProps, IsRenderable, IsSelectable, Renderable, Scannable
```
public class BackNode3d
extends DynamicComponentBase
implements MotionTargetComponent
```

Nested Class Summary
- Nested classes/interfaces inherited from interface artisynth.core.modelbase.ModelComponent
  ModelComponent.NavpanelVisibility

Field Summary

Fields
Modifier and Type Field and Description

static PropertyList myProps
- Fields inherited from class artisynth.core.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 maspack.render.IsRenderable
  TRANSPARENT, TWO_DIMENSIONAL

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

Constructor Summary

Constructors
Constructor and Description

BackNode3d(FemNode3d node)

Constructors
Constructor and Description
`BackNode3d(FemNode3d node)`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`addEffectiveMass(double m)`
`int`	`addForce(double[] buf, int idx)`
`void`	`addForce(Vector3d f)`
`void`	`addPosImpulse(double[] xbuf, int xidx, double h, double[] vbuf, int vidx)`
`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`	`addScaledForce(double s, Vector3d f)`
`void`	`addSolveBlock(SparseNumberedBlockMatrix S)`
`void`	`addSolveBlocks(SparseNumberedBlockMatrix M)` Adds any needed blocks to a solve matrix in order to accomodate the Jacobian terms associated with this force effector.
`int`	`addTargetJacobian(SparseBlockMatrix J, int bi)` Add a row to the motion target Jacobian for this motion target.
`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`	`applyExternalForces()`
`void`	`applyForces(double t)` Adds forces to the components affected by this force effector at a particular time.
`void`	`applyGravity(Vector3d gacc)` Note: this method is required by the interface, but is not currently used since gravity is applied directly to nodes within FemModel3d.updateNodeForces(), and gravity action is lumped together with the front node.
`void`	`clearPosition()`
`void`	`clearRestPosition()`
`BackNode3d`	`copy(int flags, java.util.Map<ModelComponent,ModelComponent> copyMap)`
`MatrixBlock`	`createMassBlock()` Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
`boolean`	`defaultRenderPropsAreNull()`
`PropertyList`	`getAllPropertyInfo()` Returns a list giving static information about all properties exported by this object.
`double`	`getEffectiveMass()` Gets the effective scalar mass of this component.
`void`	`getEffectiveMass(Matrix M, double t)` Gets the effective mass of this component at a particular time.
`int`	`getEffectiveMassForces(VectorNd f, double t, int idx)` Gets the mass forces for this component at a particular time.
`Vector3d`	`getForce()`
`int`	`getForce(double[] buf, int idx)`
`Vector3d`	`getInternalForce()`
`void`	`getInverseMass(Matrix Minv, Matrix M)` Inverts a mass for this component.
`int`	`getJacobianType()` Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix.
`double`	`getMass()` Returns the mass for this backnode.
`double`	`getMass(double t)` This method is required by the interface, but is not currently used.
`void`	`getMass(Matrix M, double t)` This method is required by the interface, but is not currently used.
`int`	`getPosDerivative(double[] buf, int idx)`
`Point3d`	`getPosition()`
`int`	`getPosState(double[] buf, int idx)`
`int`	`getPosStateSize()`
`float[]`	`getRenderCoords()`
`Point3d`	`getRenderPosition()`
`Point3d`	`getRestPosition()`
`void`	`getState(DataBuffer data)` Saves state information for this component by adding data to the supplied DataBuffer.
`MotionTarget.TargetActivity`	`getTargetActivity()`
`int`	`getTargetPos(double[] post, double s, double h, int idx)`
`int`	`getTargetVel(double[] velt, double s, double h, int idx)`
`Vector3d`	`getVelocity()`
`int`	`getVelState(double[] buf, int idx)`
`int`	`getVelStateSize()`
`boolean`	`hasForce()` Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping).
`boolean`	`isMassConstant()`
`boolean`	`isPositionValid()`
`boolean`	`isRestPositionExplicit()`
`boolean`	`isRestPositionValid()`
`int`	`mulInverseEffectiveMass(Matrix M, double[] a, double[] f, int idx)`
`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`	`resetTargets()`
`void`	`saveRenderCoords()`
`void`	`scalePosition(double s, Point3d frontPos)`
`void`	`scaleRestPosition(double s, Point3d frontRest)`
`void`	`scan(ReaderTokenizer rtok, java.lang.Object ref)` Scans this element from a ReaderTokenizer.
`void`	`setDynamic(boolean enable)`
`int`	`setForce(double[] buf, int idx)`
`void`	`setForce(Vector3d f)`
`void`	`setPosition(Point3d pos)`
`void`	`setPosition(Point3d frontPos, Vector3d dir)`
`void`	`setPositionToRest()`
`int`	`setPosState(double[] buf, int idx)`
`void`	`setRandomForce()` Sets the force of this component to a random value.
`void`	`setRandomPosState()` Sets the position state of this component to a random value.
`void`	`setRandomVelState()` Sets the velocity state of this component to a random value.
`void`	`setRestPosition(Point3d rest)`
`void`	`setRestPosition(Point3d frontRest, Vector3d restDir)`
`void`	`setState(DataBuffer data)` Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
`void`	`setTargetActivity(MotionTarget.TargetActivity activity)`
`void`	`setVelocity(Vector3d vel)`
`int`	`setVelState(double[] buf, int idx)`
`void`	`subForce(Vector3d f)`
`void`	`transformGeometry(AffineTransform3dBase X)` Applies an affine transformation to the geometry of this component.
`void`	`transformGeometry(GeometryTransformer gtr, TransformGeometryContext context, int flags)` Transforms the geometry of this component, using the geometry transformer `gtr` to transform its individual attributes.
`boolean`	`velocityLimitExceeded(double tlimit, double rlimit)` Checks if the current component velocity exceeds specified limits.
`void`	`zeroExternalForces()`
`void`	`zeroForces()`

Methods inherited from class artisynth.core.mechmodels.DynamicComponentBase
addAttachmentRequest, addConstrainer, addMasterAttachment, connectToHierarchy, disconnectFromHierarchy, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, hasState, isActive, isAttached, isControllable, isDynamic, isParametric, removeAttachmentRequest, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from class artisynth.core.modelbase.RenderableComponentBase
createRenderProps, getRenderHints, getRenderProps, getSelection, isSelectable, isVisible, numSelectionQueriesNeeded, prerender, setRenderProps, setVisible, updateBounds, updateRenderProps

Methods inherited from class artisynth.core.modelbase.ModelComponentBase
checkFlag, checkName, checkNameUniqueness, clearFlag, clone, createTempFlag, getChildren, getGrandParent, getHardReferences, getName, getNameRange, getNavpanelVisibility, getNavpanelVisibility, getNumber, getParent, getProperty, getSoftReferences, hasChildren, isFixed, isMarked, isScanning, isSelected, isWritable, makeValidName, makeValidName, notifyParentOfChange, postscan, printReferences, recursivelyContained, recursivelyContains, removeTempFlag, setFixed, setFlag, setMarked, setName, setNavpanelVisibility, setNavpanelVisibility, setNumber, setParent, setScanning, setSelected, setWritable, updateReferences, write

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

Methods inherited from interface artisynth.core.mechmodels.DynamicComponent
addAttachmentRequest, removeAttachmentRequest

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent
addConstrainer, addMasterAttachment, getAttachment, getConstrainers, getMasterAttachments, getSolveIndex, isActive, isAttached, isControllable, isDynamic, isParametric, removeConstrainer, removeMasterAttachment, setAttached, setSolveIndex

Methods inherited from interface artisynth.core.modelbase.HasNumericState
advanceState, getAuxVarDerivative, getAuxVarState, getStateVersion, hasState, numAuxVars, requiresAdvance, setAuxVarState

Methods inherited from interface artisynth.core.modelbase.ModelComponent
connectToHierarchy, disconnectFromHierarchy, getHardReferences, getName, getNavpanelVisibility, getNumber, getParent, getSoftReferences, hasState, isFixed, isMarked, isSelected, notifyParentOfChange, setFixed, setMarked, setName, setNumber, setParent, setSelected, setWritable, updateReferences

Methods inherited from interface maspack.properties.HasProperties
getProperty

Methods inherited from interface maspack.properties.HierarchyNode
getChildren, hasChildren

Methods inherited from interface artisynth.core.modelbase.PostScannable
postscan

Methods inherited from interface maspack.util.Scannable
isWritable, write

- Field Detail
  - myProps
```
public static PropertyList myProps
```
- Constructor Detail
  - BackNode3d
```
public BackNode3d(FemNode3d node)
```
- 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 RenderableComponentBase
    
    Returns:
    
    static information for all exported properties
  - getPosition
```
public Point3d getPosition()
```
  - setPosition
```
public void setPosition(Point3d pos)
```
  - setPosition
```
public void setPosition(Point3d frontPos,
                        Vector3d dir)
```
  - scalePosition
```
public void scalePosition(double s,
                          Point3d frontPos)
```
  - clearPosition
```
public void clearPosition()
```
  - isPositionValid
```
public boolean isPositionValid()
```
  - setPositionToRest
```
public void setPositionToRest()
```
  - getVelocity
```
public Vector3d getVelocity()
```
  - setVelocity
```
public void setVelocity(Vector3d vel)
```
  - getRestPosition
```
public Point3d getRestPosition()
```
  - setRestPosition
```
public void setRestPosition(Point3d rest)
```
  - setRestPosition
```
public void setRestPosition(Point3d frontRest,
                            Vector3d restDir)
```
  - scaleRestPosition
```
public void scaleRestPosition(double s,
                              Point3d frontRest)
```
  - clearRestPosition
```
public void clearRestPosition()
```
  - isRestPositionExplicit
```
public boolean isRestPositionExplicit()
```
  - isRestPositionValid
```
public boolean isRestPositionValid()
```
  - getRenderPosition
```
public Point3d getRenderPosition()
```
  - getForce
```
public Vector3d getForce()
```
  - setForce
```
public void setForce(Vector3d f)
```
  - addForce
```
public void addForce(Vector3d f)
```
  - addScaledForce
```
public void addScaledForce(double s,
                           Vector3d f)
```
  - subForce
```
public void subForce(Vector3d f)
```
  - getInternalForce
```
public Vector3d getInternalForce()
```
  - createMassBlock
```
public MatrixBlock createMassBlock()
```
    Create a matrix block for representing the mass of this component, initialized to the component's effective mass (instrinsic mass plus the mass due to all attachmented components).
    
    Specified by:
    
    createMassBlock in interface DynamicAgent
  - isMassConstant
```
public boolean isMassConstant()
```
    Specified by:
    
    isMassConstant in interface DynamicAgent
  - getMass
```
public double getMass(double t)
```
    This method is required by the interface, but is not currently used.
    
    Specified by:
    
    getMass in interface DynamicAgent
  - getMass
```
public double getMass()
```
    Returns the mass for this backnode. This is the portion of the front node's mass that is used as the effective mass for the back node. Correspondingly, the front node's effective mass is its own mass minus the back node mass.
    If computed from density, the back node's mass is half of the total nodal mass due to shell elements. Otherwise, if the front node's mass is explicitly set, the back node's mass is set to half the front node mass.
    
    Returns:
    
    mass of this backnode
  - getMass
```
public void getMass(Matrix M,
                    double t)
```
    This method is required by the interface, but is not currently used.
    
    Specified by:
    
    getMass in interface DynamicAgent
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMassForces
```
public int getEffectiveMassForces(VectorNd f,
                                  double t,
                                  int idx)
```
    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 DynamicAgent
    
    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
  - getInverseMass
```
public void getInverseMass(Matrix Minv,
                           Matrix M)
```
    Inverts a mass for this component.
    
    Specified by:
    
    getInverseMass in interface DynamicAgent
    
    Overrides:
    
    getInverseMass in class DynamicComponentBase
    
    Parameters:
    
    Minv - matrix to return the inverse mass in
    
    M - matrix containing the mass to be inverted
  - resetEffectiveMass
```
public void resetEffectiveMass()
```
    Resets the effective mass of this component to the nominal mass.
    
    Specified by:
    
    resetEffectiveMass in interface DynamicAgent
  - addEffectiveMass
```
public void addEffectiveMass(double m)
```
  - getEffectiveMass
```
public void getEffectiveMass(Matrix M,
                             double t)
```
    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 DynamicAgent
    
    Parameters:
    
    M - matrix to return the mass in
    
    t - current time
  - getEffectiveMass
```
public double getEffectiveMass()
```
    Gets the effective scalar mass of this component. The effective mass is the nominal mass plus any additional mass incurred from attached components.
    
    Specified by:
    
    getEffectiveMass in interface DynamicAgent
    
    Returns:
    
    effective scalar mass
  - mulInverseEffectiveMass
```
public int mulInverseEffectiveMass(Matrix M,
                                   double[] a,
                                   double[] f,
                                   int idx)
```
    Specified by:
    
    mulInverseEffectiveMass in interface DynamicAgent
  - addSolveBlock
```
public void addSolveBlock(SparseNumberedBlockMatrix S)
```
    Specified by:
    
    addSolveBlock in interface DynamicAgent
    
    Specified by:
    
    addSolveBlock in class DynamicComponentBase
  - addPosImpulse
```
public void addPosImpulse(double[] xbuf,
                          int xidx,
                          double h,
                          double[] vbuf,
                          int vidx)
```
    Specified by:
    
    addPosImpulse in interface DynamicAgent
  - getPosDerivative
```
public int getPosDerivative(double[] buf,
                            int idx)
```
    Specified by:
    
    getPosDerivative in interface DynamicAgent
  - getPosState
```
public int getPosState(double[] buf,
                       int idx)
```
    Specified by:
    
    getPosState in interface DynamicAgent
  - setPosState
```
public int setPosState(double[] buf,
                       int idx)
```
    Specified by:
    
    setPosState in interface DynamicAgent
  - getVelState
```
public int getVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    getVelState in interface DynamicAgent
  - setVelState
```
public int setVelState(double[] buf,
                       int idx)
```
    Specified by:
    
    setVelState in interface DynamicAgent
  - setForce
```
public int setForce(double[] buf,
                    int idx)
```
    Specified by:
    
    setForce in interface DynamicAgent
  - addForce
```
public int addForce(double[] buf,
                    int idx)
```
    Specified by:
    
    addForce in interface DynamicAgent
  - getForce
```
public int getForce(double[] buf,
                    int idx)
```
    Specified by:
    
    getForce in interface DynamicAgent
  - getPosStateSize
```
public int getPosStateSize()
```
    Specified by:
    
    getPosStateSize in interface DynamicAgent
    
    Specified by:
    
    getPosStateSize in interface MotionTargetComponent
  - getVelStateSize
```
public int getVelStateSize()
```
    Specified by:
    
    getVelStateSize in interface DynamicAgent
    
    Specified by:
    
    getVelStateSize in interface MotionTargetComponent
  - zeroForces
```
public void zeroForces()
```
    Specified by:
    
    zeroForces in interface DynamicAgent
  - zeroExternalForces
```
public void zeroExternalForces()
```
    Specified by:
    
    zeroExternalForces in interface DynamicAgent
  - applyExternalForces
```
public void applyExternalForces()
```
    Specified by:
    
    applyExternalForces in interface DynamicAgent
  - velocityLimitExceeded
```
public boolean velocityLimitExceeded(double tlimit,
                                     double rlimit)
```
    Description copied from interface: DynamicAgent
    
    Checks if the current component velocity exceeds specified limits. Used to check solution stability.
    
    Specified by:
    
    velocityLimitExceeded in interface DynamicAgent
    
    Parameters:
    
    tlimit - translational velocity limit
    
    rlimit - rotational velocity limit
    
    Returns:
    
    true if velocity exceeds specified limits
  - applyGravity
```
public void applyGravity(Vector3d gacc)
```
    Note: this method is required by the interface, but is not currently used since gravity is applied directly to nodes within FemModel3d.updateNodeForces(), and gravity action is lumped together with the front node.
    
    Specified by:
    
    applyGravity in interface DynamicAgent
  - hasForce
```
public boolean hasForce()
```
    Description copied from interface: DynamicAgent
    
    Queries whether or not this component actually exerts its own state-dependent forces (typically associated with damping). If it does not, then the component makes no contribution to its stiffness and damping matrices, a fact that can be exploited to improve the efficiency of the physics solve.
    Any action that alters the return value of this method should propagate a StructureChangeEvent. This can be a state-not-changed event if component's state structure is not altered (which it typically won't be).
    
    Specified by:
    
    hasForce in interface DynamicAgent
    
    Returns:
    
    true if this component exerts its own forces.
  - getState
```
public void getState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Saves state information for this component by adding data to the supplied DataBuffer. Existing data in the buffer should not be disturbed.
    
    Specified by:
    
    getState in interface DynamicAgent
    
    Specified by:
    
    getState in interface HasNumericState
    
    Parameters:
    
    data - buffer for storing the state values.
  - setState
```
public void setState(DataBuffer data)
```
    Description copied from interface: HasNumericState
    
    Restores the state for this component by reading from the supplied data buffer, starting at the current buffer offsets.
    
    Specified by:
    
    setState in interface DynamicAgent
    
    Specified by:
    
    setState in interface HasNumericState
    
    Parameters:
    
    data - buffer containing the state information
  - setRandomPosState
```
public void setRandomPosState()
```
    Description copied from interface: DynamicAgent
    
    Sets the position state of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomPosState in interface DynamicAgent
  - setRandomVelState
```
public void setRandomVelState()
```
    Description copied from interface: DynamicAgent
    
    Sets the velocity state of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomVelState in interface DynamicAgent
  - setRandomForce
```
public void setRandomForce()
```
    Description copied from interface: DynamicAgent
    
    Sets the force of this component to a random value. Used for testing.
    
    Specified by:
    
    setRandomForce in interface DynamicAgent
  - 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
    
    Parameters:
    
    t - time (seconds)
  - addSolveBlocks
```
public void addSolveBlocks(SparseNumberedBlockMatrix M)
```
    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
    
    Parameters:
    
    M - solve matrix to which blocks should be added
  - 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
    
    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
    
    Parameters:
    
    M - solve matrix to which scaled velocity Jacobian is to be added
    
    s - scaling factor for velocity Jacobian
  - getJacobianType
```
public int getJacobianType()
```
    Description copied from interface: ForceEffector
    
    Returns a code indicating the matrix type that results when the Jacobian terms of this force effector are added to the solve matrix. This should be a logical or-ing of either Matrix.SYMMETRIC or Matrix.POSITIVE_DEFINITE. The former should be set if adding the Jacobian terms preserves symmetry, and the latter should be set if positive definiteness if preserved. Both should be set if there is no Jacobian for this effector (i.e., the Jacobian methods are not implemented). Matrix types from all the force effectors are logically and-ed together to determine the type for the entire solve matrix.
    
    Specified by:
    
    getJacobianType in interface ForceEffector
    
    Returns:
    
    solve matrix type resulting from adding Jacobian terms
  - transformGeometry
```
public void transformGeometry(AffineTransform3dBase X)
```
    Description copied from interface: TransformableGeometry
    Applies an affine transformation to the geometry of this component. This method should be equivalent to
```
 TransformGeometryContext.transform (this, X, 0);
 
```
    Specified by:
    
    transformGeometry in interface TransformableGeometry
    
    Overrides:
    
    transformGeometry in class DynamicComponentBase
    
    Parameters:
    
    X - affine transformation to apply to the component
  - transformGeometry
```
public void transformGeometry(GeometryTransformer gtr,
                              TransformGeometryContext context,
                              int flags)
```
    Description copied from interface: TransformableGeometry
    
    Transforms the geometry of this component, using the geometry transformer gtr to transform its individual attributes. The context argument supplies information about what other components are currently being transformed, and also allows the requesting of update actions to be performed after all transform called have completed. The context is also the usual entity that calls this method, from within its TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method. The argument flags provides flags to specify various conditions associated with the the transformation. At present, the available flags are TransformableGeometry.TG_SIMULATING and TransformableGeometry.TG_ARTICULATED.
    This method is not usually called directly by applications. Instead, it is typically called from within the TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int) method of the context, which takes care of the various operations needed for a complete transform operation, including calling TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int) to collect other components that should be transformed, calling TransformableGeometry.transformGeometry(maspack.matrix.AffineTransform3dBase) for each component, notifying component parents that the geometry has changed, and calling any requested TransformGeometryActions. More details are given in the documentation for TransformGeometryContext.apply(maspack.geometry.GeometryTransformer, int).
    TransformGeometryContext provides a number of static convenience transform methods which take care of building the context and calling apply() for a specified set of components.
    This method should not generally call transformGeometry() for its descendant components. Instead, descendants needing transformation should be specified by adding them to the context in the method TransformableGeometry.addTransformableDependencies(artisynth.core.modelbase.TransformGeometryContext, int).
    
    Specified by:
    
    transformGeometry in interface TransformableGeometry
    
    Overrides:
    
    transformGeometry in class DynamicComponentBase
    
    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 DynamicComponentBase
    
    Parameters:
    
    context - context information, to which the dependent components are added.
    
    flags - specifies conditions associated with the transformation
  - defaultRenderPropsAreNull
```
public boolean defaultRenderPropsAreNull()
```
    Overrides:
    
    defaultRenderPropsAreNull in class RenderableComponentBase
  - 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
    
    Specified by:
    
    render in class RenderableComponentBase
    
    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.
  - setDynamic
```
public void setDynamic(boolean enable)
```
  - getTargetActivity
```
public MotionTarget.TargetActivity getTargetActivity()
```
    Specified by:
    
    getTargetActivity in interface MotionTargetComponent
  - setTargetActivity
```
public void setTargetActivity(MotionTarget.TargetActivity activity)
```
    Specified by:
    
    setTargetActivity in interface MotionTargetComponent
  - getTargetVel
```
public int getTargetVel(double[] velt,
                        double s,
                        double h,
                        int idx)
```
    Specified by:
    
    getTargetVel in interface MotionTargetComponent
  - getTargetPos
```
public int getTargetPos(double[] post,
                        double s,
                        double h,
                        int idx)
```
    Specified by:
    
    getTargetPos in interface MotionTargetComponent
  - addTargetJacobian
```
public int addTargetJacobian(SparseBlockMatrix J,
                             int bi)
```
    Description copied from interface: MotionTargetComponent
    Add a row to the motion target Jacobian for this motion target. The Jacobian maps state velocities u into motion target velocities vt according to
```
 vt = J u
 
```
    Specified by:
    
    addTargetJacobian in interface MotionTargetComponent
    
    Parameters:
    
    J - motion target Jacobian
    
    bi - block row index for the row to be added
    
    Returns:
    
    bi + 1
  - resetTargets
```
public void resetTargets()
```
    Specified by:
    
    resetTargets in interface MotionTargetComponent
  - scan
```
public void scan(ReaderTokenizer rtok,
                 java.lang.Object ref)
          throws java.io.IOException
```
    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
  - saveRenderCoords
```
public void saveRenderCoords()
```
  - getRenderCoords
```
public float[] getRenderCoords()
```
  - copy
```
public BackNode3d copy(int flags,
                       java.util.Map<ModelComponent,ModelComponent> copyMap)
```
    Overrides:
    
    copy in class DynamicComponentBase

Class BackNode3d

Nested Class Summary

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

Field Summary

Fields inherited from class artisynth.core.modelbase.ModelComponentBase

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.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.DynamicComponent

Methods inherited from interface artisynth.core.mechmodels.DynamicAgent

Methods inherited from interface artisynth.core.modelbase.HasNumericState

Methods inherited from interface artisynth.core.modelbase.ModelComponent

Methods inherited from interface maspack.properties.HasProperties

Methods inherited from interface maspack.properties.HierarchyNode

Methods inherited from interface artisynth.core.modelbase.PostScannable

Methods inherited from interface maspack.util.Scannable

Field Detail

myProps

Constructor Detail

BackNode3d

Method Detail

getAllPropertyInfo

getPosition

setPosition

setPosition

scalePosition

clearPosition

isPositionValid

setPositionToRest

getVelocity

setVelocity

getRestPosition

setRestPosition

setRestPosition

scaleRestPosition

clearRestPosition

isRestPositionExplicit

isRestPositionValid

getRenderPosition

getForce

setForce

addForce

addScaledForce

subForce

getInternalForce

createMassBlock

isMassConstant

getMass

getMass

getMass

getEffectiveMassForces

getInverseMass

resetEffectiveMass

addEffectiveMass

getEffectiveMass

getEffectiveMass

mulInverseEffectiveMass

addSolveBlock

addPosImpulse

getPosDerivative

getPosState

setPosState

getVelState

setVelState

setForce

addForce

getForce

getPosStateSize

getVelStateSize

zeroForces

zeroExternalForces

applyExternalForces

velocityLimitExceeded

applyGravity

hasForce